+ python -m lidar_slam --no-model /working/4784edb8-b5dc-4772-baf2-329dba74f8a1 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/4784edb8-b5dc-4772-baf2-329dba74f8a1 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 0.003133365 Adjusted end_distance from 9.223372036854776e+18 to 372.893133365 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.003133365 meters Centerline goodness : 0.071556 Centerline is valid? [0, False] SLAMing on 0.033133365 meters Centerline goodness : 0.071556 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 1.00000000e+00 6.33290480e-17 1.25202710e-16 -6.50595029e-14] [-4.79098693e-18 1.00000000e+00 -4.46225627e-17 -1.17195750e-14] [ 1.75077298e-16 7.05648596e-17 1.00000000e+00 5.13367018e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.063133365 meters Centerline goodness : 0.127069 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999813e-01 -4.57623330e-05 -6.09156434e-04 4.53853621e-03] [ 4.57964113e-05 9.99999997e-01 5.59296088e-05 -3.62314090e-04] [ 6.09153873e-04 -5.59574955e-05 9.99999813e-01 -1.51949993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.093133365 meters Centerline goodness : 0.130802 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99998055e-01 -3.57237216e-04 -1.93948612e-03 2.09081112e-02] [ 3.57236647e-04 9.99999936e-01 -6.39757623e-07 -1.50991842e-03] [ 1.93948623e-03 -5.30991397e-08 9.99998119e-01 -1.10293877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.123133365 meters Centerline goodness : 0.141880 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99996683e-01 -3.10469242e-04 -2.55701448e-03 2.57026538e-02] [ 3.11143649e-04 9.99999917e-01 2.63354090e-04 -3.25874562e-03] [ 2.55693251e-03 -2.64148815e-04 9.99996696e-01 -1.29714511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.153133365 meters Centerline goodness : 0.160484 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99994330e-01 -6.97971678e-04 -3.29426918e-03 3.25737767e-02] [ 6.98041173e-04 9.99999756e-01 1.99459371e-05 -3.52955257e-03] [ 3.29425446e-03 -2.22453596e-05 9.99994574e-01 -1.63269893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.183133365 meters Centerline goodness : 0.190895 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 9.99988910e-01 -8.31675337e-04 -4.63550552e-03 4.75660093e-02] [ 8.33181991e-04 9.99999601e-01 3.23103060e-04 -7.78549056e-03] [ 4.63523495e-03 -3.26961697e-04 9.99989204e-01 -2.40942603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.213133365 meters Centerline goodness : 0.182338 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 9.99986044e-01 -6.85856092e-04 -5.23842717e-03 5.23653775e-02] [ 6.89577631e-04 9.99999511e-01 7.08657573e-04 -1.06136486e-02] [ 5.23793857e-03 -7.12259985e-04 9.99986028e-01 -2.60120842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.243133365 meters Centerline goodness : 0.173980 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.03 [[ 9.99983345e-01 -5.81321072e-04 -5.74204502e-03 5.64891200e-02] [ 5.86583233e-04 9.99999410e-01 9.14784729e-04 -1.21794597e-02] [ 5.74150984e-03 -9.18137681e-04 9.99983096e-01 -2.78830516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.273133365 meters Centerline goodness : 0.164276 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.04 [[ 9.99975325e-01 1.91604571e-04 -7.02232767e-03 7.15106239e-02] [-1.81841092e-04 9.99999016e-01 1.39096004e-03 -1.32847789e-02] [ 7.02258727e-03 -1.38964877e-03 9.99974376e-01 -3.69166795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.303133365 meters Centerline goodness : 0.054029 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.04 [[ 9.99968827e-01 7.75575688e-04 -7.85765169e-03 8.07356519e-02] [-7.62050982e-04 9.99998223e-01 1.72406260e-03 -1.32833752e-02] [ 7.85897487e-03 -1.71802093e-03 9.99967642e-01 -4.30374082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33313336499999996 meters Centerline goodness : 0.170713 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.04 [[ 9.99964822e-01 7.61862535e-04 -8.35310244e-03 8.49810558e-02] [-7.49862433e-04 9.99998683e-01 1.43964197e-03 -1.15455921e-02] [ 8.35418825e-03 -1.43332765e-03 9.99964076e-01 -4.48041218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.363133365 meters Centerline goodness : 0.202149 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:-0.05 [[ 0.99995347 0.00159263 -0.00951418 0.09860746] [-0.00157548 0.99999712 0.00180979 -0.01048162] [ 0.00951703 -0.00179471 0.9999531 -0.05115572] [ 0. 0. 0. 1. ]] SLAMing on 0.393133365 meters Centerline goodness : 0.054100 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:-0.05 [[ 0.99994916 0.00137871 -0.00998871 0.10278182] [-0.00136407 0.99999799 0.00147154 -0.00839072] [ 0.00999072 -0.00145784 0.99994903 -0.05293183] [ 0. 0. 0. 1. ]] SLAMing on 0.423133365 meters Centerline goodness : 0.279864 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.06 [[ 0.99993739 0.00169129 -0.0110617 0.11631774] [-0.00167388 0.99999735 0.00158215 -0.00688965] [ 0.01106434 -0.00156353 0.99993757 -0.06020967] [ 0. 0. 0. 1. ]] SLAMing on 0.45313336499999995 meters Centerline goodness : 0.048481 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.06 [[ 0.99993238 0.00146858 -0.01153574 0.1204007 ] [-0.00145358 0.99999809 0.00130838 -0.00505373] [ 0.01153764 -0.00129153 0.99993261 -0.06215064] [ 0. 0. 0. 1. ]] SLAMing on 0.483133365 meters Centerline goodness : 0.046100 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:-0.06 [[ 0.99992752 0.00127224 -0.01197197 0.12455828] [-0.00125944 0.99999863 0.00107627 -0.00354033] [ 0.01197332 -0.00106112 0.99992775 -0.06399441] [ 0. 0. 0. 1. ]] SLAMing on 0.5131333650000001 meters Centerline goodness : 0.292522 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.07 [[ 9.99921856e-01 1.13394660e-03 -1.24497200e-02 1.28417035e-01] [-1.12300331e-03 9.99998977e-01 8.85954780e-04 -2.22537662e-03] [ 1.24507119e-02 -8.71904472e-04 9.99922107e-01 -6.53523464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5431333650000001 meters Centerline goodness : 0.250393 Centerline is valid? [False, False] Translation: X:0.17, Y:0.00, Z:-0.07 [[ 9.99984606e-01 2.26642700e-03 -5.06462657e-03 1.66275567e-01] [-2.26179910e-03 9.99997020e-01 9.19310217e-04 4.51064826e-03] [ 5.06669502e-03 -9.07840898e-04 9.99986752e-01 -6.73995440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.573133365 meters Centerline goodness : 0.275607 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.07 [[ 9.99982834e-01 1.88779446e-03 -5.54694454e-03 1.70382492e-01] [-1.88669296e-03 9.99998199e-01 2.03803212e-04 9.47949798e-03] [ 5.54731929e-03 -1.93334333e-04 9.99984595e-01 -6.94378184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.603133365 meters Centerline goodness : 0.312862 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.07 [[ 9.99980132e-01 1.45459901e-03 -6.13346698e-03 1.75379310e-01] [-1.45843424e-03 9.99998744e-01 -6.20869524e-04 1.48181464e-02] [ 6.13255616e-03 6.29802447e-04 9.99980997e-01 -7.17688929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6331333650000001 meters Centerline goodness : 0.274871 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.08 [[ 9.99974438e-01 1.92991833e-03 -6.88474051e-03 1.88404339e-01] [-1.93609962e-03 9.99997729e-01 -8.91272351e-04 2.17145225e-02] [ 6.88300479e-03 9.04579111e-04 9.99975903e-01 -7.81762352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.663133365 meters Centerline goodness : 0.215288 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.08 [[ 0.9999728 0.00147854 -0.00722552 0.19173939] [-0.00149065 0.99999749 -0.0016708 0.02738848] [ 0.00722303 0.00168152 0.9999725 -0.07910441] [ 0. 0. 0. 1. ]] SLAMing on 0.693133365 meters Centerline goodness : 0.230768 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.08 [[ 9.99970845e-01 9.53926582e-04 -7.57627614e-03 1.94944856e-01] [-9.73293306e-04 9.99996268e-01 -2.55295717e-03 3.37375974e-02] [ 7.57381253e-03 2.56025667e-03 9.99968041e-01 -8.05415824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.723133365 meters Centerline goodness : 0.258945 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:-0.08 [[ 9.99968457e-01 4.49065624e-04 -7.92992365e-03 1.98130641e-01] [-4.76231850e-04 9.99994024e-01 -3.42423069e-03 4.00266375e-02] [ 7.92833856e-03 3.42789917e-03 9.99962695e-01 -8.23408973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.753133365 meters Centerline goodness : 0.254781 Centerline is valid? [False, False] Translation: X:0.21, Y:0.05, Z:-0.09 [[ 9.99961410e-01 -3.15988549e-04 -8.77945371e-03 2.07120350e-01] [ 2.71841095e-04 9.99987316e-01 -5.02923508e-03 5.12266720e-02] [ 8.78093153e-03 5.02665438e-03 9.99948813e-01 -8.62515350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7831333650000001 meters Centerline goodness : 0.056720 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.09 [[ 9.99958358e-01 -8.44748954e-04 -9.08671046e-03 2.09761310e-01] [ 7.91280858e-04 9.99982363e-01 -5.88619473e-03 5.72114825e-02] [ 9.09152256e-03 5.87875948e-03 9.99941390e-01 -8.75890009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.813133365 meters Centerline goodness : 0.254860 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.09 [[ 0.99995533 -0.00134923 -0.00935552 0.21226339] [ 0.00128716 0.99997714 -0.00663731 0.06277566] [ 0.00936426 0.00662497 0.99993421 -0.08858801] [ 0. 0. 0. 1. ]] SLAMing on 0.843133365 meters Centerline goodness : 0.252363 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.09 [[ 0.9999518 -0.00176803 -0.00965758 0.2144991 ] [ 0.00169876 0.99997281 -0.00717653 0.06700641] [ 0.00967 0.00715977 0.99992761 -0.08881681] [ 0. 0. 0. 1. ]] SLAMing on 0.873133365 meters Centerline goodness : 0.258307 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.09 [[ 0.99994688 -0.00292843 -0.00988254 0.2204663 ] [ 0.00284753 0.9999624 -0.008191 0.07340438] [ 0.00990615 0.00816243 0.99991762 -0.08980869] [ 0. 0. 0. 1. ]] SLAMing on 0.903133365 meters Centerline goodness : 0.247091 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.09 [[ 0.9999422 -0.00315927 -0.01027649 0.2234598 ] [ 0.00307375 0.9999606 -0.00832712 0.07436918] [ 0.0103024 0.00829505 0.99991252 -0.09074765] [ 0. 0. 0. 1. ]] SLAMing on 0.933133365 meters Centerline goodness : 0.119691 Centerline is valid? [False, False] Translation: X:0.23, Y:0.08, Z:-0.09 [[ 0.99993661 -0.00343715 -0.01072248 0.22689526] [ 0.00334636 0.9999585 -0.00847314 0.07510812] [ 0.01075116 0.00843672 0.99990661 -0.09202373] [ 0. 0. 0. 1. ]] SLAMing on 0.963133365 meters Centerline goodness : 0.063548 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:-0.10 [[ 0.99992133 -0.00508133 -0.011468 0.23639323] [ 0.00497386 0.99994363 -0.0093804 0.0782136 ] [ 0.01151502 0.00932262 0.99989024 -0.0957668 ] [ 0. 0. 0. 1. ]] SLAMing on 0.993133365 meters Centerline goodness : 0.066143 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:-0.10 [[ 0.99991533 -0.00522776 -0.0119168 0.23979995] [ 0.0051209 0.99994656 -0.00898026 0.07581063] [ 0.01196311 0.00891847 0.99988867 -0.09611475] [ 0. 0. 0. 1. ]] SLAMing on 1.023133365 meters Centerline goodness : 0.066683 Centerline is valid? [False, False] Translation: X:0.23, Y:0.07, Z:-0.12 [[ 0.99997491 -0.00675595 0.00212763 0.22543088] [ 0.00676999 0.99995489 -0.00666201 0.070083 ] [-0.00208252 0.00667624 0.99997555 -0.11595445] [ 0. 0. 0. 1. ]] SLAMing on 1.053133365 meters Centerline goodness : 0.069614 Centerline is valid? [False, False] Translation: X:0.23, Y:0.07, Z:-0.12 [[ 0.9999651 -0.00818004 0.00169779 0.23409782] [ 0.00819167 0.99994222 -0.00696069 0.06740878] [-0.00164076 0.00697435 0.99997433 -0.11962338] [ 0. 0. 0. 1. ]] SLAMing on 1.0831333650000001 meters Centerline goodness : 0.079680 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:-0.12 [[ 0.99996624 -0.00809718 0.00139642 0.23681401] [ 0.00810634 0.99994477 -0.00668939 0.06585737] [-0.00134218 0.00670049 0.99997665 -0.12095824] [ 0. 0. 0. 1. ]] SLAMing on 1.113133365 meters Centerline goodness : 0.073699 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:-0.12 [[ 0.99996687 -0.00806197 0.00112408 0.23933712] [ 0.0080692 0.99994579 -0.00658008 0.06534173] [-0.00107097 0.00658894 0.99997772 -0.12203123] [ 0. 0. 0. 1. ]] SLAMing on 1.143133365 meters Centerline goodness : 0.073699 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:-0.12 [[ 0.99996687 -0.00806197 0.00112408 0.23933712] [ 0.0080692 0.99994579 -0.00658008 0.06534173] [-0.00107097 0.00658894 0.99997772 -0.12203123] [ 0. 0. 0. 1. ]] SLAMing on 1.173133365 meters Centerline goodness : 0.054444 Centerline is valid? [False, False] Translation: X:0.25, Y:0.06, Z:-0.13 [[ 9.99987423e-01 -4.98571616e-03 5.43898021e-04 2.48271776e-01] [ 4.98726601e-03 9.99983398e-01 -2.88640274e-03 6.19631709e-02] [-5.29498206e-04 2.88907901e-03 9.99995686e-01 -1.26174382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.203133365 meters Centerline goodness : 0.073573 Centerline is valid? [False, False] Translation: X:0.25, Y:0.06, Z:-0.13 [[ 9.99987738e-01 -4.94274565e-03 3.06253564e-04 2.50541724e-01] [ 4.94366263e-03 9.99983069e-01 -3.06951112e-03 6.35186125e-02] [-2.91076566e-04 3.07098750e-03 9.99995242e-01 -1.27437369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.233133365 meters Centerline goodness : 0.072947 Centerline is valid? [False, False] Translation: X:0.25, Y:0.07, Z:-0.13 [[ 9.99987780e-01 -4.94295744e-03 8.29156758e-05 2.52548345e-01] [ 4.94320430e-03 9.99982330e-01 -3.30214022e-03 6.54552236e-02] [-6.65918722e-05 3.30250973e-03 9.99994544e-01 -1.28455022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.263133365 meters Centerline goodness : 0.082016 Centerline is valid? [False, False] Translation: X:0.25, Y:0.07, Z:-0.13 [[ 9.99988363e-01 -4.79791049e-03 5.04219473e-04 2.54909818e-01] [ 4.79950748e-03 9.99983313e-01 -3.21526859e-03 6.63915365e-02] [-4.88784488e-04 3.21765117e-03 9.99994704e-01 -1.28756034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.293133365 meters Centerline goodness : 0.073799 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:-0.13 [[ 9.99988648e-01 -4.75348191e-03 3.29052184e-04 2.57185712e-01] [ 4.75447052e-03 9.99983979e-01 -3.07184528e-03 6.57849306e-02] [-3.14444951e-04 3.07337487e-03 9.99995228e-01 -1.29655528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.323133365 meters Centerline goodness : 0.074418 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.13 [[ 9.99989143e-01 -4.65741084e-03 1.49248189e-04 2.59104202e-01] [ 4.65781000e-03 9.99985243e-01 -2.79616020e-03 6.43283435e-02] [-1.36223119e-04 2.79682501e-03 9.99996080e-01 -1.30332051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.353133365 meters Centerline goodness : 0.074004 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.13 [[ 9.99988684e-01 -4.75669883e-03 8.16423967e-05 2.63686510e-01] [ 4.75686604e-03 9.99986294e-01 -2.18730201e-03 6.04207298e-02] [-7.12369408e-05 2.18766562e-03 9.99997605e-01 -1.31148241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.383133365 meters Centerline goodness : 0.074876 Centerline is valid? [False, False] Translation: X:0.27, Y:0.06, Z:-0.13 [[ 9.99989020e-01 -4.67928066e-03 -2.53217555e-04 2.66402906e-01] [ 4.67882359e-03 9.99987476e-01 -1.77648782e-03 5.77701733e-02] [ 2.61527069e-04 1.77528355e-03 9.99998390e-01 -1.32480221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.413133365 meters Centerline goodness : 0.074836 Centerline is valid? [False, False] Translation: X:0.27, Y:0.05, Z:-0.13 [[ 9.99989213e-01 -4.60115467e-03 -6.34725255e-04 2.69335884e-01] [ 4.60032248e-03 9.99988565e-01 -1.30638973e-03 5.45963690e-02] [ 6.40728898e-04 1.30345569e-03 9.99998945e-01 -1.33705163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.443133365 meters Centerline goodness : 0.074209 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.14 [[ 0.9999844 -0.00544986 -0.00122671 0.27537493] [ 0.0054477 0.99998362 -0.00175571 0.05405581] [ 0.00123626 0.001749 0.99999771 -0.13726808] [ 0. 0. 0. 1. ]] SLAMing on 1.473133365 meters Centerline goodness : 0.075740 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.14 [[ 9.99983304e-01 -5.69389994e-03 -9.85962557e-04 2.78487482e-01] [ 5.69301245e-03 9.99983389e-01 -9.00603237e-04 4.83038261e-02] [ 9.91074124e-04 8.94975103e-04 9.99999108e-01 -1.37362525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.503133365 meters Centerline goodness : 0.074993 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.14 [[ 9.99983732e-01 -5.59584642e-03 -1.10535497e-03 2.80386822e-01] [ 5.59543302e-03 9.99984274e-01 -3.76735433e-04 4.54414248e-02] [ 1.10744574e-03 3.70544365e-04 9.99999318e-01 -1.38002158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.533133365 meters Centerline goodness : 0.047354 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.14 [[ 9.99984227e-01 -5.47621646e-03 -1.24811956e-03 2.82333065e-01] [ 5.47646339e-03 9.99984985e-01 1.94510852e-04 4.23473630e-02] [ 1.24703564e-03 -2.01343065e-04 9.99999202e-01 -1.38475161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.563133365 meters Centerline goodness : 0.067058 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.14 [[ 9.99986293e-01 -5.18830652e-03 -7.03056343e-04 2.84434564e-01] [ 5.18919275e-03 9.99985736e-01 1.26464574e-03 3.63441911e-02] [ 6.96484946e-04 -1.26827670e-03 9.99998953e-01 -1.38728020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.593133365 meters Centerline goodness : 0.169314 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:-0.14 [[ 9.99987066e-01 -5.02005620e-03 -8.16495391e-04 2.86460271e-01] [ 5.02143775e-03 9.99985949e-01 1.69889467e-03 3.38883242e-02] [ 8.07955372e-04 -1.70297267e-03 9.99998224e-01 -1.39941686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.623133365 meters Centerline goodness : 0.108337 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:-0.14 [[ 9.99987845e-01 -4.84578197e-03 -9.09534626e-04 2.88166918e-01] [ 4.84765240e-03 9.99986117e-01 2.06566137e-03 3.20237947e-02] [ 8.99512254e-04 -2.07004537e-03 9.99997453e-01 -1.40887982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.653133365 meters Centerline goodness : 0.238965 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:-0.14 [[ 9.99990204e-01 -4.42345836e-03 1.58811830e-04 2.89476414e-01] [ 4.42298108e-03 9.99986044e-01 2.88944740e-03 2.83650577e-02] [-1.71590963e-04 -2.88871667e-03 9.99995813e-01 -1.41345941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.683133365 meters Centerline goodness : 0.058090 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:-0.14 [[ 9.99991084e-01 -4.22142835e-03 1.02937668e-04 2.91301175e-01] [ 4.22107495e-03 9.99985905e-01 3.22075351e-03 2.69595975e-02] [-1.16532398e-04 -3.22029029e-03 9.99994808e-01 -1.42287203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.713133365 meters Centerline goodness : 0.058280 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:-0.14 [[ 9.99991915e-01 -4.02043725e-03 7.37292940e-05 2.92732100e-01] [ 4.02014633e-03 9.99985461e-01 3.59379690e-03 2.51771710e-02] [-8.81768570e-05 -3.59347144e-03 9.99993540e-01 -1.42812081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.743133365 meters Centerline goodness : 0.471186 Centerline is valid? [False, False] Translation: X:0.29, Y:0.02, Z:-0.14 [[ 9.99992691e-01 -3.82252498e-03 7.44943479e-05 2.94358664e-01] [ 3.82220650e-03 9.99985139e-01 3.88755103e-03 2.38614635e-02] [-8.93535017e-05 -3.88723788e-03 9.99992441e-01 -1.43799675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.773133365 meters Centerline goodness : 0.119415 Centerline is valid? [False, False] Translation: X:0.32, Y:0.02, Z:-0.15 [[ 9.99990607e-01 4.24820380e-03 8.59585975e-04 3.21614365e-01] [-4.24964675e-03 9.99989553e-01 1.68385959e-03 2.25576802e-02] [-8.52423616e-04 -1.68749671e-03 9.99998213e-01 -1.46542960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8031333649999999 meters Centerline goodness : 0.465954 Centerline is valid? [False, False] Translation: X:0.32, Y:0.02, Z:-0.15 [[ 9.99990370e-01 4.34290859e-03 6.31687414e-04 3.24379791e-01] [-4.34388884e-03 9.99989350e-01 1.55879079e-03 2.43495305e-02] [-6.24911000e-04 -1.56151976e-03 9.99998586e-01 -1.48409807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.833133365 meters Centerline goodness : 0.071936 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.15 [[ 9.99990281e-01 4.38494435e-03 4.58914164e-04 3.26680056e-01] [-4.38558792e-03 9.99989388e-01 1.41089462e-03 2.61761361e-02] [-4.52722600e-04 -1.41289352e-03 9.99998899e-01 -1.49926735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.863133365 meters Centerline goodness : 0.201747 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.15 [[ 9.99990311e-01 4.38547624e-03 3.80995838e-04 3.28812929e-01] [-4.38597349e-03 9.99989518e-01 1.31424542e-03 2.78102195e-02] [-3.75228252e-04 -1.31590372e-03 9.99999064e-01 -1.51494776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.893133365 meters Centerline goodness : 0.490059 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.15 [[ 0.99998951 0.00440372 0.001263 0.33035488] [-0.00440577 0.99998897 0.00162628 0.02765391] [-0.00125583 -0.00163183 0.99999788 -0.15173475] [ 0. 0. 0. 1. ]] SLAMing on 1.923133365 meters Centerline goodness : 0.154400 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.15 [[ 0.99998961 0.00441293 0.00114153 0.33254329] [-0.00441502 0.99998857 0.00183529 0.02650965] [-0.00113342 -0.00184031 0.99999766 -0.15279997] [ 0. 0. 0. 1. ]] SLAMing on 1.953133365 meters Centerline goodness : 0.481207 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.15 [[ 9.99989908e-01 4.38267193e-03 9.88399331e-04 3.34954382e-01] [-4.38459451e-03 9.99988484e-01 1.95144312e-03 2.63609280e-02] [-9.79835413e-04 -1.95575715e-03 9.99997607e-01 -1.54184065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.983133365 meters Centerline goodness : 0.068130 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:-0.16 [[ 9.99990739e-01 4.20466662e-03 9.17486142e-04 3.37376189e-01] [-4.20624046e-03 9.99989674e-01 1.72024629e-03 2.88691186e-02] [-9.10243606e-04 -1.72408953e-03 9.99998099e-01 -1.55978616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.013133365 meters SLAMing on 2.043133365 meters Centerline goodness : 0.511575 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.16 [[ 0.99997806 0.0063616 0.00184833 0.34728393] [-0.00636984 0.99996964 0.00448778 0.03489802] [-0.00181972 -0.00449946 0.99998822 -0.16172717] [ 0. 0. 0. 1. ]] SLAMing on 2.073133365 meters Centerline goodness : 0.098444 Centerline is valid? [False, False] Translation: X:0.35, Y:0.04, Z:-0.16 [[ 0.99997901 0.00619777 0.00188939 0.34903139] [-0.00620589 0.99997142 0.00431883 0.03697903] [-0.00186257 -0.00433046 0.99998889 -0.1624054 ] [ 0. 0. 0. 1. ]] SLAMing on 2.103133365 meters Centerline goodness : 0.508708 Centerline is valid? [False, False] Translation: X:0.35, Y:0.04, Z:-0.16 [[ 0.99998168 0.00551615 0.00249255 0.35238024] [-0.00552562 0.99997748 0.00380858 0.04208344] [-0.00247149 -0.00382228 0.99998964 -0.1642988 ] [ 0. 0. 0. 1. ]] SLAMing on 2.133133365 meters Centerline goodness : 0.505138 Centerline is valid? [False, False] Translation: X:0.35, Y:0.04, Z:-0.17 [[ 0.99998346 0.00523889 0.00237347 0.35480284] [-0.00524759 0.99997948 0.00367477 0.04339345] [-0.00235417 -0.00368716 0.99999043 -0.16553647] [ 0. 0. 0. 1. ]] SLAMing on 2.163133365 meters Centerline goodness : 0.058495 Centerline is valid? [False, False] Translation: X:0.36, Y:0.04, Z:-0.17 [[ 0.99998523 0.00495532 0.00223443 0.35760463] [-0.00496336 0.99998117 0.0036079 0.04382312] [-0.0022165 -0.00361894 0.999991 -0.16701511] [ 0. 0. 0. 1. ]] SLAMing on 2.193133365 meters Centerline goodness : 0.081820 Centerline is valid? [False, False] Translation: X:0.36, Y:0.04, Z:-0.17 [[ 0.99998656 0.00474232 0.0020935 0.36029303] [-0.00474998 0.999982 0.00366698 0.04350544] [-0.00207607 -0.00367688 0.99999109 -0.16816693] [ 0. 0. 0. 1. ]] SLAMing on 2.223133365 meters Centerline goodness : 0.057939 Centerline is valid? [False, False] Translation: X:0.36, Y:0.04, Z:-0.17 [[ 0.99998765 0.00449217 0.00212794 0.3627767 ] [-0.00450007 0.99998295 0.00372228 0.04333638] [-0.00211119 -0.00373181 0.99999081 -0.16904562] [ 0. 0. 0. 1. ]] SLAMing on 2.253133365 meters Centerline goodness : 0.055563 Centerline is valid? [False, False] Translation: X:0.39, Y:0.05, Z:-0.17 [[ 0.99998339 -0.00238148 0.00524846 0.38695991] [ 0.00234451 0.99997249 0.00703772 0.04850575] [-0.00526507 -0.00702529 0.99996146 -0.17239334] [ 0. 0. 0. 1. ]] SLAMing on 2.283133365 meters Centerline goodness : 0.089326 Centerline is valid? [False, False] Translation: X:0.39, Y:0.05, Z:-0.17 [[ 0.99998302 -0.00261184 0.00520905 0.38934223] [ 0.0025758 0.99997279 0.00691328 0.05021176] [-0.00522696 -0.00689975 0.99996254 -0.17365537] [ 0. 0. 0. 1. ]] SLAMing on 2.313133365 meters Centerline goodness : 0.071228 Centerline is valid? [False, False] Translation: X:0.39, Y:0.05, Z:-0.18 [[ 0.99998245 -0.00281884 0.00521003 0.39194777] [ 0.00278367 0.99997338 0.00674479 0.05141844] [-0.0052289 -0.00673017 0.99996368 -0.17603557] [ 0. 0. 0. 1. ]] SLAMing on 2.343133365 meters Centerline goodness : 0.097247 Centerline is valid? [False, False] Translation: X:0.39, Y:0.05, Z:-0.18 [[ 0.99998195 -0.00300532 0.00520207 0.39480132] [ 0.00297088 0.9999737 0.00661587 0.05221796] [-0.00522181 -0.0066003 0.99996458 -0.17893629] [ 0. 0. 0. 1. ]] SLAMing on 2.373133365 meters Centerline goodness : 0.433683 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:-0.18 [[ 0.99997915 -0.00332169 0.00553699 0.39926178] [ 0.0032854 0.99997315 0.00655007 0.05411008] [-0.00555859 -0.00653174 0.99996322 -0.18095274] [ 0. 0. 0. 1. ]] SLAMing on 2.403133365 meters Centerline goodness : 0.088056 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:-0.18 [[ 0.9999772 -0.00342936 0.00581771 0.40153596] [ 0.00339085 0.99997237 0.00661551 0.05463329] [-0.00584023 -0.00659563 0.99996119 -0.1822112 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4331333649999998 meters SLAMing on 2.463133365 meters Centerline goodness : 0.085824 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:-0.19 [[ 0.99996787 -0.00496388 0.00629404 0.41125869] [ 0.00492693 0.99997062 0.00587266 0.05705143] [-0.006323 -0.00584146 0.99996295 -0.18764576] [ 0. 0. 0. 1. ]] SLAMing on 2.493133365 meters Centerline goodness : 0.214239 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:-0.19 [[ 0.99996061 -0.00496797 0.00735527 0.41595079] [ 0.00492033 0.9999669 0.00648013 0.05469991] [-0.00738722 -0.00644369 0.99995195 -0.18996773] [ 0. 0. 0. 1. ]] SLAMing on 2.523133365 meters Centerline goodness : 0.165585 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:-0.19 [[ 0.99995969 -0.00497255 0.00747623 0.41847344] [ 0.00492363 0.99996644 0.00654816 0.05470002] [-0.00750854 -0.00651109 0.99995061 -0.19168897] [ 0. 0. 0. 1. ]] SLAMing on 2.553133365 meters Centerline goodness : 0.239156 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:-0.19 [[ 0.99995843 -0.00494275 0.00766195 0.42132428] [ 0.00489267 0.99996663 0.00654191 0.05512803] [-0.00769403 -0.00650415 0.99994925 -0.19372855] [ 0. 0. 0. 1. ]] SLAMing on 2.583133365 meters Centerline goodness : 0.216333 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:-0.20 [[ 0.99990587 0.00281175 0.01342902 0.44496943] [-0.00287121 0.99998615 0.00441078 0.05480893] [-0.01341644 -0.00444892 0.9999001 -0.19956171] [ 0. 0. 0. 1. ]] SLAMing on 2.613133365 meters Centerline goodness : 0.159678 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:-0.20 [[ 0.9999034 0.00292247 0.01358851 0.4478947 ] [-0.00297848 0.99998714 0.00410359 0.05702411] [-0.01357634 -0.00414366 0.99989925 -0.20102624] [ 0. 0. 0. 1. ]] SLAMing on 2.6431333649999997 meters Centerline goodness : 0.098900 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:-0.20 [[ 0.99990098 0.00302536 0.01374294 0.45086934] [-0.0030781 0.99998797 0.00381824 0.05938941] [-0.01373122 -0.00386016 0.99989827 -0.20325916] [ 0. 0. 0. 1. ]] SLAMing on 2.673133365 meters Centerline goodness : 0.095519 Centerline is valid? [False, False] Translation: X:0.46, Y:0.06, Z:-0.21 [[ 0.99990533 0.0039866 0.01316952 0.45979478] [-0.00404378 0.9999825 0.00431855 0.06006784] [-0.01315207 -0.0043714 0.99990395 -0.20998872] [ 0. 0. 0. 1. ]] SLAMing on 2.703133365 meters Centerline goodness : 0.492275 Centerline is valid? [False, False] Translation: X:0.46, Y:0.06, Z:-0.21 [[ 0.99990203 0.00406412 0.01339445 0.46234301] [-0.00412109 0.99998257 0.00422868 0.06073629] [-0.01337704 -0.00428347 0.99990135 -0.21146887] [ 0. 0. 0. 1. ]] SLAMing on 2.733133365 meters Centerline goodness : 0.083867 Centerline is valid? [False, False] Translation: X:0.52, Y:0.06, Z:-0.21 [[ 0.99995752 0.005536 0.00736909 0.5153454 ] [-0.00556705 0.99997568 0.00420007 0.06222401] [-0.00734566 -0.00424091 0.99996403 -0.21074727] [ 0. 0. 0. 1. ]] SLAMing on 2.763133365 meters SLAMing on 2.793133365 meters SLAMing on 2.823133365 meters SLAMing on 2.853133365 meters Centerline goodness : 0.482969 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.22 [[ 0.99980587 0.01587612 0.01166964 0.59607153] [-0.01592829 0.9998635 0.00439084 0.06950694] [-0.01159834 -0.00457586 0.99992227 -0.21850282] [ 0. 0. 0. 1. ]] SLAMing on 2.883133365 meters Centerline goodness : 0.476410 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.22 [[ 0.99981301 0.01548511 0.0115829 0.59979421] [-0.01552629 0.99987343 0.00347371 0.07526477] [-0.01152764 -0.0036529 0.99992688 -0.2221892 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9131333649999998 meters SLAMing on 2.943133365 meters SLAMing on 2.973133365 meters SLAMing on 3.003133365 meters SLAMing on 3.033133365 meters SLAMing on 3.063133365 meters SLAMing on 3.093133365 meters SLAMing on 3.123133365 meters SLAMing on 3.153133365 meters Centerline goodness : 0.064206 Centerline is valid? [False, False] Translation: X:0.78, Y:0.11, Z:-0.22 [[ 0.99986154 0.00122665 0.01659526 0.77591778] [-0.00131412 0.9999853 0.0052608 0.10790104] [-0.01658857 -0.00528188 0.99984845 -0.22249014] [ 0. 0. 0. 1. ]] SLAMing on 3.1831333649999998 meters Centerline goodness : 0.263160 Centerline is valid? [False, False] Translation: X:0.80, Y:0.11, Z:-0.22 [[ 0.99989263 -0.00551575 0.01357601 0.80392066] [ 0.00543973 0.99996936 0.00562991 0.11243924] [-0.01360664 -0.00555545 0.99989199 -0.22109918] [ 0. 0. 0. 1. ]] SLAMing on 3.213133365 meters Centerline goodness : 0.065596 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:-0.23 [[ 0.99989647 -0.00684651 0.01265578 0.81179967] [ 0.00679047 0.99996697 0.00446555 0.11596369] [-0.01268593 -0.00437915 0.99990994 -0.22610225] [ 0. 0. 0. 1. ]] SLAMing on 3.243133365 meters Centerline goodness : 0.065446 Centerline is valid? [False, False] Translation: X:0.82, Y:0.12, Z:-0.23 [[ 0.99989672 -0.0076339 0.0121764 0.81757524] [ 0.00758867 0.99996415 0.0037565 0.11851442] [-0.01220464 -0.00366371 0.99991881 -0.23012696] [ 0. 0. 0. 1. ]] SLAMing on 3.273133365 meters Centerline goodness : 0.066319 Centerline is valid? [False, False] Translation: X:0.82, Y:0.12, Z:-0.23 [[ 0.99989731 -0.00779888 0.01202282 0.82102751] [ 0.00775643 0.99996353 0.00357374 0.11976408] [-0.01205025 -0.00348011 0.99992134 -0.23235351] [ 0. 0. 0. 1. ]] SLAMing on 3.303133365 meters Centerline goodness : 0.064569 Centerline is valid? [False, False] Translation: X:0.85, Y:0.12, Z:-0.24 [[ 0.99996247 -0.00366492 0.00785053 0.84791471] [ 0.00364198 0.99998906 0.00293482 0.1179977 ] [-0.0078612 -0.00290612 0.99996488 -0.23708174] [ 0. 0. 0. 1. ]] SLAMing on 3.333133365 meters Centerline goodness : 0.064680 Centerline is valid? [False, False] Translation: X:0.86, Y:0.12, Z:-0.24 [[ 0.99996677 -0.00143531 0.0080243 0.85933417] [ 0.00139589 0.99998694 0.00491594 0.12322591] [-0.00803125 -0.00490458 0.99995572 -0.24099455] [ 0. 0. 0. 1. ]] SLAMing on 3.363133365 meters Centerline goodness : 0.493988 Centerline is valid? [False, False] Translation: X:0.87, Y:0.13, Z:-0.25 [[ 9.99976588e-01 2.03335545e-04 6.83971918e-03 8.69847064e-01] [-2.41617950e-04 9.99984309e-01 5.59671198e-03 1.28087781e-01] [-6.83847385e-03 -5.59823355e-03 9.99960947e-01 -2.47779902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3931333649999997 meters Centerline goodness : 0.068133 Centerline is valid? [False, False] Translation: X:0.88, Y:0.13, Z:-0.25 [[ 0.99998177 0.00202174 0.00569032 0.87953051] [-0.00205812 0.99997744 0.00639429 0.13304116] [-0.00567726 -0.00640589 0.99996337 -0.25383253] [ 0. 0. 0. 1. ]] SLAMing on 3.423133365 meters Centerline goodness : 0.068589 Centerline is valid? [False, False] Translation: X:0.89, Y:0.14, Z:-0.26 [[ 0.99996523 0.00530247 0.00643532 0.88687861] [-0.00535848 0.99994765 0.00871641 0.14155979] [-0.00638876 -0.00875059 0.9999413 -0.25557038] [ 0. 0. 0. 1. ]] SLAMing on 3.453133365 meters Centerline goodness : 0.066482 Centerline is valid? [False, False] Translation: X:0.93, Y:0.15, Z:-0.26 [[ 9.99974670e-01 7.07645646e-03 -7.63323827e-04 9.28464951e-01] [-7.07017691e-03 9.99943503e-01 7.93744247e-03 1.49911430e-01] [ 8.19449668e-04 -7.93184458e-03 9.99968207e-01 -2.55502338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.483133365 meters Centerline goodness : 0.140382 Centerline is valid? [False, False] Translation: X:0.93, Y:0.16, Z:-0.26 [[ 0.99997478 0.00698727 -0.00127336 0.9324166 ] [-0.00697805 0.9999504 0.00710657 0.15777985] [ 0.00132295 -0.0070975 0.99997394 -0.25736225] [ 0. 0. 0. 1. ]] SLAMing on 3.513133365 meters Centerline goodness : 0.066763 Centerline is valid? [False, False] Translation: X:0.94, Y:0.17, Z:-0.26 [[ 0.99997632 0.00668717 -0.00162296 0.93558289] [-0.00667685 0.99995797 0.00628263 0.16522292] [ 0.0016649 -0.00627164 0.99997895 -0.25915969] [ 0. 0. 0. 1. ]] SLAMing on 3.543133365 meters Centerline goodness : 0.066565 Centerline is valid? [False, False] Translation: X:0.94, Y:0.18, Z:-0.26 [[ 9.99984268e-01 5.60159571e-03 -2.92613054e-04 9.39559633e-01] [-5.60006184e-03 9.99971803e-01 5.00327798e-03 1.75089308e-01] [ 3.20631144e-04 -5.00156062e-03 9.99987441e-01 -2.58968685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.573133365 meters Centerline goodness : 0.128303 Centerline is valid? [False, False] Translation: X:0.94, Y:0.18, Z:-0.26 [[ 9.99986293e-01 5.21345054e-03 -4.82833301e-04 9.42488297e-01] [-5.21111102e-03 9.99975254e-01 4.72614491e-03 1.77458920e-01] [ 5.07460875e-04 -4.72356404e-03 9.99988715e-01 -2.59497620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6031333649999997 meters Centerline goodness : 0.125344 Centerline is valid? [False, False] Translation: X:0.95, Y:0.18, Z:-0.26 [[ 9.99988688e-01 4.71828285e-03 -6.01908512e-04 9.45594102e-01] [-4.71548736e-03 9.99978466e-01 4.56418718e-03 1.80106959e-01] [ 6.23430677e-04 -4.56129726e-03 9.99989403e-01 -2.59697032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.633133365 meters Centerline goodness : 0.453122 Centerline is valid? [False, False] Translation: X:0.95, Y:0.18, Z:-0.26 [[ 9.99990854e-01 4.22095283e-03 -6.89441333e-04 9.48509919e-01] [-4.21789240e-03 9.99981505e-01 4.38172207e-03 1.83008486e-01] [ 7.07923624e-04 -4.37877400e-03 9.99990163e-01 -2.59940670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6631333649999998 meters Centerline goodness : 0.243256 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:-0.26 [[ 0.99999469 0.00302989 0.00120202 0.95179056] [-0.00303435 0.99998847 0.00372271 0.19014471] [-0.00119072 -0.00372634 0.99999235 -0.25908 ] [ 0. 0. 0. 1. ]] SLAMing on 3.693133365 meters Centerline goodness : 0.211489 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:-0.26 [[ 9.99996050e-01 2.68378658e-03 8.34552840e-04 9.54009775e-01] [-2.68636323e-03 9.99991581e-01 3.10182086e-03 1.93912388e-01] [-8.26221189e-04 -3.10405052e-03 9.99994841e-01 -2.59948482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.723133365 meters Centerline goodness : 0.101852 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.26 [[ 9.99997155e-01 2.33753809e-03 4.74302728e-04 9.56341554e-01] [-2.33867855e-03 9.99994341e-01 2.41835623e-03 1.98196238e-01] [-4.68647044e-04 -2.41945860e-03 9.99996963e-01 -2.61189539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.753133365 meters Centerline goodness : 0.270666 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.26 [[ 9.99997911e-01 2.03172211e-03 2.24936670e-04 9.57893349e-01] [-2.03211492e-03 9.99996386e-01 1.76006982e-03 2.02522246e-01] [-2.21359884e-04 -1.76052324e-03 9.99998426e-01 -2.61843625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.783133365 meters Centerline goodness : 0.107678 Centerline is valid? [False, False] Translation: X:0.96, Y:0.21, Z:-0.26 [[ 9.99998628e-01 1.65667590e-03 -9.46531855e-06 9.60532868e-01] [-1.65666520e-03 9.99998091e-01 1.03637761e-03 2.08115552e-01] [ 1.11822423e-05 -1.03636051e-03 9.99999463e-01 -2.63296827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.813133365 meters Centerline goodness : 0.082259 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.26 [[ 9.99997025e-01 9.62483177e-04 2.24129206e-03 9.62267089e-01] [-9.62700047e-04 9.99999532e-01 9.56844123e-05 2.15521573e-01] [-2.24119892e-03 -9.78418196e-05 9.99997484e-01 -2.63031052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.843133365 meters Centerline goodness : 0.079711 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.26 [[ 9.99996984e-01 6.79661737e-04 2.35990419e-03 9.64224222e-01] [-6.79295965e-04 9.99999757e-01 -1.55792161e-04 2.17778273e-01] [-2.36000950e-03 1.54188618e-04 9.99997203e-01 -2.63592941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8731333649999997 meters Centerline goodness : 0.078315 Centerline is valid? [False, False] Translation: X:0.97, Y:0.22, Z:-0.26 [[ 9.99997196e-01 4.48232934e-04 2.32541813e-03 9.66103855e-01] [-4.47311253e-04 9.99999821e-01 -3.96855679e-04 2.19581135e-01] [-2.32559560e-03 3.95814381e-04 9.99997217e-01 -2.64221600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.903133365 meters Centerline goodness : 0.088952 Centerline is valid? [False, False] Translation: X:0.97, Y:0.22, Z:-0.26 [[ 9.99988104e-01 2.52979977e-06 4.87773598e-03 9.67122995e-01] [ 1.49726876e-06 9.99999659e-01 -8.25598162e-04 2.23042633e-01] [-4.87773640e-03 8.25595643e-04 9.99987763e-01 -2.64298003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9331333649999998 meters SLAMing on 3.963133365 meters SLAMing on 3.993133365 meters SLAMing on 4.023133365 meters SLAMing on 4.053133365 meters SLAMing on 4.083133365 meters SLAMing on 4.1131333649999995 meters SLAMing on 4.143133365 meters SLAMing on 4.173133365 meters Centerline goodness : 0.092300 Centerline is valid? [False, False] Translation: X:1.10, Y:0.25, Z:-0.27 [[ 9.99600541e-01 1.53697049e-02 2.37177082e-02 1.10499616e+00] [-1.53848488e-02 9.99881542e-01 4.56154378e-04 2.46992633e-01] [-2.37078877e-02 -8.20865518e-04 9.99718592e-01 -2.66391398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.203133365 meters Centerline goodness : 0.170667 Centerline is valid? [False, False] Translation: X:1.11, Y:0.25, Z:-0.27 [[ 9.99602243e-01 1.54064676e-02 2.36219416e-02 1.10603961e+00] [-1.54115918e-02 9.99881234e-01 3.48815855e-05 2.50132000e-01] [-2.36185987e-02 -3.98919434e-04 9.99720962e-01 -2.66593675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.233133365 meters Centerline goodness : 0.171371 Centerline is valid? [False, False] Translation: X:1.10, Y:0.25, Z:-0.27 [[ 0.99945743 0.01908374 0.02684498 1.1046634 ] [-0.01918662 0.99980951 0.00357978 0.25309578] [-0.02677155 -0.0040929 0.9996332 -0.26717694] [ 0. 0. 0. 1. ]] SLAMing on 4.263133365 meters Centerline goodness : 0.172966 Centerline is valid? [False, False] Translation: X:1.11, Y:0.26, Z:-0.27 [[ 0.99945973 0.01908124 0.02676113 1.10566988] [-0.01917107 0.9998114 0.0031043 0.25703168] [-0.02669685 -0.00361566 0.99963704 -0.26781549] [ 0. 0. 0. 1. ]] SLAMing on 4.293133365 meters Centerline goodness : 0.172553 Centerline is valid? [False, False] Translation: X:1.13, Y:0.27, Z:-0.27 [[ 0.99962943 0.01464392 0.02294706 1.13104013] [-0.01475222 0.99988079 0.00455727 0.26598733] [-0.02287758 -0.0048941 0.99972629 -0.26982023] [ 0. 0. 0. 1. ]] SLAMing on 4.323133365 meters Centerline goodness : 0.196847 Centerline is valid? [False, False] Translation: X:1.11, Y:0.27, Z:-0.27 [[ 0.99962276 0.00877655 0.02602531 1.11237469] [-0.00891039 0.99994764 0.0050312 0.27318294] [-0.02597979 -0.0052612 0.99964862 -0.27210624] [ 0. 0. 0. 1. ]] SLAMing on 4.353133365 meters Centerline goodness : 0.197714 Centerline is valid? [False, False] Translation: X:1.11, Y:0.28, Z:-0.27 [[ 0.99955459 0.00838187 0.0286419 1.11097611] [-0.00851428 0.99995361 0.00450386 0.27677874] [-0.02860282 -0.00474572 0.99957959 -0.27190188] [ 0. 0. 0. 1. ]] SLAMing on 4.383133365 meters Centerline goodness : 0.198859 Centerline is valid? [False, False] Translation: X:1.11, Y:0.28, Z:-0.27 [[ 0.99956053 0.00820285 0.02848597 1.11206599] [-0.00832678 0.99995637 0.00423446 0.27846969] [-0.02844999 -0.00446979 0.99958522 -0.27208139] [ 0. 0. 0. 1. ]] SLAMing on 4.413133365 meters Centerline goodness : 0.083805 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.27 [[ 0.99951517 0.00138739 0.03110455 1.09177375] [-0.00155043 0.99998518 0.00521822 0.28325079] [-0.03109685 -0.00526391 0.99950251 -0.27406825] [ 0. 0. 0. 1. ]] SLAMing on 4.443133365 meters Centerline goodness : 0.084357 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.27 [[ 0.99952038 0.00120584 0.03094438 1.09295919] [-0.00136532 0.99998589 0.00513305 0.28358147] [-0.03093775 -0.00517283 0.99950793 -0.2743397 ] [ 0. 0. 0. 1. ]] SLAMing on 4.473133365 meters Centerline goodness : 0.080768 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.27 [[ 9.99425695e-01 2.62240880e-04 3.38852644e-02 1.09035003e+00] [-4.26635559e-04 9.99988175e-01 4.84437009e-03 2.83403746e-01] [-3.38835933e-02 -4.85604460e-03 9.99413989e-01 -2.74368465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.503133365 meters Centerline goodness : 0.087011 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.27 [[ 9.99434489e-01 1.15565914e-04 3.36257169e-02 1.09176375e+00] [-2.78693406e-04 9.99988216e-01 4.84662528e-03 2.83037156e-01] [-3.36247605e-02 -4.85325573e-03 9.99422744e-01 -2.74836449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.533133365 meters Centerline goodness : 0.098304 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.28 [[ 9.99442912e-01 1.58502838e-05 3.33746323e-02 1.09301152e+00] [-1.77274933e-04 9.99988301e-01 4.83379337e-03 2.82865303e-01] [-3.33741653e-02 -4.83701701e-03 9.99431222e-01 -2.75429835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.563133365 meters Centerline goodness : 0.068684 Centerline is valid? [False, False] Translation: X:1.05, Y:0.28, Z:-0.28 [[ 9.99201120e-01 -4.56637555e-04 3.99613927e-02 1.05206604e+00] [ 2.57060435e-04 9.99987471e-01 4.99924414e-03 2.80414129e-01] [-3.99631749e-02 -4.98497785e-03 9.99188718e-01 -2.77632151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.593133365 meters Centerline goodness : 0.070317 Centerline is valid? [False, False] Translation: X:1.05, Y:0.28, Z:-0.28 [[ 9.99121792e-01 -5.01072298e-04 4.18974236e-02 1.05123370e+00] [ 2.96356492e-04 9.99987989e-01 4.89218747e-03 2.81919860e-01] [-4.18993718e-02 -4.87547454e-03 9.99109940e-01 -2.78427435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.623133365 meters Centerline goodness : 0.068843 Centerline is valid? [False, False] Translation: X:1.03, Y:0.28, Z:-0.28 [[ 0.99907218 0.00674412 0.0425359 1.03248347] [-0.00688791 0.99997105 0.00323496 0.27727756] [-0.04251285 -0.00352494 0.9990897 -0.27950938] [ 0. 0. 0. 1. ]] SLAMing on 4.6531333649999995 meters Centerline goodness : 0.069025 Centerline is valid? [False, False] Translation: X:1.03, Y:0.28, Z:-0.28 [[ 0.99906801 0.00671616 0.04263811 1.03279392] [-0.0068587 0.99997137 0.00319767 0.27740511] [-0.04261541 -0.00348713 0.99908547 -0.27920089] [ 0. 0. 0. 1. ]] SLAMing on 4.683133365 meters Centerline goodness : 0.077419 Centerline is valid? [False, False] Translation: X:1.01, Y:0.28, Z:-0.28 [[ 9.98966448e-01 -6.62107105e-04 4.54488429e-02 1.01080971e+00] [ 4.71209329e-04 9.99991023e-01 4.21086302e-03 2.80821023e-01] [-4.54512229e-02 -4.18509496e-03 9.98957793e-01 -2.79521803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.713133365 meters Centerline goodness : 0.077747 Centerline is valid? [False, False] Translation: X:1.01, Y:0.28, Z:-0.28 [[ 9.98970994e-01 -6.51851067e-04 4.53489559e-02 1.01144619e+00] [ 4.53730550e-04 9.99990309e-01 4.37895620e-03 2.79962111e-01] [-4.53513708e-02 -4.35387402e-03 9.98961609e-01 -2.79703735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.743133365 meters Centerline goodness : 0.195369 Centerline is valid? [False, False] Translation: X:1.01, Y:0.28, Z:-0.28 [[ 9.98972994e-01 -6.44424045e-04 4.53049781e-02 1.01189681e+00] [ 4.37389615e-04 9.99989418e-01 4.57955884e-03 2.78705971e-01] [-4.53074498e-02 -4.55503968e-03 9.98962705e-01 -2.80006724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.773133365 meters Centerline goodness : 0.242788 Centerline is valid? [False, False] Translation: X:1.01, Y:0.28, Z:-0.28 [[ 9.98937643e-01 -7.65488960e-04 4.60760180e-02 1.01185681e+00] [ 5.39758249e-04 9.99987794e-01 4.91133550e-03 2.76360653e-01] [-4.60792152e-02 -4.88124800e-03 9.98925863e-01 -2.80032897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.803133365 meters Centerline goodness : 0.077016 Centerline is valid? [False, False] Translation: X:1.01, Y:0.28, Z:-0.28 [[ 9.98942092e-01 -7.13432189e-04 4.59802964e-02 1.01229103e+00] [ 4.78049997e-04 9.99986727e-01 5.12998988e-03 2.75369861e-01] [-4.59833460e-02 -5.10258194e-03 9.98929174e-01 -2.79846384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.833133365 meters Centerline goodness : 0.199724 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.98945182e-01 -6.82001469e-04 4.59135914e-02 1.01256683e+00] [ 4.38551431e-04 9.99985794e-01 5.31221656e-03 2.74579031e-01] [-4.59165621e-02 -5.28647767e-03 9.98931290e-01 -2.79643186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8631333649999995 meters Centerline goodness : 0.219873 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.98949332e-01 -6.31840964e-04 4.58239411e-02 1.01299494e+00] [ 3.81326432e-04 9.99984937e-01 5.47542740e-03 2.73862900e-01] [-4.58267104e-02 -5.45220066e-03 9.98934525e-01 -2.79750338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.893133365 meters Centerline goodness : 0.161896 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.99439333e-01 -4.74653985e-04 3.34782650e-02 1.00917843e+00] [ 3.06689155e-04 9.99987342e-01 5.02208740e-03 2.70861120e-01] [-3.34802250e-02 -5.00900426e-03 9.99426828e-01 -2.75456641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.923133365 meters Centerline goodness : 0.168648 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.99442785e-01 -4.38251517e-04 3.33755466e-02 1.00957351e+00] [ 2.69024226e-04 9.99987087e-01 5.07471946e-03 2.70627168e-01] [-3.33773396e-02 -5.06291292e-03 9.99429998e-01 -2.75846606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.953133365 meters Centerline goodness : 0.210506 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.99445319e-01 -4.11431768e-04 3.32999215e-02 1.00993637e+00] [ 2.42749873e-04 9.99987121e-01 5.06941871e-03 2.70794231e-01] [-3.33015784e-02 -5.05852325e-03 9.99432547e-01 -2.75928804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.983133365 meters Centerline goodness : 0.210506 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.99445319e-01 -4.11431768e-04 3.32999215e-02 1.00993637e+00] [ 2.42749873e-04 9.99987121e-01 5.06941871e-03 2.70794231e-01] [-3.33015784e-02 -5.05852325e-03 9.99432547e-01 -2.75928804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.013133365 meters Centerline goodness : 0.164576 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.99444899e-01 -4.28046582e-04 3.33123254e-02 1.01001073e+00] [ 2.62334601e-04 9.99987572e-01 4.97870626e-03 2.71260795e-01] [-3.33140425e-02 -4.96720360e-03 9.99432590e-01 -2.75869923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.043133365 meters Centerline goodness : 0.211517 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.99431977e-01 -4.65720227e-04 3.36972908e-02 1.01000171e+00] [ 3.01465455e-04 9.99988051e-01 4.87933725e-03 2.71799899e-01] [-3.36991606e-02 -4.86640711e-03 9.99420174e-01 -2.75779818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0731333649999995 meters Centerline goodness : 0.207429 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 9.99469249e-01 -6.61538276e-04 3.25696687e-02 9.68745530e-01] [ 5.14608913e-04 9.99989655e-01 4.51940882e-03 2.68881788e-01] [-3.25723216e-02 -4.50024950e-03 9.99459250e-01 -2.75724374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.103133365 meters Centerline goodness : 0.175360 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 9.99472957e-01 -6.47084378e-04 3.24559524e-02 9.69168034e-01] [ 5.00503051e-04 9.99989640e-01 4.52423666e-03 2.68898617e-01] [-3.24585437e-02 -4.50560789e-03 9.99462927e-01 -2.75911677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.133133365 meters Centerline goodness : 0.192311 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 9.99476778e-01 -6.23531712e-04 3.23385510e-02 9.69608375e-01] [ 4.76148832e-04 9.99989467e-01 4.56499873e-03 2.68824783e-01] [-3.23410568e-02 -4.54721226e-03 9.99466547e-01 -2.76238940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.163133365 meters Centerline goodness : 0.193168 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 9.99474328e-01 -6.80508808e-04 3.24130213e-02 9.70005069e-01] [ 5.36345711e-04 9.99989927e-01 4.45617776e-03 2.69377971e-01] [-3.24157273e-02 -4.43645069e-03 9.99464626e-01 -2.76513274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.193133365 meters Centerline goodness : 0.209110 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 9.99478656e-01 -7.51568598e-04 3.22777334e-02 9.70284572e-01] [ 6.14088220e-04 9.99990699e-01 4.26899674e-03 2.70081734e-01] [-3.22806416e-02 -4.24694975e-03 9.99469821e-01 -2.76478858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.223133365 meters Centerline goodness : 0.270386 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 9.99482250e-01 -7.81181020e-04 3.21655477e-02 9.70529306e-01] [ 6.51504714e-04 9.99991620e-01 4.04181135e-03 2.71348099e-01] [-3.21684355e-02 -4.01876269e-03 9.99474383e-01 -2.76511061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.253133365 meters Centerline goodness : 0.268027 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 9.99487695e-01 -7.36526261e-04 3.19969433e-02 9.71005816e-01] [ 6.14815439e-04 9.99992540e-01 3.81349866e-03 2.73084602e-01] [-3.19995133e-02 -3.79187277e-03 9.99480692e-01 -2.76820936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.283133364999999 meters Centerline goodness : 0.253498 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 0.99948193 0.00297172 0.03204746 0.9712348 ] [-0.00321405 0.99996661 0.00751283 0.2741166 ] [-0.03202406 -0.00761194 0.99945811 -0.27709953] [ 0. 0. 0. 1. ]] SLAMing on 5.313133365 meters Centerline goodness : 0.254949 Centerline is valid? [False, False] Translation: X:0.97, Y:0.28, Z:-0.28 [[ 0.99948506 0.00291914 0.03195456 0.97141348] [-0.00315368 0.99996844 0.00729183 0.2751817 ] [-0.03193227 -0.00738885 0.99946272 -0.27696066] [ 0. 0. 0. 1. ]] SLAMing on 5.343133365 meters Centerline goodness : 0.242818 Centerline is valid? [False, False] Translation: X:0.97, Y:0.28, Z:-0.28 [[ 0.99948787 0.002856 0.03187242 0.97144719] [-0.00308662 0.9999694 0.00718875 0.27546743] [-0.03185091 -0.00728344 0.99946609 -0.27663471] [ 0. 0. 0. 1. ]] SLAMing on 5.373133365 meters Centerline goodness : 0.250441 Centerline is valid? [False, False] Translation: X:0.97, Y:0.28, Z:-0.28 [[ 0.99949049 0.0028271 0.03179251 0.97143549] [-0.00305819 0.99996924 0.00722263 0.2751133 ] [-0.03177111 -0.00731618 0.99946839 -0.27619405] [ 0. 0. 0. 1. ]] SLAMing on 5.4031333649999995 meters Centerline goodness : 0.240320 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 0.9994936 0.00278534 0.03169831 0.97186318] [-0.00302462 0.99996728 0.00750309 0.27372416] [-0.03167637 -0.00759516 0.99946932 -0.27607031] [ 0. 0. 0. 1. ]] SLAMing on 5.433133365 meters Centerline goodness : 0.134971 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99956283 -0.00507551 0.02912727 0.95202524] [ 0.00481876 0.99994898 0.00887831 0.27407847] [-0.02917084 -0.00873407 0.99953628 -0.27596525] [ 0. 0. 0. 1. ]] SLAMing on 5.463133365 meters Centerline goodness : 0.224535 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99956644 -0.00506037 0.02900565 0.95248508] [ 0.00479784 0.99994696 0.00911362 0.2726242 ] [-0.02905023 -0.0089705 0.9995377 -0.27625163] [ 0. 0. 0. 1. ]] SLAMing on 5.493133365 meters Centerline goodness : 0.212126 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99956928 -0.00502159 0.02891423 0.95275239] [ 0.00475175 0.99994459 0.00939371 0.27100824] [-0.0289598 -0.00925227 0.99953776 -0.27624489] [ 0. 0. 0. 1. ]] SLAMing on 5.523133365 meters Centerline goodness : 0.135583 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99956922 -0.00484506 0.02894655 0.95257809] [ 0.00456162 0.99994108 0.00985005 0.2689355 ] [-0.02899256 -0.00971376 0.99953243 -0.27576192] [ 0. 0. 0. 1. ]] SLAMing on 5.553133365 meters Centerline goodness : 0.147513 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.9995683 -0.00474375 0.02899507 0.95247418] [ 0.00445815 0.99994099 0.00990665 0.26898839] [-0.02904035 -0.00977311 0.99953046 -0.27581588] [ 0. 0. 0. 1. ]] SLAMing on 5.583133365 meters Centerline goodness : 0.203206 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99956829 -0.00463626 0.02901273 0.95248759] [ 0.00434769 0.99994053 0.01000137 0.26871784] [-0.02905737 -0.00987091 0.99952901 -0.27599605] [ 0. 0. 0. 1. ]] SLAMing on 5.6131333649999995 meters Centerline goodness : 0.202441 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99957482 -0.00448128 0.02881156 0.95329462] [ 0.00418771 0.99993879 0.01024154 0.2674055 ] [-0.02885569 -0.01011653 0.99953239 -0.27686924] [ 0. 0. 0. 1. ]] SLAMing on 5.643133365 meters Centerline goodness : 0.228854 Centerline is valid? [False, False] Translation: X:0.93, Y:0.26, Z:-0.28 [[ 0.99961701 0.00382426 0.02740826 0.9338253 ] [-0.00408106 0.99994824 0.00931959 0.26077416] [-0.02737121 -0.00942788 0.99958088 -0.27681287] [ 0. 0. 0. 1. ]] SLAMing on 5.673133365 meters Centerline goodness : 0.225331 Centerline is valid? [False, False] Translation: X:0.93, Y:0.26, Z:-0.28 [[ 0.9996214 0.00394802 0.02723012 0.93424076] [-0.00420853 0.99994586 0.00951644 0.26004368] [-0.02719108 -0.00962744 0.99958389 -0.27692169] [ 0. 0. 0. 1. ]] SLAMing on 5.703133365 meters Centerline goodness : 0.187704 Centerline is valid? [False, False] Translation: X:0.93, Y:0.26, Z:-0.28 [[ 0.99962064 0.00411215 0.0272334 0.93450118] [-0.00438466 0.99994084 0.00995443 0.25786887] [-0.02719085 -0.01007007 0.99957954 -0.27741781] [ 0. 0. 0. 1. ]] SLAMing on 5.733133365 meters Centerline goodness : 0.133834 Centerline is valid? [False, False] Translation: X:0.91, Y:0.26, Z:-0.28 [[ 0.9996817 -0.00417698 0.02488062 0.91371201] [ 0.00390312 0.99993138 0.01104537 0.25767828] [-0.02492505 -0.01094474 0.99962941 -0.27690282] [ 0. 0. 0. 1. ]] SLAMing on 5.763133365 meters Centerline goodness : 0.208949 Centerline is valid? [False, False] Translation: X:0.91, Y:0.26, Z:-0.28 [[ 0.99968247 -0.00408831 0.02486447 0.91373941] [ 0.00380571 0.99992775 0.01140268 0.25589222] [-0.02490929 -0.01130443 0.9996258 -0.2767557 ] [ 0. 0. 0. 1. ]] SLAMing on 5.793133365 meters SLAMing on 5.8231333649999995 meters Centerline goodness : 0.100297 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.28 [[ 0.99968575 -0.00401256 0.02474466 0.91418896] [ 0.00371657 0.99992114 0.01199619 0.25254463] [-0.02479084 -0.01190046 0.99962183 -0.27687123] [ 0. 0. 0. 1. ]] SLAMing on 5.853133365 meters SLAMing on 5.883133365 meters Centerline goodness : 0.200522 Centerline is valid? [False, False] Translation: X:0.92, Y:0.25, Z:-0.28 [[ 0.9997029 -0.00386457 0.02406625 0.91647446] [ 0.00357683 0.99992175 0.01198766 0.25313751] [-0.02411069 -0.01189802 0.99963849 -0.27857477] [ 0. 0. 0. 1. ]] SLAMing on 5.913133365 meters Centerline goodness : 0.196011 Centerline is valid? [False, False] Translation: X:0.92, Y:0.25, Z:-0.28 [[ 0.9997072 -0.00389023 0.02388245 0.91706807] [ 0.00360694 0.99992276 0.0118935 0.25357087] [-0.02392688 -0.01180387 0.99964402 -0.27896222] [ 0. 0. 0. 1. ]] SLAMing on 5.943133365 meters SLAMing on 5.973133365 meters SLAMing on 6.003133365 meters Centerline goodness : 0.099051 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.27 [[ 0.99967102 -0.00579963 0.02498439 0.91149967] [ 0.00554032 0.9999302 0.01043571 0.25105203] [-0.02504317 -0.01029386 0.99963337 -0.27440764] [ 0. 0. 0. 1. ]] SLAMing on 6.033133364999999 meters Centerline goodness : 0.109854 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.27 [[ 0.9996711 -0.00576057 0.02498997 0.9114882 ] [ 0.00549425 0.99992752 0.01071285 0.24953218] [-0.02504987 -0.01057203 0.9996303 -0.27425076] [ 0. 0. 0. 1. ]] SLAMing on 6.063133365 meters Centerline goodness : 0.193074 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.27 [[ 0.99967289 -0.0058957 0.02488697 0.91216681] [ 0.0056251 0.99992445 0.01092906 0.24732607] [-0.02494953 -0.0107855 0.99963053 -0.27483278] [ 0. 0. 0. 1. ]] SLAMing on 6.093133365 meters Centerline goodness : 0.192905 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.28 [[ 0.99967472 -0.0058649 0.02482036 0.91246874] [ 0.00559224 0.99992342 0.01104041 0.24670975] [-0.02488321 -0.01089802 0.99963096 -0.27508383] [ 0. 0. 0. 1. ]] SLAMing on 6.123133365 meters Centerline goodness : 0.188281 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.27 [[ 0.99967538 -0.00578299 0.02481322 0.91235641] [ 0.00550724 0.99992248 0.01116696 0.24636864] [-0.02487587 -0.01102668 0.99962973 -0.2748478 ] [ 0. 0. 0. 1. ]] SLAMing on 6.1531333649999995 meters Centerline goodness : 0.189349 Centerline is valid? [False, False] Translation: X:0.89, Y:0.24, Z:-0.27 [[ 0.99968498 0.00315341 0.02489988 0.89063033] [-0.00342479 0.99993512 0.0108638 0.24048714] [-0.024864 -0.01094565 0.99963092 -0.27392606] [ 0. 0. 0. 1. ]] SLAMing on 6.183133365 meters Centerline goodness : 0.099293 Centerline is valid? [False, False] Translation: X:0.89, Y:0.24, Z:-0.27 [[ 0.99968267 0.00314138 0.02499364 0.89031897] [-0.00340918 0.99993716 0.01067945 0.24149964] [-0.02495852 -0.01076127 0.99963057 -0.27381309] [ 0. 0. 0. 1. ]] SLAMing on 6.213133365 meters Centerline goodness : 0.180982 Centerline is valid? [False, False] Translation: X:0.89, Y:0.24, Z:-0.27 [[ 0.99968486 0.00319954 0.02489886 0.89054133] [-0.00346132 0.99993912 0.01047769 0.2427894 ] [-0.02486382 -0.01056057 0.99963507 -0.2740155 ] [ 0. 0. 0. 1. ]] SLAMing on 6.243133365 meters Centerline goodness : 0.179404 Centerline is valid? [False, False] Translation: X:0.89, Y:0.25, Z:-0.28 [[ 0.9996921 0.00334294 0.02458708 0.89168078] [-0.00359336 0.99994206 0.01014763 0.2451588 ] [-0.02455173 -0.01023286 0.99964619 -0.27505514] [ 0. 0. 0. 1. ]] SLAMing on 6.273133365 meters Centerline goodness : 0.180333 Centerline is valid? [False, False] Translation: X:0.89, Y:0.25, Z:-0.28 [[ 0.99969365 0.00329168 0.02453085 0.89193605] [-0.00353856 0.99994346 0.01002765 0.24563052] [-0.02449646 -0.01011138 0.99964878 -0.27533258] [ 0. 0. 0. 1. ]] SLAMing on 6.303133365 meters Centerline goodness : 0.180450 Centerline is valid? [False, False] Translation: X:0.89, Y:0.25, Z:-0.28 [[ 0.99969418 0.00325808 0.02451375 0.89190121] [-0.00350485 0.99994355 0.01003054 0.24535793] [-0.02447968 -0.01011339 0.99964917 -0.27518568] [ 0. 0. 0. 1. ]] SLAMing on 6.333133365 meters Centerline goodness : 0.178085 Centerline is valid? [False, False] Translation: X:0.89, Y:0.24, Z:-0.27 [[ 0.99969433 0.00329383 0.0245029 0.8917527 ] [-0.00354638 0.99994097 0.01027055 0.24395713] [-0.02446762 -0.01035431 0.999647 -0.2747921 ] [ 0. 0. 0. 1. ]] SLAMing on 6.3631333649999995 meters Centerline goodness : 0.180901 Centerline is valid? [False, False] Translation: X:0.89, Y:0.24, Z:-0.27 [[ 9.99702259e-01 -3.78186156e-04 2.43977395e-02 8.91867778e-01] [ 2.15415708e-04 9.99977707e-01 6.67382138e-03 2.43160186e-01] [-2.43997195e-02 -6.66657866e-03 9.99680054e-01 -2.74687799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.393133365 meters Centerline goodness : 0.179819 Centerline is valid? [False, False] Translation: X:0.89, Y:0.24, Z:-0.28 [[ 9.99710164e-01 -3.66074083e-04 2.40718447e-02 8.92906482e-01] [ 2.00860990e-04 9.99976413e-01 6.86539303e-03 2.42076713e-01] [-2.40737901e-02 -6.85856810e-03 9.99686657e-01 -2.75136331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.423133365 meters Centerline goodness : 0.180948 Centerline is valid? [False, False] Translation: X:0.89, Y:0.24, Z:-0.28 [[ 9.99717428e-01 -3.41197642e-04 2.37686445e-02 8.93813164e-01] [ 1.74277856e-04 9.99975313e-01 7.02440602e-03 2.41259956e-01] [-2.37704544e-02 -7.01827877e-03 9.99692807e-01 -2.75470803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.453133365 meters Centerline goodness : 0.178567 Centerline is valid? [False, False] Translation: X:0.90, Y:0.24, Z:-0.28 [[ 9.99727608e-01 -3.98955617e-04 2.33356005e-02 8.95010474e-01] [ 2.29818775e-04 9.99973690e-01 7.25025036e-03 2.39793188e-01] [-2.33378791e-02 -7.24291250e-03 9.99701397e-01 -2.75737845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.483133365 meters Centerline goodness : 0.089540 Centerline is valid? [False, False] Translation: X:0.87, Y:0.24, Z:-0.27 [[ 0.99972916 0.00561049 0.02258606 0.8718603 ] [-0.00570792 0.99997467 0.00425177 0.23560873] [-0.02256163 -0.00437953 0.99973586 -0.27402185] [ 0. 0. 0. 1. ]] SLAMing on 6.513133365 meters Centerline goodness : 0.176480 Centerline is valid? [False, False] Translation: X:0.87, Y:0.23, Z:-0.27 [[ 0.99973205 0.0056128 0.02245709 0.87213026] [-0.00571427 0.99997374 0.00445677 0.23440484] [-0.02243149 -0.00458391 0.99973787 -0.27392163] [ 0. 0. 0. 1. ]] SLAMing on 6.543133365 meters Centerline goodness : 0.182320 Centerline is valid? [False, False] Translation: X:0.87, Y:0.23, Z:-0.27 [[ 0.99973633 0.00564977 0.02225649 0.87275777] [-0.00575576 0.99997239 0.00470083 0.2330796 ] [-0.02222932 -0.00482769 0.99974124 -0.27412407] [ 0. 0. 0. 1. ]] SLAMing on 6.5731333649999995 meters Centerline goodness : 0.180172 Centerline is valid? [False, False] Translation: X:0.88, Y:0.23, Z:-0.28 [[ 0.99976539 0.00542861 0.0209688 0.87626122] [-0.00553452 0.99997221 0.0049957 0.23048227] [-0.0209411 -0.00511058 0.99976765 -0.27503229] [ 0. 0. 0. 1. ]] SLAMing on 6.603133365 meters Centerline goodness : 0.176035 Centerline is valid? [False, False] Translation: X:0.88, Y:0.23, Z:-0.28 [[ 0.99977147 0.00547813 0.02066405 0.87707482] [-0.00558928 0.9999702 0.00532503 0.22869986] [-0.02063426 -0.00543931 0.99977229 -0.27516277] [ 0. 0. 0. 1. ]] SLAMing on 6.633133365 meters Centerline goodness : 0.175134 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.27 [[ 0.99979782 -0.00362093 0.01977896 0.85455767] [ 0.00350374 0.99997612 0.0059564 0.22883711] [-0.01980005 -0.0058859 0.99978663 -0.27428488] [ 0. 0. 0. 1. ]] SLAMing on 6.663133365 meters Centerline goodness : 0.088613 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.27 [[ 0.99979377 -0.00358907 0.01998862 0.85385391] [ 0.00346213 0.99997365 0.00638145 0.226401 ] [-0.020011 -0.00631093 0.99977984 -0.27367699] [ 0. 0. 0. 1. ]] SLAMing on 6.693133365 meters Centerline goodness : 0.073907 Centerline is valid? [False, False] Translation: X:0.85, Y:0.22, Z:-0.27 [[ 0.99978437 -0.00368886 0.02043519 0.85248376] [ 0.00354529 0.99996881 0.00705731 0.2218338 ] [-0.02046059 -0.00698334 0.99976627 -0.27283305] [ 0. 0. 0. 1. ]] SLAMing on 6.723133365 meters Centerline goodness : 0.095861 Centerline is valid? [False, False] Translation: X:0.83, Y:0.22, Z:-0.27 [[ 0.99981555 0.00251258 0.01904088 0.82997147] [-0.00259633 0.99998706 0.00437525 0.21670934] [-0.01902964 -0.00442387 0.99980913 -0.27141982] [ 0. 0. 0. 1. ]] SLAMing on 6.753133365 meters Centerline goodness : 0.179002 Centerline is valid? [False, False] Translation: X:0.85, Y:0.22, Z:-0.27 [[ 0.99980602 -0.00573469 0.01884237 0.85021632] [ 0.00563429 0.99996967 0.00537744 0.2193008 ] [-0.01887263 -0.00527024 0.99980801 -0.27120851] [ 0. 0. 0. 1. ]] SLAMing on 6.783133364999999 meters Centerline goodness : 0.182116 Centerline is valid? [False, False] Translation: X:0.83, Y:0.21, Z:-0.27 [[ 0.99983923 0.00196763 0.01782268 0.83198194] [-0.00204553 0.99998843 0.00435348 0.20826731] [-0.01781391 -0.00438924 0.99983169 -0.27215397] [ 0. 0. 0. 1. ]] SLAMing on 6.813133365 meters Centerline goodness : 0.104656 Centerline is valid? [False, False] Translation: X:0.83, Y:0.21, Z:-0.27 [[ 0.99984085 0.00213606 0.0177118 0.83216833] [-0.00222385 0.99998533 0.0049386 0.2053255 ] [-0.01770099 -0.0049772 0.99983094 -0.27195752] [ 0. 0. 0. 1. ]] SLAMing on 6.843133365 meters Centerline goodness : 0.104656 Centerline is valid? [False, False] Translation: X:0.83, Y:0.21, Z:-0.27 [[ 0.99984085 0.00213606 0.0177118 0.83216833] [-0.00222385 0.99998533 0.0049386 0.2053255 ] [-0.01770099 -0.0049772 0.99983094 -0.27195752] [ 0. 0. 0. 1. ]] SLAMing on 6.873133365 meters Centerline goodness : 0.097640 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.27 [[ 0.9998763 0.0012681 0.01567712 0.78728977] [-0.00134473 0.9999872 0.00487822 0.19899181] [-0.01567073 -0.0048987 0.99986521 -0.26993781] [ 0. 0. 0. 1. ]] SLAMing on 6.9031333649999995 meters Centerline goodness : 0.183714 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.27 [[ 0.9998754 0.00143273 0.01572013 0.78702683] [-0.00152017 0.99998344 0.00555137 0.19552612] [-0.01571192 -0.00557458 0.99986102 -0.26953828] [ 0. 0. 0. 1. ]] SLAMing on 6.933133365 meters Centerline goodness : 0.178626 Centerline is valid? [False, False] Translation: X:0.78, Y:0.19, Z:-0.27 [[ 0.99986534 -0.0014989 0.01634175 0.78438448] [ 0.00144299 0.99999307 0.00343219 0.18886049] [-0.01634678 -0.00340815 0.99986057 -0.26775013] [ 0. 0. 0. 1. ]] SLAMing on 6.963133365 meters Centerline goodness : 0.101736 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.27 [[ 0.99986414 -0.00126423 0.01643499 0.78409128] [ 0.00119523 0.99999043 0.00420739 0.18496511] [-0.01644015 -0.00418718 0.99985608 -0.2674533 ] [ 0. 0. 0. 1. ]] SLAMing on 6.993133364999999 meters Centerline goodness : 0.179110 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.27 [[ 9.99864013e-01 -9.94682275e-04 1.64610638e-02 7.83975356e-01] [ 9.12201486e-04 9.99986997e-01 5.01740982e-03 1.81073674e-01] [-1.64658405e-02 -5.00171171e-03 9.99851919e-01 -2.67246817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.023133365 meters Centerline goodness : 0.168935 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.27 [[ 9.99865078e-01 -6.88767397e-04 1.64119146e-02 7.84114897e-01] [ 5.92382374e-04 9.99982555e-01 5.87700674e-03 1.77031540e-01] [-1.64156761e-02 -5.86649168e-03 9.99848043e-01 -2.67163506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.053133365 meters Centerline goodness : 0.105907 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.27 [[ 0.99987893 -0.00169386 0.01546803 0.78729474] [ 0.00160404 0.99998179 0.00581694 0.1671269 ] [-0.0154776 -0.00579142 0.99986344 -0.26833954] [ 0. 0. 0. 1. ]] SLAMing on 7.083133365 meters Centerline goodness : 0.106847 Centerline is valid? [False, False] Translation: X:0.77, Y:0.16, Z:-0.27 [[ 0.99987452 0.00618048 0.01458559 0.76923085] [-0.00625327 0.9999682 0.00495017 0.15737977] [-0.01455453 -0.00504076 0.99988137 -0.26969598] [ 0. 0. 0. 1. ]] SLAMing on 7.1131333649999995 meters Centerline goodness : 0.105803 Centerline is valid? [False, False] Translation: X:0.77, Y:0.15, Z:-0.27 [[ 0.99987605 0.00642462 0.01437416 0.76983897] [-0.00650563 0.99996318 0.00559612 0.1543446 ] [-0.01433768 -0.00568893 0.99988103 -0.26987119] [ 0. 0. 0. 1. ]] SLAMing on 7.143133365 meters Centerline goodness : 0.135563 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:-0.27 [[ 0.99988754 -0.00148689 0.01492296 0.78918697] [ 0.00138654 0.99997637 0.00673317 0.15598465] [-0.01493262 -0.00671173 0.99986598 -0.26935371] [ 0. 0. 0. 1. ]] SLAMing on 7.173133365 meters Centerline goodness : 0.122382 Centerline is valid? [False, False] Translation: X:0.79, Y:0.15, Z:-0.27 [[ 0.99988435 -0.00132441 0.01515006 0.78844791] [ 0.00121731 0.99997422 0.00707648 0.15432147] [-0.01515904 -0.00705722 0.99986019 -0.26894203] [ 0. 0. 0. 1. ]] SLAMing on 7.203133364999999 meters Centerline goodness : 0.154686 Centerline is valid? [False, False] Translation: X:0.79, Y:0.15, Z:-0.27 [[ 9.99871355e-01 -8.97886173e-04 1.60145876e-02 7.86177167e-01] [ 7.75609056e-04 9.99970514e-01 7.63993572e-03 1.51967979e-01] [-1.60209752e-02 -7.62653182e-03 9.99842570e-01 -2.68472211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.233133365 meters Centerline goodness : 0.127093 Centerline is valid? [False, False] Translation: X:0.79, Y:0.15, Z:-0.27 [[ 9.99869633e-01 -8.12144280e-04 1.61262751e-02 7.86093154e-01] [ 6.87160076e-04 9.99969698e-01 7.75437458e-03 1.51501217e-01] [-1.61320841e-02 -7.74228233e-03 9.99839894e-01 -2.68782880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.263133365 meters Centerline goodness : 0.126432 Centerline is valid? [False, False] Translation: X:0.79, Y:0.15, Z:-0.27 [[ 9.99869867e-01 -7.00470816e-04 1.61170059e-02 7.86325878e-01] [ 5.73656456e-04 9.99968854e-01 7.87163540e-03 1.51066269e-01] [-1.61220178e-02 -7.86136541e-03 9.99839127e-01 -2.69179373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.293133365 meters Centerline goodness : 0.156034 Centerline is valid? [False, False] Translation: X:0.79, Y:0.15, Z:-0.27 [[ 9.99872817e-01 -5.43013490e-04 1.59391143e-02 7.87252342e-01] [ 4.13756780e-04 9.99967015e-01 8.11158132e-03 1.49773641e-01] [-1.59429932e-02 -8.10395475e-03 9.99840061e-01 -2.70081990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3231333649999995 meters Centerline goodness : 0.126032 Centerline is valid? [False, False] Translation: X:0.77, Y:0.14, Z:-0.27 [[ 0.9998531 0.00742685 0.01544716 0.76781483] [-0.00753657 0.9999467 0.00705705 0.1434301 ] [-0.01539393 -0.00717243 0.99985578 -0.27105835] [ 0. 0. 0. 1. ]] SLAMing on 7.353133365 meters Centerline goodness : 0.129830 Centerline is valid? [False, False] Translation: X:0.79, Y:0.15, Z:-0.27 [[ 9.99882663e-01 -2.72836253e-04 1.53161861e-02 7.87563766e-01] [ 1.53782829e-04 9.99969773e-01 7.77368597e-03 1.48619193e-01] [-1.53178441e-02 -7.77041846e-03 9.99852481e-01 -2.70876157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.383133365 meters Centerline goodness : 0.124861 Centerline is valid? [False, False] Translation: X:0.77, Y:0.14, Z:-0.27 [[ 0.99986567 0.00792331 0.01434812 0.76772992] [-0.00802075 0.99994507 0.00674692 0.14321432] [-0.01429388 -0.0068611 0.9998743 -0.27206587] [ 0. 0. 0. 1. ]] SLAMing on 7.413133365 meters Centerline goodness : 0.124867 Centerline is valid? [False, False] Translation: X:0.78, Y:0.15, Z:-0.27 [[ 0.99992252 0.00209975 0.01226958 0.78330619] [-0.00219867 0.99996515 0.00805416 0.14825376] [-0.01225224 -0.00808051 0.99989229 -0.26930624] [ 0. 0. 0. 1. ]] SLAMing on 7.443133365 meters Centerline goodness : 0.129258 Centerline is valid? [False, False] Translation: X:0.78, Y:0.15, Z:-0.27 [[ 0.99992358 0.00215964 0.01217252 0.78351396] [-0.00225879 0.99996434 0.00813733 0.14801737] [-0.01215451 -0.0081642 0.9998928 -0.26930333] [ 0. 0. 0. 1. ]] SLAMing on 7.473133365 meters Centerline goodness : 0.124749 Centerline is valid? [False, False] Translation: X:0.78, Y:0.15, Z:-0.27 [[ 0.99992672 0.00228058 0.01188935 0.78430526] [-0.00238137 0.9999613 0.00846969 0.14619031] [-0.01186957 -0.00849738 0.99989345 -0.26944032] [ 0. 0. 0. 1. ]] SLAMing on 7.503133365 meters Centerline goodness : 0.148906 Centerline is valid? [False, False] Translation: X:0.78, Y:0.14, Z:-0.27 [[ 0.99992912 0.00233555 0.01167511 0.78490561] [-0.00243717 0.99995921 0.00869736 0.14482496] [-0.01165432 -0.00872519 0.99989402 -0.26956291] [ 0. 0. 0. 1. ]] SLAMing on 7.533133364999999 meters Centerline goodness : 0.124058 Centerline is valid? [False, False] Translation: X:0.79, Y:0.14, Z:-0.27 [[ 0.99993106 0.00242055 0.01148985 0.78558515] [-0.00252325 0.99995692 0.00893225 0.14373664] [-0.01146774 -0.00896062 0.99989409 -0.26993628] [ 0. 0. 0. 1. ]] SLAMing on 7.563133365 meters Centerline goodness : 0.152199 Centerline is valid? [False, False] Translation: X:0.79, Y:0.14, Z:-0.27 [[ 0.99993251 0.00249205 0.01134721 0.78619347] [-0.00259542 0.99995518 0.00910453 0.14298936] [-0.01132401 -0.00913336 0.99989417 -0.27036768] [ 0. 0. 0. 1. ]] SLAMing on 7.593133365 meters Centerline goodness : 0.122666 Centerline is valid? [False, False] Translation: X:0.79, Y:0.14, Z:-0.27 [[ 9.99937779e-01 -1.12979613e-04 1.11546101e-02 7.86886766e-01] [ 4.20830745e-05 9.99979801e-01 6.35583624e-03 1.41971260e-01] [-1.11551029e-02 -6.35497135e-03 9.99917586e-01 -2.70785451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.623133365 meters Centerline goodness : 0.120566 Centerline is valid? [False, False] Translation: X:0.77, Y:0.14, Z:-0.27 [[ 0.99990739 0.00755695 0.01131838 0.76714794] [-0.00761741 0.9999569 0.00530746 0.1351878 ] [-0.01127779 -0.00539319 0.99992186 -0.271579 ] [ 0. 0. 0. 1. ]] SLAMing on 7.6531333649999995 meters Centerline goodness : 0.150563 Centerline is valid? [False, False] Translation: X:0.77, Y:0.13, Z:-0.27 [[ 0.99990606 0.00760306 0.01140473 0.76675898] [-0.00766528 0.99995592 0.00542224 0.13469189] [-0.011363 -0.00550915 0.99992026 -0.27126687] [ 0. 0. 0. 1. ]] SLAMing on 7.683133365 meters Centerline goodness : 0.147029 Centerline is valid? [False, False] Translation: X:0.77, Y:0.13, Z:-0.27 [[ 0.99990333 0.00775053 0.01154351 0.7661891 ] [-0.00781678 0.99995318 0.00570466 0.13379738] [-0.01149875 -0.00579434 0.9999171 -0.27086172] [ 0. 0. 0. 1. ]] SLAMing on 7.713133365 meters Centerline goodness : 0.125731 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.27 [[ 0.99994308 -0.00141244 0.01057544 0.74478666] [ 0.00134563 0.99997911 0.0063214 0.13557703] [-0.01058415 -0.00630681 0.9999241 -0.27105774] [ 0. 0. 0. 1. ]] SLAMing on 7.743133364999999 meters Centerline goodness : 0.121336 Centerline is valid? [False, False] Translation: X:0.79, Y:0.14, Z:-0.27 [[ 0.99992232 -0.00112897 0.01241325 0.78880176] [ 0.00106112 0.99998447 0.00547128 0.13927284] [-0.01241923 -0.00545768 0.99990798 -0.27239121] [ 0. 0. 0. 1. ]] SLAMing on 7.773133365 meters Centerline goodness : 0.123866 Centerline is valid? [False, False] Translation: X:0.79, Y:0.14, Z:-0.27 [[ 9.99921923e-01 -1.06199833e-03 1.24506719e-02 7.88589188e-01] [ 9.91452992e-04 9.99983429e-01 5.67079049e-03 1.38238178e-01] [-1.24564879e-02 -5.65800348e-03 9.99906407e-01 -2.72157425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.803133365 meters Centerline goodness : 0.154618 Centerline is valid? [False, False] Translation: X:0.79, Y:0.13, Z:-0.27 [[ 9.99922727e-01 -1.00010614e-03 1.23911556e-02 7.88526356e-01] [ 9.22313768e-04 9.99979842e-01 6.28218101e-03 1.34830722e-01] [-1.23971887e-02 -6.27026703e-03 9.99903492e-01 -2.71644012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.833133365 meters Centerline goodness : 0.158802 Centerline is valid? [False, False] Translation: X:0.79, Y:0.13, Z:-0.27 [[ 9.99924959e-01 -9.17929478e-04 1.22161352e-02 7.88861969e-01] [ 8.35274951e-04 9.99976739e-01 6.76939582e-03 1.32173011e-01] [-1.22220648e-02 -6.75868401e-03 9.99902466e-01 -2.71371438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8631333649999995 meters Centerline goodness : 0.157990 Centerline is valid? [False, False] Translation: X:0.79, Y:0.13, Z:-0.27 [[ 9.99927123e-01 -8.60104602e-04 1.20419337e-02 7.89206929e-01] [ 7.72696185e-04 9.99973337e-01 7.26144141e-03 1.29304158e-01] [-1.20478582e-02 -7.25160747e-03 9.99901127e-01 -2.71059347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.893133365 meters Centerline goodness : 0.158526 Centerline is valid? [False, False] Translation: X:0.79, Y:0.13, Z:-0.27 [[ 9.99930019e-01 -7.67626680e-04 1.18054262e-02 7.89751996e-01] [ 6.76272470e-04 9.99969814e-01 7.74036982e-03 1.26641286e-01] [-1.18110116e-02 -7.73184446e-03 9.99900354e-01 -2.70943633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.923133365 meters Centerline goodness : 0.155075 Centerline is valid? [False, False] Translation: X:0.79, Y:0.12, Z:-0.27 [[ 9.99932448e-01 -5.90669410e-04 1.16082500e-02 7.90374186e-01] [ 4.93912463e-04 9.99965131e-01 8.33628804e-03 1.23645881e-01] [-1.16127692e-02 -8.32999145e-03 9.99897872e-01 -2.71085164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.953133364999999 meters Centerline goodness : 0.128326 Centerline is valid? [False, False] Translation: X:0.79, Y:0.12, Z:-0.27 [[ 9.99934529e-01 -5.62105347e-04 1.14289676e-02 7.91079585e-01] [ 4.65959973e-04 9.99964499e-01 8.41335180e-03 1.23200410e-01] [-1.14332910e-02 -8.40747553e-03 9.99899292e-01 -2.71551702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.983133365 meters Centerline goodness : 0.180076 Centerline is valid? [False, False] Translation: X:0.79, Y:0.12, Z:-0.27 [[ 9.99936808e-01 -5.67420957e-04 1.12275577e-02 7.91742813e-01] [ 4.73829071e-04 9.99965136e-01 8.33681266e-03 1.23566121e-01] [-1.12318967e-02 -8.33096590e-03 9.99902215e-01 -2.71878263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.013133365 meters Centerline goodness : 0.158633 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.27 [[ 0.99996627 -0.00120731 0.00812467 0.74701819] [ 0.00113728 0.99996222 0.0086179 0.11989544] [-0.00813476 -0.00860837 0.99992986 -0.27009035] [ 0. 0. 0. 1. ]] SLAMing on 8.043133365 meters Centerline goodness : 0.160323 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.27 [[ 0.99996711 -0.00124043 0.00801493 0.74732109] [ 0.00117248 0.99996338 0.00847699 0.12057215] [-0.00802516 -0.00846731 0.99993195 -0.27021819] [ 0. 0. 0. 1. ]] SLAMing on 8.073133365 meters Centerline goodness : 0.159981 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.27 [[ 0.99996637 -0.00134842 0.00808976 0.74695496] [ 0.00128347 0.99996695 0.00802839 0.12291274] [-0.00810032 -0.00801774 0.99993505 -0.27003634] [ 0. 0. 0. 1. ]] SLAMing on 8.103133365 meters Centerline goodness : 0.159737 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.27 [[ 0.99996489 -0.0014894 0.00824619 0.74638891] [ 0.00142641 0.99996981 0.00763875 0.1247488 ] [-0.00825732 -0.00762672 0.99993682 -0.26977415] [ 0. 0. 0. 1. ]] SLAMing on 8.133133364999999 meters Centerline goodness : 0.167190 Centerline is valid? [False, False] Translation: X:0.70, Y:0.12, Z:-0.27 [[ 0.99997924 -0.00227743 0.00602704 0.69946037] [ 0.00223179 0.99996887 0.00756776 0.12320568] [-0.00604408 -0.00755415 0.9999532 -0.26719042] [ 0. 0. 0. 1. ]] SLAMing on 8.163133365 meters Centerline goodness : 0.157368 Centerline is valid? [False, False] Translation: X:0.74, Y:0.13, Z:-0.27 [[ 0.99996647 -0.00133955 0.00807843 0.74218655] [ 0.00128204 0.99997383 0.00712034 0.12987186] [-0.00808776 -0.00710974 0.99994202 -0.26775175] [ 0. 0. 0. 1. ]] SLAMing on 8.193133365 meters Centerline goodness : 0.127779 Centerline is valid? [False, False] Translation: X:0.74, Y:0.13, Z:-0.27 [[ 0.99996608 -0.00156698 0.00808577 0.74201226] [ 0.00151324 0.99997676 0.00664778 0.13200116] [-0.008096 -0.00663532 0.99994521 -0.26759954] [ 0. 0. 0. 1. ]] SLAMing on 8.223133364999999 meters Centerline goodness : 0.162614 Centerline is valid? [False, False] Translation: X:0.74, Y:0.13, Z:-0.27 [[ 0.99996812 -0.00169891 0.00780176 0.74263742] [ 0.00164769 0.99997708 0.00656734 0.13206956] [-0.00781274 -0.00655428 0.999948 -0.26749686] [ 0. 0. 0. 1. ]] SLAMing on 8.253133365 meters Centerline goodness : 0.163751 Centerline is valid? [False, False] Translation: X:0.74, Y:0.13, Z:-0.27 [[ 0.99996962 -0.0022113 0.00747393 0.74319891] [ 0.00216258 0.9999764 0.00652103 0.13079971] [-0.00748817 -0.00650467 0.99995081 -0.26697722] [ 0. 0. 0. 1. ]] SLAMing on 8.283133365 meters Centerline goodness : 0.132998 Centerline is valid? [False, False] Translation: X:0.74, Y:0.13, Z:-0.27 [[ 0.99997054 -0.00226771 0.00733337 0.74327202] [ 0.00221761 0.9999742 0.00683253 0.1289138 ] [-0.00734867 -0.00681606 0.99994977 -0.26643007] [ 0. 0. 0. 1. ]] SLAMing on 8.313133365 meters Centerline goodness : 0.129518 Centerline is valid? [False, False] Translation: X:0.72, Y:0.12, Z:-0.27 [[ 0.99996115 0.00262876 0.00841315 0.72105446] [-0.00266118 0.99998907 0.00384548 0.1228137 ] [-0.00840295 -0.00386772 0.99995721 -0.26607277] [ 0. 0. 0. 1. ]] SLAMing on 8.343133365 meters Centerline goodness : 0.127506 Centerline is valid? [False, False] Translation: X:0.72, Y:0.12, Z:-0.27 [[ 0.99996059 0.00259982 0.008489 0.72060077] [-0.00263596 0.9999875 0.00424801 0.12028244] [-0.00847785 -0.00427022 0.99995494 -0.26548732] [ 0. 0. 0. 1. ]] SLAMing on 8.373133365 meters Centerline goodness : 0.160792 Centerline is valid? [False, False] Translation: X:0.72, Y:0.12, Z:-0.26 [[ 9.99956632e-01 1.18276327e-04 9.31234388e-03 7.17454572e-01] [-1.40059811e-04 9.99997256e-01 2.33858785e-03 1.15563677e-01] [-9.31204173e-03 -2.33979071e-03 9.99953905e-01 -2.64006368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.403133365 meters Centerline goodness : 0.162113 Centerline is valid? [False, False] Translation: X:0.72, Y:0.11, Z:-0.26 [[ 9.99956492e-01 2.38687768e-04 9.32512464e-03 7.17532165e-01] [-2.63879666e-04 9.99996319e-01 2.70037093e-03 1.13798409e-01] [-9.32444577e-03 -2.70271415e-03 9.99952874e-01 -2.64135125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.433133365 meters Centerline goodness : 0.160805 Centerline is valid? [False, False] Translation: X:0.72, Y:0.11, Z:-0.26 [[ 9.99956533e-01 3.19995845e-04 9.31822807e-03 7.17530038e-01] [-3.47432468e-04 9.99995609e-01 2.94293363e-03 1.12482804e-01] [-9.31724543e-03 -2.94604316e-03 9.99952254e-01 -2.64067660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.463133365 meters Centerline goodness : 0.130807 Centerline is valid? [False, False] Translation: X:0.72, Y:0.11, Z:-0.26 [[ 9.99956939e-01 3.95538669e-04 9.27164154e-03 7.17593519e-01] [-4.25087708e-04 9.99994837e-01 3.18528034e-03 1.11150500e-01] [-9.27033377e-03 -3.18908444e-03 9.99951944e-01 -2.63952318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.493133365 meters Centerline goodness : 0.162675 Centerline is valid? [False, False] Translation: X:0.70, Y:0.10, Z:-0.26 [[ 9.99945930e-01 6.17422025e-03 8.36755971e-03 6.95784241e-01] [-6.17845162e-03 9.99980798e-01 4.79931133e-04 1.04283517e-01] [-8.36443583e-03 -5.31603746e-04 9.99964876e-01 -2.63248631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.523133365 meters Centerline goodness : 0.160056 Centerline is valid? [False, False] Translation: X:0.72, Y:0.11, Z:-0.26 [[ 0.99996632 -0.00142367 0.00808304 0.71509862] [ 0.00141017 0.9999976 0.00167538 0.10674686] [-0.00808541 -0.00166393 0.99996593 -0.26194085] [ 0. 0. 0. 1. ]] SLAMing on 8.553133364999999 meters Centerline goodness : 0.155811 Centerline is valid? [False, False] Translation: X:0.70, Y:0.10, Z:-0.26 [[ 9.99949604e-01 6.27144840e-03 7.83958415e-03 6.95831570e-01] [-6.27857413e-03 9.99979898e-01 8.84661480e-04 9.85162634e-02] [-7.83387845e-03 -9.33838306e-04 9.99968879e-01 -2.62917182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.583133365 meters Centerline goodness : 0.157126 Centerline is valid? [False, False] Translation: X:0.70, Y:0.10, Z:-0.26 [[ 0.99996449 0.00266923 0.00799384 0.69528648] [-0.00265016 0.99999362 -0.00239582 0.09551563] [-0.00800018 0.00237455 0.99996518 -0.26267285] [ 0. 0. 0. 1. ]] SLAMing on 8.613133365 meters Centerline goodness : 0.038848 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.26 [[ 0.99996479 0.00277322 0.00792042 0.69544456] [-0.0027575 0.99999421 -0.00199427 0.09320778] [-0.00792591 0.00197236 0.99996664 -0.26260837] [ 0. 0. 0. 1. ]] SLAMing on 8.643133365 meters Centerline goodness : 0.159298 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.26 [[ 0.99996345 0.00291504 0.00803719 0.69510403] [-0.00290233 0.99999452 -0.00159211 0.09119135] [-0.00804179 0.00156873 0.99996643 -0.26248355] [ 0. 0. 0. 1. ]] SLAMing on 8.673133365 meters Centerline goodness : 0.156217 Centerline is valid? [False, False] Translation: X:0.69, Y:0.09, Z:-0.26 [[ 9.99961373e-01 3.23198292e-03 8.17359552e-03 6.94802785e-01] [-3.22535793e-03 9.99994459e-01 -8.23587620e-04 8.75905572e-02] [-8.17621205e-03 7.97193036e-04 9.99966256e-01 -2.62474590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.703133365 meters Centerline goodness : 0.159310 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.26 [[ 9.99962399e-01 3.33107459e-03 8.00657561e-03 6.95379359e-01] [-3.32683415e-03 9.99994319e-01 -5.42879529e-04 8.61170915e-02] [-8.00833849e-03 5.16222567e-04 9.99967799e-01 -2.62753801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.733133365 meters Centerline goodness : 0.157084 Centerline is valid? [False, False] Translation: X:0.68, Y:0.09, Z:-0.26 [[ 9.99967855e-01 -5.30103852e-03 6.01570365e-03 6.75586392e-01] [ 5.29653522e-03 9.99985681e-01 7.64275901e-04 8.73944528e-02] [-6.01966897e-03 -7.32388947e-04 9.99981613e-01 -2.62926440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.763133365 meters Centerline goodness : 0.157084 Centerline is valid? [False, False] Translation: X:0.68, Y:0.09, Z:-0.26 [[ 9.99967855e-01 -5.30103852e-03 6.01570365e-03 6.75586392e-01] [ 5.29653522e-03 9.99985681e-01 7.64275901e-04 8.73944528e-02] [-6.01966897e-03 -7.32388947e-04 9.99981613e-01 -2.62926440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.793133365 meters Centerline goodness : 0.156829 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.26 [[ 9.99982907e-01 3.17576993e-03 4.90926688e-03 6.95922430e-01] [-3.17511410e-03 9.99994949e-01 -1.41377400e-04 8.32112360e-02] [-4.90969107e-03 1.25787501e-04 9.99987939e-01 -2.61707465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.823133365 meters Centerline goodness : 0.144038 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.26 [[ 9.99983771e-01 3.29285499e-03 4.64912079e-03 6.96811002e-01] [-3.29312465e-03 9.99994576e-01 5.03479883e-05 8.23629989e-02] [-4.64892978e-03 -6.56573055e-05 9.99989192e-01 -2.62169995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.853133365 meters Centerline goodness : 0.150206 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.26 [[ 0.99997811 -0.00535382 0.00388797 0.67627398] [ 0.00534848 0.99998474 0.0013812 0.08471269] [-0.00389531 -0.00136037 0.99999149 -0.2624963 ] [ 0. 0. 0. 1. ]] SLAMing on 8.883133364999999 meters Centerline goodness : 0.146085 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.26 [[ 0.99997825 -0.0052648 0.00397279 0.67588729] [ 0.00525867 0.99998497 0.0015519 0.08406037] [-0.0039809 -0.00153098 0.9999909 -0.26219718] [ 0. 0. 0. 1. ]] SLAMing on 8.913133365 meters Centerline goodness : 0.154959 Centerline is valid? [False, False] Translation: X:0.66, Y:0.08, Z:-0.26 [[ 9.99985791e-01 2.20692707e-03 4.85261548e-03 6.56378420e-01] [-2.21131322e-03 9.99997151e-01 8.98692744e-04 7.72420949e-02] [-4.85061830e-03 -9.09410627e-04 9.99987822e-01 -2.63496314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.943133365 meters Centerline goodness : 0.160585 Centerline is valid? [False, False] Translation: X:0.66, Y:0.08, Z:-0.26 [[ 0.99998534 0.00222798 0.00493567 0.65607091] [-0.0022333 0.99999693 0.00107345 0.07609737] [-0.00493326 -0.00108446 0.99998724 -0.26325598] [ 0. 0. 0. 1. ]] SLAMing on 8.973133364999999 meters Centerline goodness : 0.159843 Centerline is valid? [False, False] Translation: X:0.66, Y:0.07, Z:-0.26 [[ 0.99998486 0.00224111 0.00502577 0.65557947] [-0.0022476 0.99999665 0.00128534 0.07459883] [-0.00502287 -0.00129662 0.99998654 -0.26277597] [ 0. 0. 0. 1. ]] SLAMing on 9.003133365 meters Centerline goodness : 0.156435 Centerline is valid? [False, False] Translation: X:0.66, Y:0.07, Z:-0.26 [[ 0.99998505 0.00234712 0.00493902 0.65550827] [-0.00235575 0.99999571 0.00174252 0.07211178] [-0.00493491 -0.00175413 0.99998628 -0.26226434] [ 0. 0. 0. 1. ]] SLAMing on 9.033133365 meters Centerline goodness : 0.127207 Centerline is valid? [False, False] Translation: X:0.66, Y:0.07, Z:-0.26 [[ 0.99998585 0.00242875 0.00473361 0.65611416] [-0.00243804 0.99999511 0.00195643 0.07110158] [-0.00472883 -0.00196794 0.99998688 -0.26245002] [ 0. 0. 0. 1. ]] SLAMing on 9.063133365 meters Centerline goodness : 0.158989 Centerline is valid? [False, False] Translation: X:0.64, Y:0.07, Z:-0.26 [[ 0.99997505 -0.00625084 0.00329013 0.63607048] [ 0.0062399 0.99997501 0.00332459 0.07288328] [-0.00331083 -0.00330397 0.99998906 -0.26276237] [ 0. 0. 0. 1. ]] SLAMing on 9.093133365 meters Centerline goodness : 0.154489 Centerline is valid? [False, False] Translation: X:0.64, Y:0.07, Z:-0.26 [[ 0.99997551 -0.00616689 0.00330843 0.6359255 ] [ 0.00615529 0.99997491 0.00350618 0.07204151] [-0.00332997 -0.00348573 0.99998838 -0.26256929] [ 0. 0. 0. 1. ]] SLAMing on 9.123133365 meters SLAMing on 9.153133365 meters Centerline goodness : 0.147633 Centerline is valid? [False, False] Translation: X:0.64, Y:0.07, Z:-0.26 [[ 0.99997626 -0.00592047 0.00352439 0.63535557] [ 0.00590715 0.99997542 0.00377671 0.07096456] [-0.00354666 -0.0037558 0.99998666 -0.26248834] [ 0. 0. 0. 1. ]] SLAMing on 9.183133365 meters Centerline goodness : 0.141910 Centerline is valid? [False, False] Translation: X:0.64, Y:0.07, Z:-0.26 [[ 0.99997637 -0.0058276 0.0036471 0.63521389] [ 0.00581382 0.99997596 0.00377745 0.07143118] [-0.00366903 -0.00375616 0.99998621 -0.2627659 ] [ 0. 0. 0. 1. ]] SLAMing on 9.213133365 meters Centerline goodness : 0.144513 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.26 [[ 0.99998862 0.00204877 0.00430848 0.61502377] [-0.00206165 0.99999342 0.00298574 0.06648519] [-0.00430233 -0.00299459 0.99998626 -0.26427802] [ 0. 0. 0. 1. ]] SLAMing on 9.243133365 meters Centerline goodness : 0.154040 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:-0.26 [[ 0.99998739 0.00210532 0.00455933 0.61425884] [-0.00211902 0.99999325 0.00300107 0.06663752] [-0.00455298 -0.00301069 0.9999851 -0.2640199 ] [ 0. 0. 0. 1. ]] SLAMing on 9.273133365 meters Centerline goodness : 0.145598 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:-0.26 [[ 0.99998634 0.00217587 0.00475208 0.61360352] [-0.00219086 0.99999263 0.00315166 0.06586022] [-0.00474519 -0.00316203 0.99998374 -0.2636697 ] [ 0. 0. 0. 1. ]] SLAMing on 9.303133364999999 meters Centerline goodness : 0.147649 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:-0.26 [[ 0.99998729 0.00217535 0.0045487 0.61434981] [-0.00218993 0.99999247 0.00320361 0.06537887] [-0.00454169 -0.00321353 0.99998452 -0.26410586] [ 0. 0. 0. 1. ]] SLAMing on 9.333133365 meters Centerline goodness : 0.150996 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.26 [[ 0.99998774 0.00216103 0.00445446 0.61483127] [-0.00217552 0.99999236 0.00324915 0.06481862] [-0.0044474 -0.0032588 0.9999848 -0.26451451] [ 0. 0. 0. 1. ]] SLAMing on 9.363133365 meters Centerline goodness : 0.155210 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.26 [[ 0.99998809 0.00220526 0.00435359 0.61518439] [-0.00222054 0.99999138 0.00350853 0.06316165] [-0.00434582 -0.00351815 0.99998437 -0.26470036] [ 0. 0. 0. 1. ]] SLAMing on 9.393133364999999 meters Centerline goodness : 0.165361 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.26 [[ 0.99998811 0.00227135 0.00431501 0.61525687] [-0.00228732 0.99999055 0.00369829 0.06234384] [-0.00430657 -0.00370811 0.99998385 -0.26464839] [ 0. 0. 0. 1. ]] SLAMing on 9.423133365 meters Centerline goodness : 0.164083 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.26 [[ 0.99998809 0.00235477 0.00427592 0.61538795] [-0.00237148 0.99998956 0.00390641 0.06146451] [-0.00426667 -0.0039165 0.99998323 -0.26469418] [ 0. 0. 0. 1. ]] SLAMing on 9.453133365 meters Centerline goodness : 0.156136 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.26 [[ 0.99998841 0.00240508 0.00416977 0.61565855] [-0.00242224 0.9999886 0.00411447 0.06028506] [-0.00415983 -0.00412452 0.99998284 -0.26466231] [ 0. 0. 0. 1. ]] SLAMing on 9.483133365 meters Centerline goodness : 0.149093 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.26 [[ 9.99988219e-01 -1.26822084e-03 4.68537189e-03 6.14353261e-01] [ 1.26564929e-03 9.99999047e-01 5.51770824e-04 5.87133807e-02] [-4.68606719e-03 -5.45834286e-04 9.99988871e-01 -2.64540509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.513133365 meters Centerline goodness : 0.142101 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.26 [[ 9.99989356e-01 -1.24489711e-03 4.44282071e-03 6.14981322e-01] [ 1.24154479e-03 9.99998943e-01 7.57224876e-04 5.73212966e-02] [-4.44375868e-03 -7.51700855e-04 9.99989844e-01 -2.64615548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.543133365 meters Centerline goodness : 0.144273 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.27 [[ 9.99973609e-01 6.34305704e-03 3.54212569e-03 5.96076380e-01] [-6.34264765e-03 9.99979877e-01 -1.26800193e-04 5.00888923e-02] [-3.54285872e-03 1.04330391e-04 9.99993719e-01 -2.65802033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.573133365 meters Centerline goodness : 0.140290 Centerline is valid? [False, False] Translation: X:0.62, Y:0.05, Z:-0.26 [[ 9.99995442e-01 -8.66134509e-04 2.89223658e-03 6.15570099e-01] [ 8.62825774e-04 9.99998972e-01 1.14505773e-03 5.29104945e-02] [-2.89322538e-03 -1.14255701e-03 9.99995162e-01 -2.64807499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.603133365 meters Centerline goodness : 0.130427 Centerline is valid? [False, False] Translation: X:0.62, Y:0.05, Z:-0.26 [[ 9.99995641e-01 -7.96825033e-04 2.84312046e-03 6.15645408e-01] [ 7.92945783e-04 9.99998754e-01 1.36530028e-03 5.16115261e-02] [-2.84420483e-03 -1.36303989e-03 9.99995026e-01 -2.64719370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.633133364999999 meters Centerline goodness : 0.158470 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.26 [[ 9.99970692e-01 6.57129628e-03 3.92859268e-03 6.36465491e-01] [-6.56733211e-03 9.99977914e-01 -1.02110564e-03 4.90345301e-02] [-3.93521589e-03 9.95275340e-04 9.99991762e-01 -2.64790087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.663133365 meters Centerline goodness : 0.160257 Centerline is valid? [False, False] Translation: X:0.62, Y:0.05, Z:-0.27 [[ 9.99991988e-01 -2.22053774e-03 3.33072368e-03 6.16543996e-01] [ 2.21899238e-03 9.99997429e-01 4.67593578e-04 4.99692113e-02] [-3.33175342e-03 -4.60198981e-04 9.99994344e-01 -2.65490647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.693133365 meters Centerline goodness : 0.165780 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.26 [[ 0.99998759 0.00338716 0.00365398 0.59333017] [-0.00337997 0.99999234 -0.00197228 0.04343924] [-0.00366063 0.0019599 0.99999138 -0.26478954] [ 0. 0. 0. 1. ]] SLAMing on 9.723133364999999 meters Centerline goodness : 0.140857 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.26 [[ 0.99998792 0.00342401 0.00352554 0.59355101] [-0.0034175 0.99999245 -0.00185106 0.04261661] [-0.00353185 0.00183899 0.99999207 -0.26463218] [ 0. 0. 0. 1. ]] SLAMing on 9.753133365 meters Centerline goodness : 0.164419 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.26 [[ 0.99998776 0.00345811 0.00353769 0.59338633] [-0.00345177 0.99999243 -0.00179628 0.04233443] [-0.00354388 0.00178405 0.99999213 -0.26442086] [ 0. 0. 0. 1. ]] SLAMing on 9.783133365 meters Centerline goodness : 0.117499 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.26 [[ 0.99998721 0.00354499 0.00360767 0.59299618] [-0.00353869 0.99999221 -0.00175078 0.04259145] [-0.00361385 0.00173799 0.99999196 -0.26404446] [ 0. 0. 0. 1. ]] SLAMing on 9.813133365 meters Centerline goodness : 0.137974 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.26 [[ 0.99998388 0.00377539 0.00424133 0.59115251] [-0.00376822 0.99999146 -0.00169816 0.04341525] [-0.00424771 0.00168215 0.99998956 -0.26354543] [ 0. 0. 0. 1. ]] SLAMing on 9.843133365 meters Centerline goodness : 0.140324 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.26 [[ 9.99978166e-01 -5.01114394e-03 4.30767203e-03 5.71302860e-01] [ 5.01345426e-03 9.99987294e-01 -5.25695748e-04 4.67716574e-02] [-4.30498296e-03 5.47280586e-04 9.99990584e-01 -2.64637398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.873133365 meters Centerline goodness : 0.129980 Centerline is valid? [False, False] Translation: X:0.55, Y:0.04, Z:-0.27 [[ 0.99998846 0.0024978 0.00410374 0.55147263] [-0.00249157 0.99999574 -0.00152351 0.04087943] [-0.00410753 0.00151327 0.99999042 -0.26559549] [ 0. 0. 0. 1. ]] SLAMing on 9.903133365 meters Centerline goodness : 0.125230 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.26 [[ 9.99979264e-01 -4.81912463e-03 4.27176779e-03 5.71014285e-01] [ 4.82123998e-03 9.99988260e-01 -4.85034024e-04 4.66008734e-02] [-4.26938020e-03 5.05619184e-04 9.99990758e-01 -2.64683958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.933133365 meters Centerline goodness : 0.144723 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.26 [[ 9.99978969e-01 -4.84067583e-03 4.31610177e-03 5.70882818e-01] [ 4.84291339e-03 9.99988144e-01 -5.08120880e-04 4.66892808e-02] [-4.31359095e-03 5.29012701e-04 9.99990556e-01 -2.64645969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.963133365 meters Centerline goodness : 0.146971 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.26 [[ 9.99979102e-01 -4.82458741e-03 4.30342473e-03 5.70810478e-01] [ 4.82644531e-03 9.99988264e-01 -4.21444834e-04 4.62229739e-02] [-4.30134092e-03 4.42206271e-04 9.99990651e-01 -2.64482648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.993133365 meters Centerline goodness : 0.149487 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.26 [[ 9.99978271e-01 -4.90523584e-03 4.40401340e-03 5.70239831e-01] [ 4.90631254e-03 9.99987937e-01 -2.33712374e-04 4.47645120e-02] [-4.40281385e-03 2.55314762e-04 9.99990275e-01 -2.63861060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.023133365 meters Centerline goodness : 0.154352 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.26 [[ 9.99978273e-01 -4.85011919e-03 4.46425730e-03 5.69846747e-01] [ 4.85040495e-03 9.99988235e-01 -5.31871134e-05 4.39623271e-02] [-4.46394681e-03 7.48394135e-05 9.99990034e-01 -2.63429552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.053133364999999 meters Centerline goodness : 0.140748 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.26 [[ 9.99978659e-01 -4.79992319e-03 4.43185728e-03 5.69834274e-01] [ 4.79942004e-03 9.99988475e-01 1.24158073e-04 4.31726892e-02] [-4.43240216e-03 -1.02885078e-04 9.99990172e-01 -2.63297579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.083133365 meters Centerline goodness : 0.122941 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.26 [[ 9.99979470e-01 -4.77425992e-03 4.27379002e-03 5.70371381e-01] [ 4.77316849e-03 9.99988573e-01 2.65540572e-04 4.23931090e-02] [-4.27500894e-03 -2.45135601e-04 9.99990832e-01 -2.63568132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.113133365 meters Centerline goodness : 0.122308 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.26 [[ 9.99981552e-01 -4.83520539e-03 3.67637138e-03 5.72331749e-01] [ 4.83440256e-03 9.99988288e-01 2.27230797e-04 4.23103653e-02] [-3.67742703e-03 -2.09453546e-04 9.99993216e-01 -2.64508343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.143133364999999 meters Centerline goodness : 0.135315 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.27 [[ 9.99982161e-01 -4.87897017e-03 3.44578735e-03 5.73227821e-01] [ 4.87859442e-03 9.99988093e-01 1.17445458e-04 4.27568473e-02] [-3.44631933e-03 -1.00632764e-04 9.99994056e-01 -2.65064197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.173133365 meters Centerline goodness : 0.124976 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.27 [[ 9.99982731e-01 -4.88664703e-03 3.26463554e-03 5.73908060e-01] [ 4.88637943e-03 9.99988058e-01 8.99387934e-05 4.28170614e-02] [-3.26503605e-03 -7.39849923e-05 9.99994667e-01 -2.65544484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.203133365 meters Centerline goodness : 0.121273 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.27 [[ 9.99982916e-01 -4.93453116e-03 3.13334313e-03 5.74386790e-01] [ 4.93450340e-03 9.99987825e-01 1.65908892e-05 4.29067869e-02] [-3.13338685e-03 -1.12911337e-06 9.99995091e-01 -2.65831024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.233133365 meters Centerline goodness : 0.147256 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:-0.27 [[ 0.99999379 0.00234889 0.00262791 0.55620863] [-0.00234544 0.99999638 -0.00131501 0.03710155] [-0.00263098 0.00130884 0.99999568 -0.26756305] [ 0. 0. 0. 1. ]] SLAMing on 10.263133365 meters Centerline goodness : 0.162443 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:-0.27 [[ 0.99999426 0.00229958 0.0024865 0.55670953] [-0.00229614 0.9999964 -0.00138501 0.03728117] [-0.00248968 0.0013793 0.99999595 -0.26782338] [ 0. 0. 0. 1. ]] SLAMing on 10.293133365 meters Centerline goodness : 0.163143 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:-0.27 [[ 0.9999944 0.00227893 0.0024514 0.55686018] [-0.00227544 0.99999639 -0.00142697 0.03739663] [-0.00245464 0.00142138 0.99999598 -0.26792781] [ 0. 0. 0. 1. ]] SLAMing on 10.323133365 meters Centerline goodness : 0.158029 Centerline is valid? [False, False] Translation: X:0.54, Y:0.04, Z:-0.27 [[ 9.99973901e-01 -6.84281430e-03 2.31817609e-03 5.35188506e-01] [ 6.84448812e-03 9.99976321e-01 -7.14880449e-04 4.09554082e-02] [-2.31322940e-03 7.30728520e-04 9.99997057e-01 -2.67582520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.353133365 meters Centerline goodness : 0.153957 Centerline is valid? [False, False] Translation: X:0.53, Y:0.04, Z:-0.27 [[ 9.99973766e-01 -6.80855447e-03 2.47201518e-03 5.34625168e-01] [ 6.81035933e-03 9.99976548e-01 -7.22435727e-04 4.12088219e-02] [-2.46703846e-03 7.39252086e-04 9.99996684e-01 -2.67319016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.383133364999999 meters Centerline goodness : 0.154269 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99995706e-01 9.98828245e-04 2.75498424e-03 5.14221130e-01] [-9.95296784e-04 9.99998682e-01 -1.28291766e-03 3.55983030e-02] [-2.75626202e-03 1.28017012e-03 9.99995382e-01 -2.67978257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.413133365 meters Centerline goodness : 0.149250 Centerline is valid? [False, False] Translation: X:0.54, Y:0.04, Z:-0.27 [[ 0.99998149 -0.00471508 0.00384512 0.53559396] [ 0.00470939 0.99998781 0.00148654 0.03870735] [-0.00385208 -0.0014684 0.9999915 -0.2686024 ] [ 0. 0. 0. 1. ]] SLAMing on 10.443133365 meters Centerline goodness : 0.153125 Centerline is valid? [False, False] Translation: X:0.54, Y:0.04, Z:-0.27 [[ 0.99998114 -0.00460449 0.00406328 0.53505244] [ 0.0045976 0.99998798 0.00170361 0.0379033 ] [-0.00407108 -0.0016849 0.99999029 -0.26856696] [ 0. 0. 0. 1. ]] SLAMing on 10.473133364999999 meters Centerline goodness : 0.175251 Centerline is valid? [False, False] Translation: X:0.54, Y:0.04, Z:-0.27 [[ 0.99998149 -0.00460177 0.00398083 0.53525241] [ 0.00459486 0.99998793 0.00174272 0.03764719] [-0.0039888 -0.0017244 0.99999056 -0.26858926] [ 0. 0. 0. 1. ]] SLAMing on 10.503133365 meters Centerline goodness : 0.121521 Centerline is valid? [False, False] Translation: X:0.54, Y:0.04, Z:-0.27 [[ 0.99998154 -0.00455843 0.00401697 0.53501964] [ 0.00455103 0.99998793 0.00184903 0.03714557] [-0.00402535 -0.00183071 0.99999022 -0.26833289] [ 0. 0. 0. 1. ]] SLAMing on 10.533133365 meters Centerline goodness : 0.149863 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.27 [[ 9.99980887e-01 1.81129635e-03 5.91140995e-03 5.17075749e-01] [-1.81548479e-03 9.99998105e-01 7.03245741e-04 3.10670357e-02] [-5.91012496e-03 -7.13964375e-04 9.99982280e-01 -2.70394792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.563133364999999 meters Centerline goodness : 0.128553 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.27 [[ 9.99978500e-01 1.83830714e-03 6.29442799e-03 5.15602711e-01] [-1.84253210e-03 9.99998081e-01 6.65489717e-04 3.14632334e-02] [-6.29319254e-03 -6.77073094e-04 9.99979968e-01 -2.69436136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.593133365 meters Centerline goodness : 0.173716 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.27 [[ 9.99977365e-01 1.82093605e-03 6.47716254e-03 5.15222687e-01] [-1.82452445e-03 9.99998185e-01 5.48141367e-04 3.22102659e-02] [-6.47615266e-03 -5.59946702e-04 9.99978873e-01 -2.69553603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.623133365 meters Centerline goodness : 0.143428 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.27 [[ 9.99976194e-01 1.78072191e-03 6.66642144e-03 5.14949935e-01] [-1.78332848e-03 9.99998336e-01 3.85077065e-04 3.30719497e-02] [-6.66572463e-03 -3.96956317e-04 9.99977705e-01 -2.69894831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.653133365 meters Centerline goodness : 0.143428 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.27 [[ 9.99976194e-01 1.78072191e-03 6.66642144e-03 5.14949935e-01] [-1.78332848e-03 9.99998336e-01 3.85077065e-04 3.30719497e-02] [-6.66572463e-03 -3.96956317e-04 9.99977705e-01 -2.69894831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.683133365 meters Centerline goodness : 0.141625 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.27 [[ 9.99973748e-01 1.71961306e-03 7.03887718e-03 5.14120231e-01] [-1.71997677e-03 9.99998520e-01 4.56176995e-05 3.47902321e-02] [-7.03878832e-03 -5.77232072e-05 9.99975226e-01 -2.70012017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.713133365 meters Centerline goodness : 0.161831 Centerline is valid? [False, False] Translation: X:0.53, Y:0.04, Z:-0.27 [[ 0.99996772 -0.00499067 0.0062964 0.53195844] [ 0.0049839 0.99998699 0.00109061 0.04087332] [-0.00630176 -0.00105919 0.99997958 -0.26817014] [ 0. 0. 0. 1. ]] SLAMing on 10.743133365 meters Centerline goodness : 0.142929 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99978640e-01 2.47819895e-03 6.04800455e-03 5.12347172e-01] [-2.47743988e-03 9.99996922e-01 -1.32996861e-04 3.59283547e-02] [-6.04831553e-03 1.18010452e-04 9.99981702e-01 -2.69452668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.773133365 meters Centerline goodness : 0.111752 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99979248e-01 2.41803284e-03 5.97135670e-03 5.12819024e-01] [-2.41647873e-03 9.99997045e-01 -2.67461961e-04 3.64424709e-02] [-5.97198578e-03 2.53026754e-04 9.99982136e-01 -2.69972237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.803133364999999 meters Centerline goodness : 0.116766 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99979996e-01 2.37417658e-03 5.86262958e-03 5.13460228e-01] [-2.37194221e-03 9.99997112e-01 -3.88044788e-04 3.69968399e-02] [-5.86353393e-03 3.74131207e-04 9.99982739e-01 -2.70683093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.833133365 meters Centerline goodness : 0.161612 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99981455e-01 2.23769789e-03 5.66412342e-03 5.14689134e-01] [-2.23438503e-03 9.99997329e-01 -5.91144966e-04 3.75889392e-02] [-5.66543109e-03 5.78478170e-04 9.99983784e-01 -2.72011420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.863133365 meters Centerline goodness : 0.169928 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:-0.27 [[ 9.99969014e-01 -6.59272170e-03 4.30205328e-03 4.94782370e-01] [ 6.58993244e-03 9.99978067e-01 6.62209096e-04 4.00913210e-02] [-4.30632469e-03 -6.33838336e-04 9.99990527e-01 -2.72587679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.893133364999999 meters Centerline goodness : 0.138078 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:-0.27 [[ 9.99969170e-01 -6.59133312e-03 4.26770458e-03 4.94886172e-01] [ 6.58861118e-03 9.99978083e-01 6.51544999e-04 4.01974952e-02] [-4.27190560e-03 -6.23406666e-04 9.99990681e-01 -2.72665459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.923133365 meters Centerline goodness : 0.159611 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99989495e-01 1.72775233e-03 4.24555434e-03 5.14112724e-01] [-1.72483752e-03 9.99998274e-01 -6.90122945e-04 3.75866507e-02] [-4.24673937e-03 6.82792804e-04 9.99990749e-01 -2.71436963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.953133365 meters Centerline goodness : 0.142432 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:-0.27 [[ 9.99974132e-01 -6.87876662e-03 2.10204409e-03 4.94974648e-01] [ 6.87716805e-03 9.99976058e-01 7.66768678e-04 4.00199196e-02] [-2.10726819e-03 -7.52292732e-04 9.99997497e-01 -2.72644400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.983133365 meters Centerline goodness : 0.149578 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99996831e-01 1.54770418e-03 1.98562614e-03 5.14936527e-01] [-1.54658477e-03 9.99998644e-01 -5.65167169e-04 3.74811560e-02] [-1.98649816e-03 5.62094439e-04 9.99997869e-01 -2.71978251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.013133365 meters Centerline goodness : 0.145981 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99996805e-01 1.53229173e-03 2.01031961e-03 5.14870860e-01] [-1.53107734e-03 9.99998645e-01 -6.05477021e-04 3.76552413e-02] [-2.01124465e-03 6.02397131e-04 9.99997796e-01 -2.71996220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.043133365 meters Centerline goodness : 0.141503 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99996677e-01 1.53801368e-03 2.06894551e-03 5.14487181e-01] [-1.53683130e-03 9.99998655e-01 -5.72960934e-04 3.74938549e-02] [-2.06982395e-03 5.69779409e-04 9.99997696e-01 -2.71629332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.073133365 meters Centerline goodness : 0.148728 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99996455e-01 1.56011885e-03 2.15768358e-03 5.14147189e-01] [-1.55891763e-03 9.99998629e-01 -5.58286007e-04 3.76289970e-02] [-2.15855162e-03 5.54920377e-04 9.99997516e-01 -2.71435198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.103133365 meters Centerline goodness : 0.141652 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99996473e-01 1.54724088e-03 2.15855034e-03 5.14212128e-01] [-1.54606160e-03 9.99998655e-01 -5.47893234e-04 3.75184466e-02] [-2.15939516e-03 5.44554050e-04 9.99997520e-01 -2.71546447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.133133364999999 meters Centerline goodness : 0.146092 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99996117e-01 1.54831018e-03 2.31720870e-03 5.13768546e-01] [-1.54711840e-03 9.99998670e-01 -5.16020902e-04 3.72610901e-02] [-2.31800458e-03 5.12433902e-04 9.99997182e-01 -2.71487170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.163133365 meters Centerline goodness : 0.148567 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99995338e-01 1.57451729e-03 2.61631813e-03 5.12866150e-01] [-1.57341983e-03 9.99998673e-01 -4.21471394e-04 3.68153624e-02] [-2.61697827e-03 4.17352863e-04 9.99996489e-01 -2.71195763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.193133365 meters Centerline goodness : 0.144051 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99995617e-01 1.54856245e-03 2.52352986e-03 5.13044890e-01] [-1.54741651e-03 9.99998699e-01 -4.55990028e-04 3.68293805e-02] [-2.52423271e-03 4.52083077e-04 9.99996712e-01 -2.71142424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.223133364999999 meters Centerline goodness : 0.141561 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99995732e-01 1.51181341e-03 2.50020527e-03 5.13120585e-01] [-1.51045505e-03 9.99998711e-01 -5.45099128e-04 3.71720734e-02] [-2.50102614e-03 5.41320353e-04 9.99996726e-01 -2.71196694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.253133365 meters Centerline goodness : 0.166436 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99995318e-01 1.51242115e-03 2.66022762e-03 5.12546804e-01] [-1.51085305e-03 9.99998684e-01 -5.91373967e-04 3.74959126e-02] [-2.66111852e-03 5.87351985e-04 9.99996287e-01 -2.70921226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.283133365 meters Centerline goodness : 0.141279 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99993739e-01 1.58592396e-03 3.16349906e-03 5.10809131e-01] [-1.58445407e-03 9.99998636e-01 -4.67092614e-04 3.71105691e-02] [-3.16423552e-03 4.62077271e-04 9.99994887e-01 -2.70004280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.313133364999999 meters Centerline goodness : 0.142963 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99993086e-01 1.63526699e-03 3.33980265e-03 5.10039282e-01] [-1.63445758e-03 9.99998634e-01 -2.45068959e-04 3.57990708e-02] [-3.34019884e-03 2.39608499e-04 9.99994393e-01 -2.69405141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.343133365 meters Centerline goodness : 0.165014 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.27 [[ 9.99992592e-01 1.66856709e-03 3.46881040e-03 5.09439706e-01] [-1.66878658e-03 9.99998606e-01 6.03826305e-05 3.38594748e-02] [-3.46870481e-03 -6.61708874e-05 9.99993982e-01 -2.68884289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.373133365 meters Centerline goodness : 0.146692 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.27 [[ 9.99993673e-01 1.79691181e-03 3.07014903e-03 5.10367797e-01] [-1.79932403e-03 9.99998075e-01 7.83119751e-04 2.98282605e-02] [-3.06873592e-03 -7.88638989e-04 9.99994980e-01 -2.68830107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.403133365 meters Centerline goodness : 0.124258 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.27 [[ 0.99999464 0.00185932 0.00269653 0.51160732] [-0.00186247 0.99999759 0.00116533 0.027585 ] [-0.00269436 -0.00117034 0.99999569 -0.2694117 ] [ 0. 0. 0. 1. ]] SLAMing on 11.433133365 meters Centerline goodness : 0.144349 Centerline is valid? [False, False] Translation: X:0.53, Y:0.03, Z:-0.27 [[ 0.99998204 -0.00561958 0.00208489 0.53213111] [ 0.0056152 0.99998203 0.00210122 0.02981842] [-0.00209666 -0.00208947 0.99999562 -0.26888265] [ 0. 0. 0. 1. ]] SLAMing on 11.463133365 meters Centerline goodness : 0.143213 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.27 [[ 0.99999583 0.00135358 0.00255129 0.51416061] [-0.00135633 0.9999985 0.00107775 0.02172395] [-0.00254983 -0.00108121 0.99999616 -0.27089349] [ 0. 0. 0. 1. ]] SLAMing on 11.493133365 meters Centerline goodness : 0.148870 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.27 [[ 0.99999499 0.00164306 0.00270466 0.51373857] [-0.00164748 0.99999731 0.0016324 0.01939971] [-0.00270197 -0.00163685 0.99999501 -0.27076874] [ 0. 0. 0. 1. ]] SLAMing on 11.523133365 meters Centerline goodness : 0.147164 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.27 [[ 0.99999493 0.00168525 0.0027021 0.51389966] [-0.00168972 0.99999721 0.00165219 0.01934198] [-0.0026993 -0.00165675 0.99999498 -0.27104793] [ 0. 0. 0. 1. ]] SLAMing on 11.553133364999999 meters Centerline goodness : 0.156617 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.27 [[ 0.9999954 0.00161364 0.00256835 0.51469582] [-0.00161735 0.99999765 0.00144278 0.02007229] [-0.00256602 -0.00144693 0.99999566 -0.2718912 ] [ 0. 0. 0. 1. ]] SLAMing on 11.583133365 meters Centerline goodness : 0.120643 Centerline is valid? [False, False] Translation: X:0.52, Y:0.02, Z:-0.27 [[ 0.99999629 0.00154042 0.00224753 0.51593678] [-0.00154287 0.99999822 0.00108897 0.02167735] [-0.00224585 -0.00109243 0.99999688 -0.27280264] [ 0. 0. 0. 1. ]] SLAMing on 11.613133365 meters Centerline goodness : 0.141074 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.27 [[ 0.999984 0.00529801 0.00198277 0.51711282] [-0.00530634 0.99997702 0.0042203 0.02574068] [-0.00196037 -0.00423076 0.99998913 -0.27381919] [ 0. 0. 0. 1. ]] SLAMing on 11.643133364999999 meters Centerline goodness : 0.092631 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.27 [[ 0.99998227 0.00540185 0.00250445 0.51586678] [-0.00541131 0.99997819 0.00378528 0.02903348] [-0.00248395 -0.00379877 0.9999897 -0.27393336] [ 0. 0. 0. 1. ]] SLAMing on 11.673133365 meters Centerline goodness : 0.155163 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.27 [[ 0.99998187 0.00538829 0.00268733 0.51541769] [-0.00539681 0.9999804 0.00317502 0.03269539] [-0.00267017 -0.00318946 0.99999135 -0.27410142] [ 0. 0. 0. 1. ]] SLAMing on 11.703133365 meters Centerline goodness : 0.147689 Centerline is valid? [False, False] Translation: X:0.52, Y:0.04, Z:-0.28 [[ 0.99997202 0.00717735 0.00210697 0.51712889] [-0.00718507 0.99996743 0.00367622 0.04237567] [-0.00208052 -0.00369125 0.99999102 -0.27501627] [ 0. 0. 0. 1. ]] SLAMing on 11.733133365 meters Centerline goodness : 0.109221 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:-0.28 [[ 0.99997408 0.00689601 0.00207132 0.51750993] [-0.00690167 0.99997242 0.00274248 0.04700212] [-0.00205235 -0.0027567 0.99999409 -0.27574052] [ 0. 0. 0. 1. ]] SLAMing on 11.763133365 meters Centerline goodness : 0.140957 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:-0.28 [[ 0.99997597 0.00664378 0.00198216 0.5177469 ] [-0.00664757 0.99997608 0.00191137 0.05130781] [-0.00196942 -0.0019245 0.99999621 -0.27594639] [ 0. 0. 0. 1. ]] SLAMing on 11.793133365 meters Centerline goodness : 0.113110 Centerline is valid? [False, False] Translation: X:0.52, Y:0.06, Z:-0.28 [[ 9.99979223e-01 6.16016606e-03 1.89906599e-03 5.17776231e-01] [-6.16125325e-03 9.99980858e-01 5.67165354e-04 5.89167443e-02] [-1.89553580e-03 -5.78854196e-04 9.99998036e-01 -2.75962937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.823133365 meters Centerline goodness : 0.143903 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:-0.28 [[ 0.99999374 -0.00263001 0.00236656 0.49738552] [ 0.00262663 0.99999553 0.00143028 0.06463445] [-0.00237031 -0.00142405 0.99999618 -0.2772499 ] [ 0. 0. 0. 1. ]] SLAMing on 11.853133365 meters Centerline goodness : 0.159057 Centerline is valid? [False, False] Translation: X:0.52, Y:0.07, Z:-0.28 [[ 9.99977710e-01 5.18877254e-03 4.20184414e-03 5.16466344e-01] [-5.18698122e-03 9.99986452e-01 -4.37102305e-04 6.52444311e-02] [-4.20405524e-03 4.15297675e-04 9.99991077e-01 -2.76907784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.883133364999999 meters Centerline goodness : 0.159020 Centerline is valid? [False, False] Translation: X:0.52, Y:0.07, Z:-0.28 [[ 9.99977632e-01 5.05110033e-03 4.38421191e-03 5.15723482e-01] [-5.04843731e-03 9.99987065e-01 -6.18266682e-04 6.61033811e-02] [-4.38727813e-03 5.96119434e-04 9.99990198e-01 -2.76380622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.913133365 meters Centerline goodness : 0.160182 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:-0.28 [[ 0.99997951 0.00421819 0.00481522 0.51430754] [-0.00421213 0.99999033 -0.0012671 0.06728327] [-0.00482052 0.00124679 0.9999876 -0.27556484] [ 0. 0. 0. 1. ]] SLAMing on 11.943133365 meters Centerline goodness : 0.153277 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:-0.28 [[ 9.99977908e-01 -5.37289858e-03 3.91361997e-03 4.92648140e-01] [ 5.37598511e-03 9.99985246e-01 -7.78569166e-04 6.93015317e-02] [-3.90937906e-03 7.99591528e-04 9.99992039e-01 -2.75603139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.973133364999999 meters Centerline goodness : 0.139809 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:-0.28 [[ 0.99998985 0.00165501 0.00419137 0.51498591] [-0.00164269 0.99999432 -0.00294277 0.0676652 ] [-0.00419622 0.00293585 0.99998689 -0.27612082] [ 0. 0. 0. 1. ]] SLAMing on 12.003133365 meters Centerline goodness : 0.147192 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:-0.28 [[ 0.9999705 -0.00697228 0.00322296 0.49532474] [ 0.00697655 0.9999748 -0.00131508 0.07000684] [-0.00321371 0.00133752 0.99999394 -0.277259 ] [ 0. 0. 0. 1. ]] SLAMing on 12.033133365 meters Centerline goodness : 0.113590 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:-0.28 [[ 0.99997188 -0.00687922 0.00298556 0.49587739] [ 0.00688227 0.9999758 -0.00101334 0.06886871] [-0.00297851 0.00103386 0.99999503 -0.27720911] [ 0. 0. 0. 1. ]] SLAMing on 12.063133364999999 meters Centerline goodness : 0.159682 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:-0.28 [[ 9.99995299e-01 2.05598686e-04 3.05923505e-03 4.77856341e-01] [-1.98475326e-04 9.99997269e-01 -2.32859911e-03 6.20711461e-02] [-3.05970545e-03 2.32798098e-03 9.99992609e-01 -2.78736778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.093133365 meters Centerline goodness : 0.160788 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:-0.28 [[ 9.99995722e-01 2.27905297e-04 2.91633866e-03 4.78089574e-01] [-2.21617913e-04 9.99997651e-01 -2.15605860e-03 6.09168783e-02] [-2.91682319e-03 2.15540306e-03 9.99993423e-01 -2.78546074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.123133365 meters Centerline goodness : 0.159669 Centerline is valid? [False, False] Translation: X:0.52, Y:0.06, Z:-0.28 [[ 9.99985936e-01 1.01181625e-03 5.20615589e-03 5.20015129e-01] [-9.99746621e-04 9.99996808e-01 -2.32041895e-03 6.09562562e-02] [-5.20848711e-03 2.31518148e-03 9.99983756e-01 -2.78120880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.153133365 meters Centerline goodness : 0.151931 Centerline is valid? [False, False] Translation: X:0.52, Y:0.06, Z:-0.28 [[ 0.99998491 0.00111941 0.00537911 0.51953899] [-0.00110816 0.99999719 -0.0020934 0.06004157] [-0.00538144 0.0020874 0.99998334 -0.27801445] [ 0. 0. 0. 1. ]] SLAMing on 12.183133365 meters Centerline goodness : 0.143026 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:-0.28 [[ 9.99995105e-01 1.09304925e-04 3.12706440e-03 4.73717831e-01] [-1.04213647e-04 9.99998669e-01 -1.62825014e-03 5.53104407e-02] [-3.12723822e-03 1.62791629e-03 9.99993785e-01 -2.76293507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.213133365 meters Centerline goodness : 0.156617 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:-0.28 [[ 9.99995247e-01 1.20508928e-04 3.08090824e-03 4.73839346e-01] [-1.16027303e-04 9.99998935e-01 -1.45478146e-03 5.40489281e-02] [-3.08108027e-03 1.45441707e-03 9.99994196e-01 -2.76256990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.243133365 meters Centerline goodness : 0.148632 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:-0.28 [[ 9.99996007e-01 2.76331459e-04 2.81237696e-03 4.74398435e-01] [-2.73668530e-04 9.99999514e-01 -9.47201269e-04 5.13633929e-02] [-2.81263734e-03 9.46427827e-04 9.99995597e-01 -2.76135469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.273133365 meters SLAMing on 12.303133364999999 meters Centerline goodness : 0.148908 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:-0.28 [[ 9.99997324e-01 3.82458514e-04 2.28164606e-03 4.76135689e-01] [-3.81257300e-04 9.99999789e-01 -5.26879867e-04 4.93034086e-02] [-2.28184709e-03 5.26008563e-04 9.99997258e-01 -2.76904176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.333133365 meters Centerline goodness : 0.141995 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:-0.28 [[ 9.99997821e-01 3.99356994e-04 2.04911911e-03 4.76899474e-01] [-3.98576433e-04 9.99999848e-01 -3.81319453e-04 4.83379145e-02] [-2.04927108e-03 3.80501892e-04 9.99997828e-01 -2.77255454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.363133365 meters Centerline goodness : 0.147054 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:-0.28 [[ 9.99998266e-01 3.58049198e-04 1.82774790e-03 4.77548113e-01] [-3.57764192e-04 9.99999924e-01 -1.56257831e-04 4.65765869e-02] [-1.82780370e-03 1.55603658e-04 9.99998317e-01 -2.77441019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.393133364999999 meters Centerline goodness : 0.159327 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:-0.28 [[ 9.99998193e-01 3.67245179e-04 1.86528756e-03 4.77287915e-01] [-3.67312768e-04 9.99999932e-01 3.58931479e-05 4.54299471e-02] [-1.86527425e-03 -3.65782269e-05 9.99998260e-01 -2.77147407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.423133365 meters Centerline goodness : 0.147140 Centerline is valid? [False, False] Translation: X:0.46, Y:0.04, Z:-0.28 [[ 9.99967951e-01 7.54569045e-03 2.67581422e-03 4.57536475e-01] [-7.54365254e-03 9.99971249e-01 -7.70878325e-04 3.80788161e-02] [-2.68155410e-03 7.50668207e-04 9.99996123e-01 -2.78286879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.453133365 meters Centerline goodness : 0.119192 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:-0.28 [[ 9.99995859e-01 -1.56888045e-03 2.41276968e-03 4.37208473e-01] [ 1.56841870e-03 9.99998751e-01 1.93254851e-04 4.03811287e-02] [-2.41306986e-03 -1.89469818e-04 9.99997071e-01 -2.78635289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.483133365 meters Centerline goodness : 0.157426 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:-0.28 [[ 0.99998593 -0.00325662 0.00418808 0.4809995 ] [ 0.00326427 0.99999301 -0.00182146 0.03872246] [-0.00418212 0.0018351 0.99998957 -0.27913593] [ 0. 0. 0. 1. ]] SLAMing on 12.513133365 meters Centerline goodness : 0.133780 Centerline is valid? [False, False] Translation: X:0.46, Y:0.03, Z:-0.28 [[ 0.99998678 0.00217294 0.00466064 0.45861201] [-0.00215295 0.99998848 -0.00429053 0.03220309] [-0.00466991 0.00428043 0.99997993 -0.27921515] [ 0. 0. 0. 1. ]] SLAMing on 12.543133365 meters Centerline goodness : 0.163890 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:-0.28 [[ 0.99996573 -0.0071461 0.00417946 0.43701392] [ 0.0071593 0.9999694 -0.00315182 0.03180971] [-0.00415681 0.00318163 0.9999863 -0.27925048] [ 0. 0. 0. 1. ]] SLAMing on 12.573133365 meters Centerline goodness : 0.163890 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:-0.28 [[ 0.99996573 -0.0071461 0.00417946 0.43701392] [ 0.0071593 0.9999694 -0.00315182 0.03180971] [-0.00415681 0.00318163 0.9999863 -0.27925048] [ 0. 0. 0. 1. ]] SLAMing on 12.603133365 meters Centerline goodness : 0.134666 Centerline is valid? [False, False] Translation: X:0.46, Y:0.02, Z:-0.28 [[ 9.99984172e-01 2.71735391e-04 5.61971710e-03 4.55304149e-01] [-2.45771464e-04 9.99989296e-01 -4.62032296e-03 2.28853663e-02] [-5.62091245e-03 4.61886866e-03 9.99973535e-01 -2.77706122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.633133364999999 meters Centerline goodness : 0.163545 Centerline is valid? [False, False] Translation: X:0.46, Y:0.02, Z:-0.28 [[ 9.99983911e-01 3.94607005e-04 5.65877379e-03 4.55059380e-01] [-3.70799871e-04 9.99991079e-01 -4.20755106e-03 2.10609761e-02] [-5.66038364e-03 4.20538510e-03 9.99975137e-01 -2.77487133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.663133365 meters Centerline goodness : 0.160937 Centerline is valid? [False, False] Translation: X:0.46, Y:0.02, Z:-0.28 [[ 9.99984347e-01 5.10499963e-04 5.57174283e-03 4.55356370e-01] [-4.88870379e-04 9.99992343e-01 -3.88268593e-03 1.94875132e-02] [-5.57368228e-03 3.87990129e-03 9.99976940e-01 -2.77616746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.693133365 meters Centerline goodness : 0.164856 Centerline is valid? [False, False] Translation: X:0.46, Y:0.02, Z:-0.28 [[ 9.99985382e-01 6.57220837e-04 5.36686919e-03 4.55976711e-01] [-6.37492207e-04 9.99993037e-01 -3.67688724e-03 1.87202199e-02] [-5.36924834e-03 3.67341215e-03 9.99978838e-01 -2.77682735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.723133364999999 meters Centerline goodness : 0.112717 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:-0.28 [[ 0.99996153 -0.00778496 0.00404069 0.43657289] [ 0.00779352 0.99996741 -0.00210635 0.02131309] [-0.00402416 0.00213776 0.99998962 -0.27819794] [ 0. 0. 0. 1. ]] SLAMing on 12.753133365 meters Centerline goodness : 0.154882 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:-0.28 [[ 0.99996531 -0.00739702 0.00382862 0.43713972] [ 0.00740438 0.99997076 -0.00191277 0.0210857 ] [-0.00381436 0.00194105 0.99999084 -0.27837453] [ 0. 0. 0. 1. ]] SLAMing on 12.783133365 meters Centerline goodness : 0.135067 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.28 [[ 9.99994237e-01 7.19059997e-04 3.31784124e-03 4.16744445e-01] [-7.10286506e-04 9.99996250e-01 -2.64475827e-03 1.55680757e-02] [-3.31973054e-03 2.64238641e-03 9.99990999e-01 -2.79319409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.813133364999999 meters Centerline goodness : 0.156470 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.28 [[ 9.99994369e-01 8.63192208e-04 3.24295605e-03 4.17069567e-01] [-8.54550517e-04 9.99996083e-01 -2.66519842e-03 1.61510629e-02] [-3.24524393e-03 2.66241214e-03 9.99991190e-01 -2.79637759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.843133365 meters Centerline goodness : 0.106994 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.28 [[ 0.99999362 0.00104953 0.0034149 0.41678207] [-0.00104055 0.999996 -0.0026312 0.01660396] [-0.00341765 0.00262763 0.99999071 -0.27986331] [ 0. 0. 0. 1. ]] SLAMing on 12.873133365 meters Centerline goodness : 0.141183 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.28 [[ 0.99999061 0.00171854 0.00397823 0.4151563 ] [-0.0017089 0.9999956 -0.00242549 0.01769191] [-0.00398238 0.00241867 0.99998915 -0.27959266] [ 0. 0. 0. 1. ]] SLAMing on 12.903133365 meters Centerline goodness : 0.143061 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.28 [[ 0.99998891 0.0018644 0.00432586 0.41429446] [-0.00185342 0.99999506 -0.0025393 0.01892835] [-0.00433058 0.00253125 0.99998742 -0.27962331] [ 0. 0. 0. 1. ]] SLAMing on 12.933133365 meters Centerline goodness : 0.138986 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.28 [[ 0.99998805 0.0020078 0.00445639 0.41403677] [-0.00199603 0.99999451 -0.00264418 0.02020194] [-0.00446167 0.00263526 0.99998657 -0.27979735] [ 0. 0. 0. 1. ]] SLAMing on 12.963133365 meters Centerline goodness : 0.143376 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.28 [[ 0.99998816 0.00244311 0.00420917 0.4151185 ] [-0.00243132 0.99999311 -0.00280391 0.02284458] [-0.00421599 0.00279365 0.99998721 -0.28084572] [ 0. 0. 0. 1. ]] SLAMing on 12.993133365 meters Centerline goodness : 0.118548 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.28 [[ 0.9999766 -0.00615221 0.00299009 0.39552819] [ 0.00615687 0.99997985 -0.00154966 0.02705155] [-0.0029805 0.00156804 0.99999433 -0.28193435] [ 0. 0. 0. 1. ]] SLAMing on 13.023133365 meters Centerline goodness : 0.154076 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:-0.28 [[ 0.99998037 -0.0044616 0.00440038 0.43986681] [ 0.00447012 0.99998815 -0.00192701 0.03272954] [-0.00439173 0.00194664 0.99998846 -0.28281305] [ 0. 0. 0. 1. ]] SLAMing on 13.053133364999999 meters Centerline goodness : 0.158967 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:-0.28 [[ 0.99998803 0.00328677 0.00362466 0.41971106] [-0.00327616 0.99999034 -0.0029299 0.02817073] [-0.00363425 0.00291799 0.99998914 -0.28346023] [ 0. 0. 0. 1. ]] SLAMing on 13.083133365 meters Centerline goodness : 0.093021 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:-0.28 [[ 0.99998896 0.00313182 0.00350249 0.42003159] [-0.00312006 0.99998949 -0.00335936 0.03032087] [-0.00351297 0.00334839 0.99998822 -0.28359252] [ 0. 0. 0. 1. ]] SLAMing on 13.113133365 meters Centerline goodness : 0.142962 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:-0.28 [[ 0.99998943 0.00305024 0.00344119 0.42033466] [-0.00303802 0.99998908 -0.00355097 0.03123663] [-0.00345198 0.00354048 0.99998777 -0.28388894] [ 0. 0. 0. 1. ]] SLAMing on 13.143133364999999 meters Centerline goodness : 0.129529 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:-0.28 [[ 0.99998995 0.00295658 0.00336878 0.42051676] [-0.00294405 0.99998876 -0.00371772 0.0319625 ] [-0.00337974 0.00370777 0.99998741 -0.28390579] [ 0. 0. 0. 1. ]] SLAMing on 13.173133365 meters Centerline goodness : 0.140688 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:-0.28 [[ 0.99997546 -0.0062376 0.00318797 0.39883809] [ 0.00624665 0.99997647 -0.00283568 0.03567429] [-0.00317021 0.00285552 0.9999909 -0.28409205] [ 0. 0. 0. 1. ]] SLAMing on 13.203133365 meters Centerline goodness : 0.163908 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:-0.28 [[ 0.99997506 -0.00625223 0.0032852 0.3984251 ] [ 0.00626143 0.99997648 -0.00279752 0.03544861] [-0.00326763 0.00281802 0.99999069 -0.28374739] [ 0. 0. 0. 1. ]] SLAMing on 13.233133364999999 meters Centerline goodness : 0.139750 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:-0.28 [[ 0.99997525 -0.00624776 0.00323377 0.39833944] [ 0.00625657 0.99997673 -0.00271886 0.03503035] [-0.0032167 0.00273902 0.99999108 -0.28339272] [ 0. 0. 0. 1. ]] SLAMing on 13.263133365 meters Centerline goodness : 0.139061 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.28 [[ 0.99997549 -0.00627441 0.00310777 0.39857067] [ 0.00628277 0.99997665 -0.00268748 0.03469455] [-0.00309084 0.00270693 0.99999156 -0.28324026] [ 0. 0. 0. 1. ]] SLAMing on 13.293133365 meters Centerline goodness : 0.162624 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.28 [[ 0.99997601 -0.00640328 0.00264154 0.39983275] [ 0.0064105 0.99997572 -0.00273187 0.03434119] [-0.00262398 0.00274874 0.99999278 -0.28349237] [ 0. 0. 0. 1. ]] SLAMing on 13.323133365 meters Centerline goodness : 0.140846 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:-0.28 [[ 0.99999487 0.00201057 0.00249424 0.41911945] [-0.00200081 0.99999035 -0.00391014 0.03150813] [-0.00250207 0.00390513 0.99998924 -0.28239322] [ 0. 0. 0. 1. ]] SLAMing on 13.353133365 meters Centerline goodness : 0.142474 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.28 [[ 0.99997566 -0.00668945 0.00198306 0.39857525] [ 0.00669431 0.99997459 -0.00245126 0.03450635] [-0.00196661 0.00246447 0.99999503 -0.28301886] [ 0. 0. 0. 1. ]] SLAMing on 13.383133364999999 meters Centerline goodness : 0.140846 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.28 [[ 0.99997558 -0.00664929 0.00214985 0.39785229] [ 0.00665439 0.99997503 -0.00237769 0.0343066 ] [-0.00213398 0.00239194 0.99999486 -0.28243564] [ 0. 0. 0. 1. ]] SLAMing on 13.413133365 meters Centerline goodness : 0.152986 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.28 [[ 0.99997489 -0.00669602 0.00232085 0.39688433] [ 0.00670133 0.99997493 -0.00228778 0.03338354] [-0.00230548 0.00230327 0.99999469 -0.28144355] [ 0. 0. 0. 1. ]] SLAMing on 13.443133365 meters Centerline goodness : 0.161317 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.28 [[ 0.99997538 -0.00668495 0.00213196 0.39729561] [ 0.00668974 0.99997509 -0.00224908 0.03317554] [-0.00211687 0.00226329 0.9999952 -0.28139967] [ 0. 0. 0. 1. ]] SLAMing on 13.473133364999999 meters Centerline goodness : 0.151243 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.28 [[ 9.99975566e-01 -6.94139978e-03 -8.26759961e-04 3.52171954e-01] [ 6.94056451e-03 9.99975405e-01 -1.00891234e-03 2.86533407e-02] [ 8.33742890e-04 1.00314950e-03 9.99999149e-01 -2.79588787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.503133365 meters Centerline goodness : 0.147469 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.28 [[ 9.99998495e-01 1.71721733e-03 2.49270225e-04 3.72164799e-01] [-1.71671801e-03 9.99996547e-01 -1.98974329e-03 2.52634461e-02] [-2.52686186e-04 1.98931237e-03 9.99997989e-01 -2.78821413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.533133365 meters Centerline goodness : 0.139013 Centerline is valid? [False, False] Translation: X:0.37, Y:0.02, Z:-0.28 [[ 9.99998368e-01 1.77578105e-03 3.31440582e-04 3.71878116e-01] [-1.77516338e-03 9.99996705e-01 -1.85465170e-03 2.45762668e-02] [-3.34732945e-04 1.85406031e-03 9.99998225e-01 -2.78676131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.563133364999999 meters Centerline goodness : 0.150743 Centerline is valid? [False, False] Translation: X:0.37, Y:0.02, Z:-0.28 [[ 9.99998194e-01 1.84814683e-03 4.44109127e-04 3.71587244e-01] [-1.84739698e-03 9.99996877e-01 -1.68295082e-03 2.37125408e-02] [-4.47218080e-04 1.68212733e-03 9.99998485e-01 -2.78632961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.593133365 meters Centerline goodness : 0.145249 Centerline is valid? [False, False] Translation: X:0.37, Y:0.02, Z:-0.28 [[ 9.99998246e-01 1.86048952e-03 2.15405603e-04 3.72273389e-01] [-1.86014613e-03 9.99997016e-01 -1.58350384e-03 2.29336650e-02] [-2.18351052e-04 1.58310038e-03 9.99998723e-01 -2.78861017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.623133365 meters Centerline goodness : 0.144656 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99995595e-01 6.51330307e-04 -2.89591929e-03 3.28190354e-01] [-6.55253967e-04 9.99998868e-01 -1.35415036e-03 1.95465794e-02] [ 2.89503402e-03 1.35604195e-03 9.99994890e-01 -2.77814412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.653133365 meters Centerline goodness : 0.162101 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99994859e-01 6.68546903e-04 -3.13620358e-03 3.28891007e-01] [-6.72731838e-04 9.99998885e-01 -1.33353003e-03 1.95035972e-02] [ 3.13530855e-03 1.33563300e-03 9.99994193e-01 -2.78030734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.683133365 meters Centerline goodness : 0.115050 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99994594e-01 7.23432034e-04 -3.20751578e-03 3.29222887e-01] [-7.27471137e-04 9.99998944e-01 -1.25827431e-03 1.93351879e-02] [ 3.20660212e-03 1.26060088e-03 9.99994064e-01 -2.78303862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.713133365 meters Centerline goodness : 0.140626 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99994938e-01 7.94458309e-04 -3.08111568e-03 3.29054114e-01] [-7.98036407e-04 9.99999008e-01 -1.16024405e-03 1.91651673e-02] [ 3.08019086e-03 1.16269702e-03 9.99994580e-01 -2.78556234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.743133365 meters Centerline goodness : 0.141283 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99995275e-01 7.69932758e-04 -2.97606582e-03 3.28736480e-01] [-7.73579674e-04 9.99998951e-01 -1.22445813e-03 1.93854709e-02] [ 2.97511995e-03 1.22675457e-03 9.99994822e-01 -2.78476376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.773133365 meters Centerline goodness : 0.111271 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99995192e-01 7.47183451e-04 -3.00963528e-03 3.28814653e-01] [-7.51069606e-04 9.99998885e-01 -1.29031457e-03 1.97423634e-02] [ 3.00866782e-03 1.29256881e-03 9.99994639e-01 -2.78494055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.803133364999999 meters Centerline goodness : 0.147113 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99995145e-01 6.79646305e-04 -3.04089929e-03 3.29074611e-01] [-6.84093221e-04 9.99998698e-01 -1.46156766e-03 2.05801904e-02] [ 3.03990198e-03 1.46364083e-03 9.99994308e-01 -2.78838466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.833133365 meters Centerline goodness : 0.141846 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99994752e-01 4.78691446e-04 -3.20433105e-03 3.29893193e-01] [-4.85383334e-04 9.99997702e-01 -2.08793652e-03 2.37912379e-02] [ 3.20332421e-03 2.08948089e-03 9.99992686e-01 -2.79614821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.863133365 meters Centerline goodness : 0.145092 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.28 [[ 9.99994854e-01 3.98589615e-04 -3.18333069e-03 3.29936233e-01] [-4.06102937e-04 9.99997133e-01 -2.35991032e-03 2.52756770e-02] [ 3.18238093e-03 2.36119094e-03 9.99992149e-01 -2.79815052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.893133364999999 meters Centerline goodness : 0.161720 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.28 [[ 9.99994908e-01 3.15269499e-04 -3.17556848e-03 3.29901381e-01] [-3.23534911e-04 9.99996561e-01 -2.60263594e-03 2.65714120e-02] [ 3.17473703e-03 2.60365009e-03 9.99991571e-01 -2.79839254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.923133365 meters Centerline goodness : 0.141870 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.28 [[ 9.99994805e-01 1.29497175e-04 -3.22070580e-03 3.29919664e-01] [-1.39227677e-04 9.99995426e-01 -3.02119217e-03 2.84732637e-02] [ 3.22029984e-03 3.02162488e-03 9.99990250e-01 -2.79725019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.953133365 meters Centerline goodness : 0.140346 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.28 [[ 9.99994763e-01 3.47054772e-05 -3.23628969e-03 3.29944668e-01] [-4.50691806e-05 9.99994872e-01 -3.20232312e-03 2.91917648e-02] [ 3.23616196e-03 3.20245221e-03 9.99989636e-01 -2.79724989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.983133364999999 meters Centerline goodness : 0.115167 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.28 [[ 9.99994968e-01 -5.25862652e-05 -3.17198191e-03 3.29680464e-01] [ 4.17804049e-05 9.99994197e-01 -3.40662895e-03 3.01807506e-02] [ 3.17214264e-03 3.40647928e-03 9.99989167e-01 -2.79591581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.013133365 meters Centerline goodness : 0.142197 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.28 [[ 9.99995612e-01 -1.06743832e-04 -2.96043002e-03 3.28938032e-01] [ 9.59856836e-05 9.99993393e-01 -3.63388555e-03 3.15488106e-02] [ 2.96079835e-03 3.63358545e-03 9.99989015e-01 -2.79249529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.043133365 meters Centerline goodness : 0.149623 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.28 [[ 9.99996679e-01 -8.08601177e-05 -2.57597623e-03 3.27797790e-01] [ 7.10199365e-05 9.99992702e-01 -3.81984386e-03 3.31329804e-02] [ 2.57626630e-03 3.81964823e-03 9.99989387e-01 -2.78942217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.073133365 meters Centerline goodness : 0.137413 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.28 [[ 9.99998995e-01 2.78873484e-04 -1.39016473e-03 3.24567712e-01] [-2.84687241e-04 9.99991208e-01 -4.18362187e-03 3.79001962e-02] [ 1.38898581e-03 4.18401343e-03 9.99990282e-01 -2.78470512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.103133365 meters Centerline goodness : 0.134831 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.28 [[ 9.99999316e-01 8.29272741e-05 -1.16699982e-03 3.24019022e-01] [-8.86145212e-05 9.99988117e-01 -4.87418401e-03 4.13602752e-02] [ 1.16658175e-03 4.87428409e-03 9.99987440e-01 -2.78517605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.133133364999999 meters Centerline goodness : 0.116894 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.28 [[ 9.99993373e-01 -3.45911441e-04 -3.62407063e-03 2.78232911e-01] [ 3.28479180e-04 9.99988380e-01 -4.80962425e-03 4.22964367e-02] [ 3.62569222e-03 4.80840194e-03 9.99981867e-01 -2.77269694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.163133365 meters Centerline goodness : 0.143010 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.28 [[ 9.99993463e-01 -5.01820845e-04 -3.58092898e-03 2.78141068e-01] [ 4.82282007e-04 9.99985004e-01 -5.45513920e-03 4.56276082e-02] [ 3.58361278e-03 5.45337652e-03 9.99978709e-01 -2.77443711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.193133365 meters Centerline goodness : 0.114547 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.28 [[ 9.99991092e-01 -3.97567615e-04 -4.20222921e-03 2.80060333e-01] [ 3.71781705e-04 9.99981110e-01 -6.13524659e-03 5.12619641e-02] [ 4.20458901e-03 6.13362962e-03 9.99972350e-01 -2.78444587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.223133364999999 meters Centerline goodness : 0.143821 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.28 [[ 9.99990931e-01 -4.52190109e-04 -4.23483133e-03 2.80121542e-01] [ 4.25346350e-04 9.99979827e-01 -6.33755942e-03 5.24607467e-02] [ 4.23761168e-03 6.33570067e-03 9.99970950e-01 -2.78485324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.253133365 meters Centerline goodness : 0.150462 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.28 [[ 9.99990873e-01 -5.24117635e-04 -4.24028811e-03 2.79913813e-01] [ 4.96810196e-04 9.99979149e-01 -6.43848817e-03 5.28674953e-02] [ 4.24357422e-03 6.43632279e-03 9.99970282e-01 -2.78127512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.283133365 meters Centerline goodness : 0.149659 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.28 [[ 9.99990301e-01 -5.61096538e-04 -4.36834170e-03 2.79864613e-01] [ 5.33093466e-04 9.99979320e-01 -6.40898560e-03 5.25361474e-02] [ 4.37184742e-03 6.40659471e-03 9.99969921e-01 -2.77527601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.313133364999999 meters Centerline goodness : 0.153739 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.28 [[ 9.99990123e-01 -5.41030245e-04 -4.41157892e-03 2.79816951e-01] [ 5.13384416e-04 9.99980241e-01 -6.26537806e-03 5.17778352e-02] [ 4.41488151e-03 6.26305134e-03 9.99970641e-01 -2.77266451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.343133365 meters Centerline goodness : 0.151203 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.28 [[ 9.99990575e-01 -5.06692452e-04 -4.31195865e-03 2.79658333e-01] [ 4.79843491e-04 9.99980507e-01 -6.22538601e-03 5.17889277e-02] [ 4.31502895e-03 6.22325827e-03 9.99971325e-01 -2.77412189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.373133365 meters Centerline goodness : 0.140066 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:-0.28 [[ 0.99994652 -0.00905165 -0.00500329 0.25928823] [ 0.0090273 0.99994741 -0.00486694 0.05466144] [ 0.00504708 0.00482151 0.99997564 -0.27834056] [ 0. 0. 0. 1. ]] SLAMing on 14.403133364999999 meters Centerline goodness : 0.152630 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.28 [[ 0.99994647 -0.00905776 -0.005002 0.25923717] [ 0.00903285 0.9999468 -0.00497985 0.05511439] [ 0.00504684 0.00493441 0.99997509 -0.27830745] [ 0. 0. 0. 1. ]] SLAMing on 14.433133365 meters Centerline goodness : 0.124453 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.28 [[ 0.99994626 -0.00902483 -0.00510234 0.25946121] [ 0.0089994 0.99994707 -0.00498608 0.05526676] [ 0.00514707 0.00493989 0.99997455 -0.27834173] [ 0. 0. 0. 1. ]] SLAMing on 14.463133365 meters Centerline goodness : 0.124453 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.28 [[ 0.99994626 -0.00902483 -0.00510234 0.25946121] [ 0.0089994 0.99994707 -0.00498608 0.05526676] [ 0.00514707 0.00493989 0.99997455 -0.27834173] [ 0. 0. 0. 1. ]] SLAMing on 14.493133365 meters Centerline goodness : 0.148708 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.28 [[ 0.99994619 -0.00903211 -0.00510335 0.25954675] [ 0.00900637 0.99994672 -0.00504392 0.05557076] [ 0.00514864 0.00499768 0.99997426 -0.27849479] [ 0. 0. 0. 1. ]] SLAMing on 14.523133365 meters Centerline goodness : 0.155519 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99984222e-01 -9.54365352e-04 -5.53578418e-03 2.39774475e-01] [ 9.22766116e-04 9.99983284e-01 -5.70792517e-03 5.00249722e-02] [ 5.54113909e-03 5.70272687e-03 9.99968387e-01 -2.79856368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.553133364999999 meters Centerline goodness : 0.122804 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99982435e-01 -9.20437020e-04 -5.85516919e-03 2.41054554e-01] [ 8.86786295e-04 9.99983092e-01 -5.74718456e-03 5.04966536e-02] [ 5.86036011e-03 5.74189132e-03 9.99966343e-01 -2.80786611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.583133365 meters Centerline goodness : 0.154421 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99982454e-01 -8.82222429e-04 -5.85783512e-03 2.41235348e-01] [ 8.48548634e-04 9.99983117e-01 -5.74850417e-03 5.07749350e-02] [ 5.86280768e-03 5.74343264e-03 9.99966320e-01 -2.81119017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.613133365 meters Centerline goodness : 0.138851 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99982128e-01 -8.83988354e-04 -5.91296574e-03 2.41433006e-01] [ 8.49710857e-04 9.99982836e-01 -5.79700819e-03 5.11132159e-02] [ 5.91798874e-03 5.79188027e-03 9.99965715e-01 -2.81263929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.643133364999999 meters Centerline goodness : 0.143314 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99982753e-01 -9.05422432e-04 -5.80293651e-03 2.41113129e-01] [ 8.71332510e-04 9.99982366e-01 -5.87443680e-03 5.14993583e-02] [ 5.80815303e-03 5.86927920e-03 9.99965908e-01 -2.81186468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.673133365 meters Centerline goodness : 0.155692 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99986119e-01 -8.85393378e-04 -5.19405522e-03 2.38940850e-01] [ 8.54791794e-04 9.99982283e-01 -5.89091973e-03 5.21690938e-02] [ 5.19917898e-03 5.88639812e-03 9.99969159e-01 -2.80069530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.703133365 meters Centerline goodness : 0.149060 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99987510e-01 -9.04874857e-04 -4.91536210e-03 2.38078886e-01] [ 8.75473233e-04 9.99981734e-01 -5.98044029e-03 5.28487332e-02] [ 4.92068387e-03 5.97606232e-03 9.99970036e-01 -2.79776854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.733133364999999 meters Centerline goodness : 0.134709 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99987821e-01 -9.50454780e-04 -4.84290055e-03 2.37851477e-01] [ 9.21023088e-04 9.99981117e-01 -6.07589626e-03 5.32634363e-02] [ 4.84858397e-03 6.07136184e-03 9.99969814e-01 -2.79682368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.763133365 meters Centerline goodness : 0.152617 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 0.99998725 -0.0010711 -0.00493523 0.23824015] [ 0.00104021 0.99997988 -0.00625759 0.05383482] [ 0.00494183 0.00625237 0.99996824 -0.27997423] [ 0. 0. 0. 1. ]] SLAMing on 14.793133365 meters Centerline goodness : 0.146364 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.28 [[ 0.99998493 -0.00120125 -0.00535696 0.23972559] [ 0.00116591 0.99997756 -0.00659654 0.05557974] [ 0.00536476 0.00659019 0.99996389 -0.28083657] [ 0. 0. 0. 1. ]] SLAMing on 14.823133365 meters Centerline goodness : 0.113843 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.28 [[ 0.99998389 -0.00126132 -0.00553397 0.24027987] [ 0.0012237 0.99997616 -0.00679618 0.05672248] [ 0.00554241 0.0067893 0.99996159 -0.28106902] [ 0. 0. 0. 1. ]] SLAMing on 14.853133365 meters Centerline goodness : 0.148258 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.28 [[ 0.99998391 -0.00142768 -0.00548988 0.23988168] [ 0.00138825 0.99997326 -0.00717955 0.05834269] [ 0.00549998 0.00717181 0.99995916 -0.2806549 ] [ 0. 0. 0. 1. ]] SLAMing on 14.883133364999999 meters Centerline goodness : 0.153550 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.28 [[ 0.99998441 -0.00149564 -0.00538055 0.23944481] [ 0.00145623 0.99997214 -0.00732141 0.05886954] [ 0.00539135 0.00731346 0.99995872 -0.28040952] [ 0. 0. 0. 1. ]] SLAMing on 14.913133365 meters Centerline goodness : 0.152738 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.28 [[ 0.99998498 -0.00155162 -0.00525635 0.23908819] [ 0.00151235 0.99997098 -0.00746664 0.05954932] [ 0.00526778 0.00745858 0.99995831 -0.28034065] [ 0. 0. 0. 1. ]] SLAMing on 14.943133365 meters Centerline goodness : 0.124473 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.28 [[ 0.9999848 -0.00160287 -0.00527508 0.23933363] [ 0.00156238 0.99996937 -0.00766977 0.06072447] [ 0.00528721 0.00766141 0.99995667 -0.28071766] [ 0. 0. 0. 1. ]] SLAMing on 14.973133364999999 meters Centerline goodness : 0.150544 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.28 [[ 0.9999425 -0.00803311 -0.00710431 0.21759219] [ 0.00799975 0.9999569 -0.00471179 0.06401987] [ 0.00714186 0.00465469 0.99996366 -0.28069644] [ 0. 0. 0. 1. ]] SLAMing on 15.003133365 meters Centerline goodness : 0.156343 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.28 [[ 0.99994181 -0.00810815 -0.0071156 0.21748976] [ 0.00807294 0.9999551 -0.00496269 0.06534484] [ 0.00715552 0.00490496 0.99996237 -0.28054359] [ 0. 0. 0. 1. ]] SLAMing on 15.033133365 meters Centerline goodness : 0.152615 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.28 [[ 0.99994148 -0.00814002 -0.00712607 0.21729404] [ 0.00810365 0.99995407 -0.00511714 0.06627419] [ 0.0071674 0.0050591 0.99996152 -0.28024274] [ 0. 0. 0. 1. ]] SLAMing on 15.063133364999999 meters Centerline goodness : 0.157987 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99979134e-01 -3.25100079e-04 -6.45186554e-03 1.97602865e-01] [ 2.87686330e-04 9.99983144e-01 -5.79898516e-03 6.13332112e-02] [ 6.45364204e-03 5.79700804e-03 9.99962372e-01 -2.81588238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.093133365 meters Centerline goodness : 0.121300 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99980988e-01 -2.03609330e-04 -6.16294976e-03 1.96538820e-01] [ 1.68861983e-04 9.99984092e-01 -5.63809858e-03 6.10975522e-02] [ 6.16399968e-03 5.63695071e-03 9.99965114e-01 -2.81020483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.123133365 meters Centerline goodness : 0.136326 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99980954e-01 -2.27349393e-04 -6.16771052e-03 1.96705734e-01] [ 1.92241297e-04 9.99983781e-01 -5.69223697e-03 6.12920773e-02] [ 6.16890461e-03 5.69094286e-03 9.99964778e-01 -2.81276584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.153133364999999 meters Centerline goodness : 0.155272 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99979501e-01 -2.50704596e-04 -6.39803653e-03 1.97607963e-01] [ 2.13511692e-04 9.99983080e-01 -5.81319570e-03 6.18710253e-02] [ 6.39938567e-03 5.81171048e-03 9.99962635e-01 -2.81870579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.183133365 meters Centerline goodness : 0.146656 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99976684e-01 -1.94358646e-04 -6.82598614e-03 1.99118226e-01] [ 1.51363443e-04 9.99980152e-01 -6.29870529e-03 6.49704753e-02] [ 6.82707486e-03 6.29752522e-03 9.99956865e-01 -2.82897652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.213133365 meters Centerline goodness : 0.144471 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 9.99978294e-01 -2.31273858e-04 -6.58461358e-03 1.98399577e-01] [ 1.87655297e-04 9.99978042e-01 -6.62416346e-03 6.70101260e-02] [ 6.58600100e-03 6.62278404e-03 9.99956381e-01 -2.82805859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.243133365 meters Centerline goodness : 0.150399 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 9.99981639e-01 -2.03050377e-04 -6.05640119e-03 1.96744052e-01] [ 1.61445262e-04 9.99976393e-01 -6.86930814e-03 6.89248753e-02] [ 6.05765303e-03 6.86820424e-03 9.99958065e-01 -2.82235161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.273133365 meters Centerline goodness : 0.144821 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.28 [[ 0.9999735 -0.0053304 -0.00495792 0.21649758] [ 0.00531321 0.99997985 -0.00347464 0.07401697] [ 0.00497634 0.00344821 0.99998167 -0.28117911] [ 0. 0. 0. 1. ]] SLAMing on 15.303133364999999 meters Centerline goodness : 0.119883 Centerline is valid? [False, False] Translation: X:0.22, Y:0.08, Z:-0.28 [[ 0.99997256 -0.00550546 -0.00495666 0.21665543] [ 0.00548582 0.99997708 -0.00396782 0.07656786] [ 0.00497839 0.00394052 0.99997984 -0.28153775] [ 0. 0. 0. 1. ]] SLAMing on 15.333133365 meters Centerline goodness : 0.157199 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 0.99998121 0.00195909 -0.00580961 0.198957 ] [-0.00199121 0.99998274 -0.00552813 0.07131219] [ 0.00579868 0.00553959 0.99996784 -0.28382784] [ 0. 0. 0. 1. ]] SLAMing on 15.363133365 meters Centerline goodness : 0.149053 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 0.99998021 0.0018198 -0.00602294 0.19958936] [-0.00185403 0.99998213 -0.00568269 0.07151604] [ 0.00601249 0.00569374 0.99996572 -0.28405846] [ 0. 0. 0. 1. ]] SLAMing on 15.393133364999999 meters Centerline goodness : 0.146601 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 0.99998373 0.00150322 -0.00550362 0.19786534] [-0.00153456 0.99998261 -0.00569424 0.07072258] [ 0.00549497 0.00570259 0.99996864 -0.2831836 ] [ 0. 0. 0. 1. ]] SLAMing on 15.423133365 meters Centerline goodness : 0.153441 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 0.99998521 0.00144118 -0.00524525 0.19701138] [-0.00147058 0.99998321 -0.00560451 0.07006995] [ 0.00523709 0.00561214 0.99997054 -0.28276926] [ 0. 0. 0. 1. ]] SLAMing on 15.453133365 meters Centerline goodness : 0.113230 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.28 [[ 0.9999547 -0.00766678 -0.0056401 0.17497857] [ 0.00764032 0.99995978 -0.00469791 0.07179585] [ 0.00567589 0.0046546 0.99997306 -0.28307902] [ 0. 0. 0. 1. ]] SLAMing on 15.483133364999999 meters Centerline goodness : 0.140568 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 9.99988398e-01 5.49411520e-04 -4.78563108e-03 1.95260165e-01] [-5.76435390e-04 9.99983888e-01 -5.64732943e-03 6.85842703e-02] [ 4.78245126e-03 5.65002252e-03 9.99972602e-01 -2.82568264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.513133365 meters Centerline goodness : 0.127996 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 9.99986683e-01 4.10142893e-04 -5.14453620e-03 1.96114142e-01] [-4.38369203e-04 9.99984852e-01 -5.48673065e-03 6.70159264e-02] [ 5.14220792e-03 5.48891279e-03 9.99971714e-01 -2.82498041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.543133365 meters Centerline goodness : 0.156947 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 9.99985825e-01 4.29522853e-04 -5.30709532e-03 1.96525298e-01] [-4.57741079e-04 9.99985760e-01 -5.31700522e-03 6.58727091e-02] [ 5.30473597e-03 5.31935913e-03 9.99971782e-01 -2.82506682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.573133365 meters Centerline goodness : 0.150624 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99985383e-01 4.81625797e-04 -5.38528035e-03 1.96831968e-01] [-5.09080980e-04 9.99986876e-01 -5.09798208e-03 6.46509788e-02] [ 5.38275435e-03 5.10064911e-03 9.99972504e-01 -2.82671641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.603133365 meters Centerline goodness : 0.155367 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99985528e-01 5.77644636e-04 -5.34891999e-03 1.96826413e-01] [-6.03624484e-04 9.99988024e-01 -4.85668692e-03 6.35316984e-02] [ 5.34605049e-03 4.85984537e-03 9.99973900e-01 -2.82822390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.633133364999999 meters Centerline goodness : 0.133315 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99986875e-01 6.56558856e-04 -5.08112377e-03 1.96280038e-01] [-6.80031517e-04 9.99989100e-01 -4.61923246e-03 6.22280300e-02] [ 5.07803559e-03 4.62262716e-03 9.99976422e-01 -2.82957337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.663133365 meters Centerline goodness : 0.147937 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99987556e-01 6.10944616e-04 -4.95120486e-03 1.95887683e-01] [-6.34426888e-04 9.99988553e-01 -4.74255697e-03 6.27121537e-02] [ 4.94825074e-03 4.74563913e-03 9.99976497e-01 -2.82847340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.693133365 meters Centerline goodness : 0.150514 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99988156e-01 5.37548120e-04 -4.83726706e-03 1.95520997e-01] [-5.61922897e-04 9.99987146e-01 -5.03900877e-03 6.41884191e-02] [ 4.83449617e-03 5.04166726e-03 9.99975604e-01 -2.82730714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.723133364999999 meters Centerline goodness : 0.141796 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.28 [[ 0.99996895 0.00225684 -0.00755035 0.15120911] [-0.00228494 0.99999049 -0.00371571 0.06640014] [ 0.00754189 0.00373284 0.99996459 -0.28206346] [ 0. 0. 0. 1. ]] SLAMing on 15.753133365 meters Centerline goodness : 0.140666 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.28 [[ 9.99963581e-01 -2.41867329e-03 -8.18450176e-03 1.72602759e-01] [ 2.41412551e-03 9.99996926e-01 -5.65491663e-04 7.28115293e-02] [ 8.18584435e-03 5.45712654e-04 9.99966347e-01 -2.81832785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.783133365 meters Centerline goodness : 0.141892 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.28 [[ 9.99939994e-01 -1.70815195e-03 -1.08208068e-02 1.27991773e-01] [ 1.71395751e-03 9.99998392e-01 5.27266888e-04 7.17704560e-02] [ 1.08198888e-02 -5.45781652e-04 9.99941314e-01 -2.81758001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.813133364999999 meters Centerline goodness : 0.141181 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.28 [[ 9.99938565e-01 -1.76745830e-03 -1.09426691e-02 1.28602361e-01] [ 1.76897258e-03 9.99998427e-01 1.28705757e-04 7.40289089e-02] [ 1.09424244e-02 -1.48055131e-04 9.99940119e-01 -2.82393098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.843133365 meters Centerline goodness : 0.150750 Centerline is valid? [False, False] Translation: X:0.13, Y:0.08, Z:-0.28 [[ 9.99932649e-01 -1.93935698e-03 -1.14427163e-02 1.30133116e-01] [ 1.93187630e-03 9.99997913e-01 -6.64767752e-04 7.79809039e-02] [ 1.14439817e-02 6.42617067e-04 9.99934309e-01 -2.83227452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.873133365 meters Centerline goodness : 0.123490 Centerline is valid? [False, False] Translation: X:0.13, Y:0.08, Z:-0.28 [[ 0.99993169 -0.00207697 -0.01150184 0.13030785] [ 0.00206479 0.99999729 -0.00107104 0.08001351] [ 0.01150404 0.00104722 0.99993328 -0.28337418] [ 0. 0. 0. 1. ]] SLAMing on 15.903133364999999 meters Centerline goodness : 0.145699 Centerline is valid? [False, False] Translation: X:0.13, Y:0.08, Z:-0.28 [[ 0.99993156 -0.00217678 -0.01149488 0.13025106] [ 0.00216047 0.99999664 -0.00143063 0.08211144] [ 0.01149795 0.0014057 0.99993291 -0.28340138] [ 0. 0. 0. 1. ]] SLAMing on 15.933133365 meters Centerline goodness : 0.139712 Centerline is valid? [False, False] Translation: X:0.11, Y:0.08, Z:-0.28 [[ 0.99991434 0.00566895 -0.01179761 0.11015931] [-0.00570069 0.99998022 -0.00265876 0.07870238] [ 0.0117823 0.00272579 0.99992687 -0.28442096] [ 0. 0. 0. 1. ]] SLAMing on 15.963133365 meters Centerline goodness : 0.150786 Centerline is valid? [False, False] Translation: X:0.11, Y:0.08, Z:-0.28 [[ 0.99991611 0.0053538 -0.01179445 0.11036442] [-0.00539436 0.99997964 -0.00341009 0.08236846] [ 0.01177595 0.00347343 0.99992463 -0.28486743] [ 0. 0. 0. 1. ]] SLAMing on 15.993133365 meters Centerline goodness : 0.156058 Centerline is valid? [False, False] Translation: X:0.11, Y:0.08, Z:-0.29 [[ 0.99991428 0.0052159 -0.01200914 0.11109526] [-0.0052612 0.99997915 -0.00374357 0.08406972] [ 0.01198936 0.00380643 0.99992088 -0.28525914] [ 0. 0. 0. 1. ]] SLAMing on 16.023133365 meters Centerline goodness : 0.151095 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:-0.29 [[ 0.99991298 0.00512564 -0.01215535 0.11146839] [-0.00517434 0.9999787 -0.00397837 0.08582478] [ 0.0121347 0.00404092 0.99991821 -0.28535413] [ 0. 0. 0. 1. ]] SLAMing on 16.053133365 meters Centerline goodness : 0.158421 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:-0.29 [[ 0.99991327 0.00505479 -0.01216165 0.11133508] [-0.0051033 0.99997913 -0.00396103 0.08545973] [ 0.01214138 0.00402275 0.9999182 -0.2850504 ] [ 0. 0. 0. 1. ]] SLAMing on 16.083133365 meters Centerline goodness : 0.112333 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99992659 -0.00338846 -0.01163361 0.13137568] [ 0.00334938 0.99998869 -0.00337745 0.08921775] [ 0.01164492 0.00333824 0.99992662 -0.28384102] [ 0. 0. 0. 1. ]] SLAMing on 16.113133365 meters Centerline goodness : 0.120702 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99992715 -0.00352493 -0.01154458 0.13103949] [ 0.00348727 0.99998854 -0.00328051 0.08787262] [ 0.01155601 0.00324001 0.99992798 -0.28357209] [ 0. 0. 0. 1. ]] SLAMing on 16.143133365 meters Centerline goodness : 0.122225 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99993263 -0.0035725 -0.01104453 0.1297055 ] [ 0.00353957 0.99998924 -0.0029998 0.08622266] [ 0.01105513 0.00296051 0.99993451 -0.2832228 ] [ 0. 0. 0. 1. ]] SLAMing on 16.173133364999998 meters Centerline goodness : 0.119950 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99993502 -0.00347734 -0.01085608 0.1290568 ] [ 0.0034462 0.9999899 -0.00288557 0.08618197] [ 0.01086601 0.00284797 0.99993691 -0.28290566] [ 0. 0. 0. 1. ]] SLAMing on 16.203133365 meters Centerline goodness : 0.125437 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99993736 -0.00348416 -0.01063664 0.12850536] [ 0.00345253 0.99998957 -0.00299095 0.08691827] [ 0.01064695 0.00295404 0.99993896 -0.28288756] [ 0. 0. 0. 1. ]] SLAMing on 16.233133365 meters Centerline goodness : 0.151883 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.9999384 -0.00351047 -0.01052916 0.12823552] [ 0.00347714 0.99998889 -0.00318191 0.08795528] [ 0.01054021 0.0031451 0.9999395 -0.28292496] [ 0. 0. 0. 1. ]] SLAMing on 16.263133364999998 meters Centerline goodness : 0.149963 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99994009 -0.00334985 -0.01042066 0.1279829 ] [ 0.00331415 0.99998859 -0.00344113 0.08985313] [ 0.01043207 0.00340639 0.99993978 -0.28309487] [ 0. 0. 0. 1. ]] SLAMing on 16.293133365 meters Centerline goodness : 0.157772 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99993895 -0.0034081 -0.01051103 0.1283725 ] [ 0.00336943 0.9999875 -0.0036949 0.09101512] [ 0.01052349 0.00365925 0.99993793 -0.28346261] [ 0. 0. 0. 1. ]] SLAMing on 16.323133365 meters Centerline goodness : 0.158575 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99993839 -0.00345404 -0.01054947 0.1286296 ] [ 0.00341292 0.99998652 -0.00391387 0.09206052] [ 0.01056285 0.00387762 0.99993669 -0.28381744] [ 0. 0. 0. 1. ]] SLAMing on 16.353133364999998 meters Centerline goodness : 0.151049 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99993667 -0.00349401 -0.0106981 0.12911065] [ 0.00345011 0.99998557 -0.00411889 0.09319288] [ 0.01071233 0.00408172 0.99993429 -0.28413409] [ 0. 0. 0. 1. ]] SLAMing on 16.383133365 meters Centerline goodness : 0.151049 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99993667 -0.00349401 -0.0106981 0.12911065] [ 0.00345011 0.99998557 -0.00411889 0.09319288] [ 0.01071233 0.00408172 0.99993429 -0.28413409] [ 0. 0. 0. 1. ]] SLAMing on 16.413133365 meters Centerline goodness : 0.123537 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.28 [[ 0.99993852 -0.0035096 -0.01051881 0.12907303] [ 0.00346289 0.99998408 -0.0044551 0.09557911] [ 0.01053428 0.0044184 0.99993475 -0.28486557] [ 0. 0. 0. 1. ]] SLAMing on 16.443133364999998 meters Centerline goodness : 0.163276 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.99993993 -0.00358009 -0.01035915 0.12888885] [ 0.00353178 0.99998282 -0.00467837 0.09675636] [ 0.01037572 0.0046415 0.9999354 -0.28527662] [ 0. 0. 0. 1. ]] SLAMing on 16.473133365 meters Centerline goodness : 0.141258 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.99993673 -0.00377887 -0.01059513 0.12979244] [ 0.00372357 0.99997937 -0.00523415 0.09954319] [ 0.01061469 0.00519437 0.99993017 -0.28593325] [ 0. 0. 0. 1. ]] SLAMing on 16.503133365 meters Centerline goodness : 0.163120 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.99993407 -0.00384404 -0.01082041 0.13047149] [ 0.00378544 0.99997809 -0.00543048 0.10062133] [ 0.01084105 0.00538916 0.99992671 -0.28619792] [ 0. 0. 0. 1. ]] SLAMing on 16.533133365 meters Centerline goodness : 0.169228 Centerline is valid? [False, False] Translation: X:0.11, Y:0.10, Z:-0.29 [[ 0.99992452 0.00412486 -0.01157311 0.11084506] [-0.00419997 0.99997023 -0.0064732 0.09563976] [ 0.01154606 0.00652132 0.99991208 -0.2872407 ] [ 0. 0. 0. 1. ]] SLAMing on 16.563133365 meters Centerline goodness : 0.163299 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.99992981 -0.00362995 -0.01127828 0.1296045 ] [ 0.00356886 0.99997888 -0.00543208 0.10152094] [ 0.01129776 0.00539145 0.99992164 -0.28542177] [ 0. 0. 0. 1. ]] SLAMing on 16.593133365 meters Centerline goodness : 0.167431 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.9999314 -0.00366369 -0.01112572 0.12904261] [ 0.00360263 0.99997837 -0.00550299 0.10207536] [ 0.01114564 0.00546253 0.99992296 -0.28515118] [ 0. 0. 0. 1. ]] SLAMing on 16.623133365 meters Centerline goodness : 0.127847 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.99993251 -0.00365283 -0.01102834 0.12876434] [ 0.00359226 0.99997838 -0.00550776 0.10245147] [ 0.01104822 0.00546777 0.99992402 -0.28507214] [ 0. 0. 0. 1. ]] SLAMing on 16.653133365 meters Centerline goodness : 0.164584 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.99993323 -0.00363224 -0.01097004 0.12866992] [ 0.00357183 0.99997838 -0.0055212 0.10283069] [ 0.01098986 0.00548164 0.99992458 -0.28518015] [ 0. 0. 0. 1. ]] SLAMing on 16.683133365 meters Centerline goodness : 0.163379 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.9999324 -0.00370725 -0.01102069 0.12891122] [ 0.00364492 0.99997728 -0.00567064 0.10353518] [ 0.01104147 0.00563009 0.99992319 -0.28535399] [ 0. 0. 0. 1. ]] SLAMing on 16.713133365 meters Centerline goodness : 0.172618 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.9998887 -0.00518777 -0.01398819 0.08463427] [ 0.0050946 0.99996465 -0.00668851 0.10247415] [ 0.0140224 0.0066165 0.99987979 -0.28499862] [ 0. 0. 0. 1. ]] SLAMing on 16.743133365 meters Centerline goodness : 0.172987 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99988674 -0.00523813 -0.01410939 0.08480653] [ 0.00514263 0.99996368 -0.00679618 0.10302299] [ 0.01414448 0.00672286 0.99987736 -0.2848263 ] [ 0. 0. 0. 1. ]] SLAMing on 16.773133365 meters Centerline goodness : 0.168551 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99988844 -0.00523848 -0.01398796 0.08444197] [ 0.00514293 0.99996325 -0.00685857 0.10360779] [ 0.01402337 0.00678586 0.99987864 -0.28472813] [ 0. 0. 0. 1. ]] SLAMing on 16.803133365 meters Centerline goodness : 0.178266 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99989671 -0.0052401 -0.0133831 0.08234012] [ 0.00514749 0.99996264 -0.00694481 0.10438362] [ 0.01341899 0.00687521 0.99988632 -0.28367148] [ 0. 0. 0. 1. ]] SLAMing on 16.833133365 meters Centerline goodness : 0.169880 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99989829 -0.00530083 -0.01324044 0.0817988 ] [ 0.00520762 0.99996149 -0.00706416 0.10485322] [ 0.01327738 0.0069945 0.99988739 -0.28334233] [ 0. 0. 0. 1. ]] SLAMing on 16.863133365 meters Centerline goodness : 0.169134 Centerline is valid? [False, False] Translation: X:0.08, Y:0.11, Z:-0.28 [[ 0.99989793 -0.0053458 -0.01324995 0.08181678] [ 0.00525088 0.99996038 -0.00718863 0.10540382] [ 0.01328785 0.00711832 0.99988637 -0.28338729] [ 0. 0. 0. 1. ]] SLAMing on 16.893133365 meters Centerline goodness : 0.163569 Centerline is valid? [False, False] Translation: X:0.08, Y:0.11, Z:-0.28 [[ 0.99989941 -0.00529992 -0.01315634 0.08147896] [ 0.0052068 0.99996122 -0.00710285 0.10517618] [ 0.01319347 0.00703363 0.99988822 -0.28325802] [ 0. 0. 0. 1. ]] SLAMing on 16.923133364999998 meters Centerline goodness : 0.168012 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99990276 -0.00520453 -0.01293763 0.08079366] [ 0.00511643 0.99996356 -0.00683341 0.10387338] [ 0.01297272 0.00676655 0.99989296 -0.28297136] [ 0. 0. 0. 1. ]] SLAMing on 16.953133365 meters Centerline goodness : 0.166847 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.9999038 -0.00513487 -0.01288467 0.0805708 ] [ 0.00505083 0.99996582 -0.00654643 0.10221807] [ 0.01291785 0.00648073 0.99989556 -0.2827994 ] [ 0. 0. 0. 1. ]] SLAMing on 16.983133365 meters Centerline goodness : 0.173674 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-0.28 [[ 9.99911552e-01 8.83828785e-04 -1.32705523e-02 5.76319430e-02] [-1.00597926e-03 9.99957166e-01 -9.20077416e-03 9.71866161e-02] [ 1.32618520e-02 9.21331027e-03 9.99869611e-01 -2.82746961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.013133364999998 meters Centerline goodness : 0.168422 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.28 [[ 0.99990911 0.00106545 -0.0134404 0.0581562 ] [-0.00118068 0.99996259 -0.00856834 0.0937777 ] [ 0.01343077 0.00858343 0.99987296 -0.28290875] [ 0. 0. 0. 1. ]] SLAMing on 17.043133365 meters Centerline goodness : 0.162100 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99988814 -0.00676231 -0.01334096 0.07830372] [ 0.00666252 0.9999496 -0.00751004 0.09706106] [ 0.01339107 0.00742032 0.9998828 -0.28191793] [ 0. 0. 0. 1. ]] SLAMing on 17.073133365 meters Centerline goodness : 0.126071 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.28 [[ 9.99906852e-01 6.99281888e-04 -1.36307891e-02 6.04395224e-02] [-8.20669876e-04 9.99960041e-01 -8.90186814e-03 8.98307451e-02] [ 1.36240195e-02 8.91222533e-03 9.99867470e-01 -2.84524374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.103133364999998 meters Centerline goodness : 0.125537 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.29 [[ 9.99904923e-01 7.92393826e-04 -1.37665483e-02 6.10931626e-02] [-9.11644652e-04 9.99962101e-01 -8.65824733e-03 8.85142507e-02] [ 1.37591658e-02 8.66997432e-03 9.99867750e-01 -2.85058486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.133133365 meters Centerline goodness : 0.125686 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.29 [[ 9.99902361e-01 9.95214511e-04 -1.39383715e-02 6.19280208e-02] [-1.11121331e-03 9.99964796e-01 -8.31699276e-03 8.71547352e-02] [ 1.39296036e-02 8.33166920e-03 9.99868266e-01 -2.85789214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.163133365 meters Centerline goodness : 0.138257 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.28 [[ 0.99988114 -0.00586553 -0.01425851 0.07937331] [ 0.00576971 0.99996056 -0.00675252 0.09248351] [ 0.01429755 0.00666945 0.99987554 -0.28340806] [ 0. 0. 0. 1. ]] SLAMing on 17.193133364999998 meters Centerline goodness : 0.126642 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.28 [[ 0.99989118 0.00253399 -0.01453279 0.05859911] [-0.00264328 0.99996834 -0.00750604 0.08731285] [ 0.01451331 0.00754364 0.99986622 -0.28447186] [ 0. 0. 0. 1. ]] SLAMing on 17.223133365 meters Centerline goodness : 0.127956 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.29 [[ 0.99988205 0.00301517 -0.01505977 0.06043738] [-0.00312775 0.9999673 -0.00745809 0.08873365] [ 0.01503679 0.00750432 0.99985878 -0.28564697] [ 0. 0. 0. 1. ]] SLAMing on 17.253133365 meters Centerline goodness : 0.161633 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.28 [[ 9.99845283e-01 -8.48630093e-04 -1.75695781e-02 7.99812023e-02] [ 7.76395181e-04 9.99991221e-01 -4.11777572e-03 9.28500430e-02] [ 1.75729184e-02 4.10349770e-03 9.99837164e-01 -2.84232611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.283133365 meters Centerline goodness : 0.160514 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.28 [[ 9.99845806e-01 -8.76470425e-04 -1.75383985e-02 8.01937224e-02] [ 8.00319087e-04 9.99990225e-01 -4.34852558e-03 9.41806911e-02] [ 1.75420385e-02 4.33381875e-03 9.99836734e-01 -2.84779205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.313133365 meters Centerline goodness : 0.163344 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 9.99852020e-01 -9.66944729e-04 -1.71756694e-02 7.90771245e-02] [ 8.85810686e-04 9.99988418e-01 -4.73075742e-03 9.61216617e-02] [ 1.71800448e-02 4.71484297e-03 9.99841296e-01 -2.84510146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.343133365 meters Centerline goodness : 0.163514 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 9.99853345e-01 -1.00242224e-03 -1.70963245e-02 7.87766911e-02] [ 9.18904249e-04 9.99987610e-01 -4.89229903e-03 9.71277036e-02] [ 1.71010169e-02 4.87587166e-03 9.99841878e-01 -2.84417747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.373133365 meters Centerline goodness : 0.127951 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 9.99853038e-01 -1.07151836e-03 -1.71100429e-02 7.88637467e-02] [ 9.84304837e-04 9.99986486e-01 -5.10482025e-03 9.83304999e-02] [ 1.71152815e-02 5.08722854e-03 9.99840581e-01 -2.84541226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.403133365 meters Centerline goodness : 0.126106 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.29 [[ 0.99985109 -0.00117743 -0.0172164 0.07944958] [ 0.00108546 0.9999851 -0.00535001 0.09954923] [ 0.01722244 0.00533053 0.99983747 -0.28507742] [ 0. 0. 0. 1. ]] SLAMing on 17.433133365 meters Centerline goodness : 0.165532 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.29 [[ 0.9998485 -0.00141491 -0.0173487 0.07985737] [ 0.00131339 0.99998196 -0.00586166 0.10175341] [ 0.01735668 0.00583799 0.99983232 -0.28525817] [ 0. 0. 0. 1. ]] SLAMing on 17.463133365 meters Centerline goodness : 0.164164 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99985006 -0.00148774 -0.0172522 0.07931445] [ 0.00138344 0.99998071 -0.00605602 0.10283057] [ 0.01726087 0.00603124 0.99983283 -0.28480828] [ 0. 0. 0. 1. ]] SLAMing on 17.493133365 meters Centerline goodness : 0.168288 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99985357 -0.00152821 -0.01704413 0.07845109] [ 0.00142274 0.99997978 -0.00619809 0.10377401] [ 0.01705325 0.00617293 0.99983553 -0.28426335] [ 0. 0. 0. 1. ]] SLAMing on 17.523133365 meters Centerline goodness : 0.172820 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99986208 -0.00167568 -0.01652305 0.07637852] [ 0.00157021 0.99997832 -0.00639417 0.10468099] [ 0.01653341 0.00636735 0.99984304 -0.28290247] [ 0. 0. 0. 1. ]] SLAMing on 17.553133365 meters Centerline goodness : 0.143713 Centerline is valid? [False, False] Translation: X:0.10, Y:0.11, Z:-0.28 [[ 0.99982993 -0.00976331 -0.01564573 0.09577546] [ 0.00967735 0.99993771 -0.00556033 0.11000908] [ 0.01569904 0.00540798 0.99986214 -0.28144287] [ 0. 0. 0. 1. ]] SLAMing on 17.583133365 meters Centerline goodness : 0.165824 Centerline is valid? [False, False] Translation: X:0.10, Y:0.11, Z:-0.28 [[ 0.99983003 -0.00975923 -0.01564162 0.09572572] [ 0.00967475 0.99993825 -0.00546708 0.10941287] [ 0.01569401 0.00531482 0.99986272 -0.28132712] [ 0. 0. 0. 1. ]] SLAMing on 17.613133365 meters Centerline goodness : 0.170493 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99987888 -0.00227893 -0.01539572 0.07765153] [ 0.00217626 0.99997531 -0.00668214 0.10306565] [ 0.01541057 0.00664783 0.99985915 -0.2835146 ] [ 0. 0. 0. 1. ]] SLAMing on 17.643133365 meters Centerline goodness : 0.113846 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99988107 -0.00215222 -0.01527147 0.07726816] [ 0.00205552 0.99997776 -0.00634533 0.10147767] [ 0.01528479 0.00631319 0.99986325 -0.28331231] [ 0. 0. 0. 1. ]] SLAMing on 17.673133364999998 meters Centerline goodness : 0.168650 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99988331 -0.00207894 -0.0151339 0.07672648] [ 0.0019862 0.99997917 -0.00614083 0.10039755] [ 0.01514636 0.00611005 0.99986662 -0.28298005] [ 0. 0. 0. 1. ]] SLAMing on 17.703133365 meters Centerline goodness : 0.135667 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99988443 -0.00197397 -0.01507426 0.07645197] [ 0.00188444 0.99998052 -0.00595128 0.09960917] [ 0.01508571 0.00592218 0.99986867 -0.28280349] [ 0. 0. 0. 1. ]] SLAMing on 17.733133365 meters Centerline goodness : 0.163346 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99988525 -0.00184648 -0.01503595 0.07635817] [ 0.00175964 0.99998171 -0.00578658 0.09907676] [ 0.01504636 0.00575946 0.99987021 -0.28282154] [ 0. 0. 0. 1. ]] SLAMing on 17.763133364999998 meters Centerline goodness : 0.121992 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.29 [[ 0.99985222 0.00676001 -0.01580603 0.05709959] [-0.00686363 0.99995525 -0.00651031 0.09300154] [ 0.01576132 0.00661784 0.99985388 -0.28515565] [ 0. 0. 0. 1. ]] SLAMing on 17.793133365 meters Centerline goodness : 0.110133 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.29 [[ 0.99985165 0.00677303 -0.01583691 0.05763036] [-0.00687804 0.99995466 -0.00658567 0.09319452] [ 0.01579159 0.00669362 0.9998529 -0.28592659] [ 0. 0. 0. 1. ]] SLAMing on 17.823133365 meters Centerline goodness : 0.128386 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.29 [[ 0.99985092 0.00678946 -0.01587581 0.05800044] [-0.00689607 0.99995397 -0.00667077 0.09346031] [ 0.01582979 0.00677925 0.99985172 -0.28643092] [ 0. 0. 0. 1. ]] SLAMing on 17.853133364999998 meters Centerline goodness : 0.142065 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.29 [[ 0.9998494 0.00684555 -0.0159475 0.05834715] [-0.00695394 0.99995303 -0.00675167 0.09401582] [ 0.01590053 0.00686155 0.99985003 -0.28678732] [ 0. 0. 0. 1. ]] SLAMing on 17.883133365 meters Centerline goodness : 0.130325 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-0.29 [[ 9.99856469e-01 -3.70953029e-04 -1.69382461e-02 3.99575538e-02] [ 2.94370138e-04 9.99989725e-01 -4.52356936e-03 9.70328696e-02] [ 1.69397501e-02 4.51793398e-03 9.99846305e-01 -2.88965329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.913133365 meters Centerline goodness : 0.163186 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-0.29 [[ 9.99856824e-01 -2.52832898e-04 -1.69194729e-02 3.99662838e-02] [ 1.79400983e-04 9.99990560e-01 -4.34146002e-03 9.63847887e-02] [ 1.69204108e-02 4.33780305e-03 9.99847430e-01 -2.89098241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.943133364999998 meters Centerline goodness : 0.129560 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-0.29 [[ 9.99856954e-01 -1.73691952e-04 -1.69127458e-02 3.99537361e-02] [ 1.04102440e-04 9.99991526e-01 -4.11541285e-03 9.52470194e-02] [ 1.69133173e-02 4.11306350e-03 9.99848500e-01 -2.89065100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.973133365 meters Centerline goodness : 0.127626 Centerline is valid? [False, False] Translation: X:0.04, Y:0.09, Z:-0.29 [[ 9.99855099e-01 -1.23307812e-04 -1.70225260e-02 4.03241421e-02] [ 5.68204321e-05 9.99992369e-01 -3.90627527e-03 9.40320757e-02] [ 1.70228777e-02 3.90474202e-03 9.99847476e-01 -2.89215154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.003133365 meters Centerline goodness : 0.130891 Centerline is valid? [False, False] Translation: X:0.04, Y:0.09, Z:-0.29 [[ 9.99845647e-01 -1.90832306e-04 -1.75683043e-02 4.20323416e-02] [ 1.29605940e-04 9.99993915e-01 -3.48611957e-03 9.09541226e-02] [ 1.75688627e-02 3.48330452e-03 9.99839588e-01 -2.89776737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.033133364999998 meters Centerline goodness : 0.129652 Centerline is valid? [False, False] Translation: X:0.04, Y:0.09, Z:-0.29 [[ 9.99840157e-01 -1.95234147e-04 -1.78779989e-02 4.29857840e-02] [ 1.37915131e-04 9.99994847e-01 -3.20729715e-03 8.91087985e-02] [ 1.78785329e-02 3.20431884e-03 9.99835032e-01 -2.90032282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.063133365 meters Centerline goodness : 0.125760 Centerline is valid? [False, False] Translation: X:0.04, Y:0.09, Z:-0.29 [[ 9.99835367e-01 -1.01575537e-04 -1.81446602e-02 4.37311765e-02] [ 5.06476363e-05 9.99996059e-01 -2.80720818e-03 8.68893029e-02] [ 1.81448739e-02 2.80582704e-03 9.99831431e-01 -2.90122563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.093133365 meters Centerline goodness : 0.128440 Centerline is valid? [False, False] Translation: X:0.04, Y:0.08, Z:-0.29 [[ 9.99830021e-01 1.17305535e-05 -1.84371757e-02 4.43841282e-02] [-5.16693492e-05 9.99997653e-01 -2.16573520e-03 8.33430108e-02] [ 1.84371071e-02 2.16631971e-03 9.99827675e-01 -2.89896192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.123133365 meters Centerline goodness : 0.128210 Centerline is valid? [False, False] Translation: X:0.04, Y:0.08, Z:-0.29 [[ 9.99830276e-01 6.27712074e-05 -1.84232358e-02 4.41594099e-02] [-9.96641042e-05 9.99997992e-01 -2.00160861e-03 8.24464100e-02] [ 1.84230732e-02 2.00310502e-03 9.99828274e-01 -2.89587981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.153133365 meters Centerline goodness : 0.127149 Centerline is valid? [False, False] Translation: X:0.04, Y:0.08, Z:-0.29 [[ 9.99831002e-01 7.18811490e-05 -1.83837249e-02 4.38189079e-02] [-1.09015769e-04 9.99997956e-01 -2.01897840e-03 8.25178479e-02] [ 1.83835422e-02 2.02064131e-03 9.99828967e-01 -2.89222898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.183133365 meters Centerline goodness : 0.124461 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.08, Z:-0.29 [[ 9.99783481e-01 5.07907841e-05 -2.08083835e-02 -2.68630081e-03] [-8.44186655e-05 9.99998692e-01 -1.61519849e-03 7.93871343e-02] [ 2.08082742e-02 1.61660538e-03 9.99782177e-01 -2.88133494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.213133365 meters Centerline goodness : 0.127822 Centerline is valid? [False, False] Translation: X:0.02, Y:0.08, Z:-0.29 [[ 0.99975227 0.01031037 -0.01972561 0.01936646] [-0.01034626 0.999945 -0.00171844 0.08278557] [ 0.01970681 0.0019221 0.99980395 -0.28796314] [ 0. 0. 0. 1. ]] SLAMing on 18.243133365 meters Centerline goodness : 0.126235 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:-0.29 [[ 0.99975552 0.01038061 -0.01952301 0.01900568] [-0.01042396 0.99994342 -0.00211967 0.08555833] [ 0.0194999 0.00232266 0.99980716 -0.28833745] [ 0. 0. 0. 1. ]] SLAMing on 18.273133365 meters Centerline goodness : 0.126235 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:-0.29 [[ 0.99975552 0.01038061 -0.01952301 0.01900568] [-0.01042396 0.99994342 -0.00211967 0.08555833] [ 0.0194999 0.00232266 0.99980716 -0.28833745] [ 0. 0. 0. 1. ]] SLAMing on 18.303133365 meters Centerline goodness : 0.124091 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:-0.29 [[ 0.999761 0.01027278 -0.01929788 0.01851354] [-0.01032686 0.99994302 -0.00270499 0.08875425] [ 0.01926899 0.00290363 0.99981012 -0.28855667] [ 0. 0. 0. 1. ]] SLAMing on 18.333133365 meters Centerline goodness : 0.130272 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.10, Z:-0.29 [[ 0.99982357 0.00193729 -0.01868354 -0.00281914] [-0.00197643 0.99999589 -0.00207648 0.09523099] [ 0.01867944 0.00211304 0.99982329 -0.29026406] [ 0. 0. 0. 1. ]] SLAMing on 18.363133365 meters Centerline goodness : 0.161255 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.10, Z:-0.29 [[ 0.99983437 0.00182834 -0.01810786 -0.00447619] [-0.00188227 0.99999384 -0.0029617 0.10066951] [ 0.01810233 0.00299529 0.99983165 -0.2901164 ] [ 0. 0. 0. 1. ]] SLAMing on 18.393133365 meters Centerline goodness : 0.168113 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.10, Z:-0.29 [[ 0.99983928 0.00164986 -0.01785192 -0.00531168] [-0.00171221 0.99999249 -0.00347766 0.10337143] [ 0.01784605 0.00350767 0.99983459 -0.28987973] [ 0. 0. 0. 1. ]] SLAMing on 18.423133364999998 meters Centerline goodness : 0.160903 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.11, Z:-0.29 [[ 0.99984124 0.00138984 -0.01776387 -0.00584799] [-0.00146702 0.99998954 -0.00433276 0.10846498] [ 0.01775766 0.00435813 0.99983282 -0.28959438] [ 0. 0. 0. 1. ]] SLAMing on 18.453133365 meters Centerline goodness : 0.164142 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.11, Z:-0.29 [[ 0.99984131 0.00128547 -0.01776814 -0.00574763] [-0.00136877 0.99998813 -0.00467672 0.11048962] [ 0.01776192 0.0047003 0.9998312 -0.28980987] [ 0. 0. 0. 1. ]] SLAMing on 18.483133365 meters Centerline goodness : 0.162803 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.11, Z:-0.29 [[ 0.99984322 0.00114564 -0.01767003 -0.0059668 ] [-0.00123514 0.99998646 -0.00505534 0.11244729] [ 0.017664 0.00507638 0.99983109 -0.28988258] [ 0. 0. 0. 1. ]] SLAMing on 18.513133364999998 meters Centerline goodness : 0.165879 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.11, Z:-0.29 [[ 0.99984521 0.00101042 -0.0175652 -0.00631434] [-0.00110501 0.99998494 -0.00537629 0.11388485] [ 0.0175595 0.00539487 0.99983127 -0.28976255] [ 0. 0. 0. 1. ]] SLAMing on 18.543133365 meters Centerline goodness : 0.165620 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.12, Z:-0.29 [[ 9.99838048e-01 6.91091524e-04 -1.79833539e-02 -5.21279110e-03] [-7.98197891e-04 9.99981984e-01 -5.94936562e-03 1.15940895e-01] [ 1.79789183e-02 5.96275638e-03 9.99820586e-01 -2.89968419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.573133365 meters Centerline goodness : 0.170662 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.12, Z:-0.29 [[ 9.99833605e-01 6.40240133e-04 -1.82305365e-02 -4.48007599e-03] [-7.52096763e-04 9.99980932e-01 -6.12947911e-03 1.17052113e-01] [ 1.82262646e-02 6.14217032e-03 9.99815021e-01 -2.90242222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.603133364999998 meters Centerline goodness : 0.168547 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.12, Z:-0.29 [[ 9.99830525e-01 6.78344751e-04 -1.83973123e-02 -3.90017006e-03] [-7.91649203e-04 9.99980762e-01 -6.15216694e-03 1.17727684e-01] [ 1.83927851e-02 6.16568852e-03 9.99811827e-01 -2.90514267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.633133365 meters Centerline goodness : 0.166544 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.12, Z:-0.29 [[ 9.99829422e-01 6.64797079e-04 -1.84576560e-02 -3.51697433e-03] [-7.79372284e-04 9.99980470e-01 -6.20096315e-03 1.18142241e-01] [ 1.84531731e-02 6.21429079e-03 9.99810414e-01 -2.90869487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.663133365 meters Centerline goodness : 0.174010 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.12, Z:-0.29 [[ 9.99827352e-01 3.38575771e-04 -1.85782460e-02 -3.07956899e-03] [-4.60222468e-04 9.99978482e-01 -6.54391843e-03 1.18589703e-01] [ 1.85756307e-02 6.55133877e-03 9.99805994e-01 -2.91016186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.693133364999998 meters Centerline goodness : 0.166504 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.99979471 -0.00733374 -0.01888801 0.01640566] [ 0.00722764 0.99995775 -0.00567966 0.12568263] [ 0.01892886 0.00554198 0.99980547 -0.28979919] [ 0. 0. 0. 1. ]] SLAMing on 18.723133365 meters Centerline goodness : 0.168779 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.9997927 -0.00741465 -0.01896234 0.01690979] [ 0.00730321 0.99995569 -0.00593901 0.12719852] [ 0.01900554 0.0057993 0.99980256 -0.29034825] [ 0. 0. 0. 1. ]] SLAMing on 18.753133365 meters Centerline goodness : 0.169672 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.99978517 -0.00515341 -0.0200762 0.02159052] [ 0.00507122 0.99997856 -0.00414231 0.1317772 ] [ 0.02009712 0.00403961 0.99978987 -0.29266122] [ 0. 0. 0. 1. ]] SLAMing on 18.783133364999998 meters Centerline goodness : 0.171333 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.99978474 -0.00529665 -0.02006056 0.02140303] [ 0.005208 0.99997645 -0.00446877 0.13321525] [ 0.02008376 0.00436333 0.99978878 -0.29246086] [ 0. 0. 0. 1. ]] SLAMing on 18.813133365 meters Centerline goodness : 0.177241 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.99978154 -0.0054463 -0.02017941 0.02147082] [ 0.00535101 0.99997429 -0.00477271 0.13441143] [ 0.02020488 0.00466368 0.99978498 -0.29215274] [ 0. 0. 0. 1. ]] SLAMing on 18.843133365 meters Centerline goodness : 0.174643 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99977677 -0.00554233 -0.02038848 0.0220588 ] [ 0.00543903 0.99997211 -0.00511848 0.13659537] [ 0.02041628 0.00500645 0.99977903 -0.29236423] [ 0. 0. 0. 1. ]] SLAMing on 18.873133365 meters Centerline goodness : 0.170587 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99977658 -0.00558428 -0.02038626 0.02229575] [ 0.00547865 0.9999713 -0.00523379 0.13731701] [ 0.0204149 0.00512093 0.99977848 -0.29275316] [ 0. 0. 0. 1. ]] SLAMing on 18.903133365 meters Centerline goodness : 0.173903 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99977956 -0.00562404 -0.02022866 0.02182534] [ 0.00551883 0.99997097 -0.00525288 0.13725301] [ 0.02025762 0.00514008 0.99978158 -0.2926021 ] [ 0. 0. 0. 1. ]] SLAMing on 18.933133365 meters Centerline goodness : 0.176715 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99978945 -0.00595285 -0.01963707 0.01971665] [ 0.00584806 0.99996837 -0.00538986 0.13679549] [ 0.01966853 0.00527388 0.99979265 -0.29140243] [ 0. 0. 0. 1. ]] SLAMing on 18.963133365 meters Centerline goodness : 0.171014 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99978812 -0.00594705 -0.01970675 0.01965365] [ 0.00584282 0.99996866 -0.00534234 0.13660441] [ 0.0197379 0.00522606 0.99979153 -0.29102113] [ 0. 0. 0. 1. ]] SLAMing on 18.993133365 meters Centerline goodness : 0.135421 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99978764 -0.00594438 -0.01973156 0.01974444] [ 0.0058405 0.9999688 -0.0053183 0.13658202] [ 0.01976256 0.00520193 0.99979117 -0.29106268] [ 0. 0. 0. 1. ]] SLAMing on 19.023133365 meters Centerline goodness : 0.180898 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99978875 -0.00601979 -0.01965239 0.01974142] [ 0.00591695 0.99996852 -0.00528677 0.13580152] [ 0.0196836 0.00516937 0.9997929 -0.29122781] [ 0. 0. 0. 1. ]] SLAMing on 19.053133365 meters Centerline goodness : 0.177004 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99978925 -0.00601371 -0.01962907 0.01959474] [ 0.00591227 0.99996889 -0.00522183 0.13535202] [ 0.01965986 0.00510468 0.99979369 -0.29108454] [ 0. 0. 0. 1. ]] SLAMing on 19.083133365 meters Centerline goodness : 0.174807 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.99978739 -0.00592649 -0.01974992 0.01977713] [ 0.0058273 0.99997014 -0.00507618 0.13495023] [ 0.01977941 0.00496002 0.99979206 -0.29093288] [ 0. 0. 0. 1. ]] SLAMing on 19.113133365 meters Centerline goodness : 0.107084 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.99978395 -0.00569134 -0.01999175 0.02034229] [ 0.00559725 0.99997301 -0.00475916 0.13437416] [ 0.0200183 0.00464624 0.99978882 -0.29091043] [ 0. 0. 0. 1. ]] SLAMing on 19.143133365 meters Centerline goodness : 0.114719 Centerline is valid? [False, False] Translation: X:0.00, Y:0.13, Z:-0.29 [[ 9.99786427e-01 2.28505351e-03 -2.05397062e-02 9.05411740e-04] [-2.40720984e-03 9.99979552e-01 -5.92457063e-03 1.28173946e-01] [ 2.05257482e-02 5.97274868e-03 9.99771484e-01 -2.92445262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.173133364999998 meters Centerline goodness : 0.174354 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.99978539 -0.00563543 -0.0199351 0.02006032] [ 0.005538 0.99997247 -0.00493924 0.13261416] [ 0.01996239 0.00482778 0.99978908 -0.29122566] [ 0. 0. 0. 1. ]] SLAMing on 19.203133365 meters Centerline goodness : 0.172828 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.9997892 -0.00558014 -0.01975915 0.0194049 ] [ 0.00548546 0.99997323 -0.00484294 0.13222226] [ 0.01978565 0.00473353 0.99979304 -0.29089239] [ 0. 0. 0. 1. ]] SLAMing on 19.233133365 meters Centerline goodness : 0.167764 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99983045 0.00291364 -0.01818202 0.03953461] [-0.00301554 0.99997989 -0.00557966 0.1297603 ] [ 0.0181654 0.00563354 0.99981912 -0.28984588] [ 0. 0. 0. 1. ]] SLAMing on 19.263133364999998 meters Centerline goodness : 0.172126 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99983078 0.00290973 -0.01816414 0.0396424 ] [-0.00301122 0.99998 -0.00556243 0.1294967 ] [ 0.01814759 0.00561619 0.99981955 -0.2900559 ] [ 0. 0. 0. 1. ]] SLAMing on 19.293133365 meters Centerline goodness : 0.171973 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99983064 0.00291427 -0.01817141 0.03971847] [-0.00301503 0.99998022 -0.00551996 0.12907642] [ 0.01815497 0.00557382 0.99981965 -0.29016632] [ 0. 0. 0. 1. ]] SLAMing on 19.323133365 meters Centerline goodness : 0.173082 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99983436 0.0030511 -0.01794296 0.03895595] [-0.00314598 0.99998121 -0.00526185 0.12815557] [ 0.01792656 0.00531743 0.99982517 -0.28988189] [ 0. 0. 0. 1. ]] SLAMing on 19.353133364999998 meters Centerline goodness : 0.175745 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99983687 0.00317032 -0.01778149 0.03851312] [-0.00326083 0.99998186 -0.00506335 0.1276177 ] [ 0.01776511 0.00512051 0.99982908 -0.28978444] [ 0. 0. 0. 1. ]] SLAMing on 19.383133365 meters Centerline goodness : 0.170422 Centerline is valid? [False, False] Translation: X:0.06, Y:0.13, Z:-0.29 [[ 0.99983746 -0.00438363 -0.01748833 0.05725612] [ 0.00432038 0.999984 -0.00365292 0.13243734] [ 0.01750406 0.00357677 0.99984039 -0.28814558] [ 0. 0. 0. 1. ]] SLAMing on 19.413133365 meters Centerline goodness : 0.179419 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99982426 0.00171924 -0.01866797 0.03547713] [-0.00184297 0.99997644 -0.00661293 0.12798054] [ 0.01865617 0.00664617 0.99980387 -0.28822067] [ 0. 0. 0. 1. ]] SLAMing on 19.443133364999998 meters Centerline goodness : 0.175037 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99981895 0.00164325 -0.01895708 0.03644697] [-0.00176977 0.99997626 -0.00665919 0.12750081] [ 0.01894569 0.00669154 0.99979812 -0.2886987 ] [ 0. 0. 0. 1. ]] SLAMing on 19.473133365 meters Centerline goodness : 0.174905 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99981848 0.00173336 -0.0189739 0.03650128] [-0.00185993 0.99997613 -0.00665494 0.12808121] [ 0.01896191 0.00668902 0.99979783 -0.28879448] [ 0. 0. 0. 1. ]] SLAMing on 19.503133365 meters Centerline goodness : 0.093888 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99981884 0.00181604 -0.01894702 0.03672959] [-0.00194287 0.99997582 -0.00667759 0.12883416] [ 0.01893444 0.00671319 0.99979819 -0.2893241 ] [ 0. 0. 0. 1. ]] SLAMing on 19.533133364999998 meters Centerline goodness : 0.171088 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99981177 0.00177219 -0.0193206 0.03811285] [-0.00190597 0.99997432 -0.00690779 0.12978911] [ 0.01930786 0.00694331 0.99978948 -0.29017099] [ 0. 0. 0. 1. ]] SLAMing on 19.563133365 meters Centerline goodness : 0.172046 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99980765 0.00166856 -0.01954186 0.03884589] [-0.00180745 0.99997322 -0.00709202 0.1302216 ] [ 0.0195295 0.00712597 0.99978389 -0.29050111] [ 0. 0. 0. 1. ]] SLAMing on 19.593133365 meters Centerline goodness : 0.167038 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99980717 0.00164222 -0.01956841 0.03899303] [-0.00178262 0.99997278 -0.00715949 0.1305125 ] [ 0.01955612 0.00719299 0.99978289 -0.290688 ] [ 0. 0. 0. 1. ]] SLAMing on 19.623133365 meters Centerline goodness : 0.115148 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.13, Z:-0.29 [[ 0.99975813 0.00179349 -0.02191961 -0.00753216] [-0.0019358 0.99997718 -0.00647311 0.1263957 ] [ 0.0219075 0.00651398 0.99973878 -0.28991954] [ 0. 0. 0. 1. ]] SLAMing on 19.653133365 meters Centerline goodness : 0.168827 Centerline is valid? [False, False] Translation: X:0.01, Y:0.13, Z:-0.29 [[ 0.99980202 -0.00418844 -0.01945174 0.0129469 ] [ 0.00412089 0.99998534 -0.00351173 0.12886937] [ 0.01946616 0.00343088 0.99980463 -0.29002774] [ 0. 0. 0. 1. ]] SLAMing on 19.683133365 meters Centerline goodness : 0.169717 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.12, Z:-0.29 [[ 0.9998187 0.00300529 -0.0188026 -0.00535442] [-0.00309897 0.99998292 -0.00495499 0.12173592] [ 0.01878739 0.00501236 0.99981094 -0.2921827 ] [ 0. 0. 0. 1. ]] SLAMing on 19.713133365 meters Centerline goodness : 0.173245 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.12, Z:-0.29 [[ 0.99981832 0.00300981 -0.01882213 -0.00537508] [-0.00310135 0.9999835 -0.00483627 0.12081963] [ 0.01880727 0.00489377 0.99981115 -0.29206201] [ 0. 0. 0. 1. ]] SLAMing on 19.743133365 meters Centerline goodness : 0.170283 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.12, Z:-0.29 [[ 0.99981524 0.00305619 -0.0189774 -0.00503911] [-0.0031456 0.99998409 -0.00468334 0.11996024] [ 0.01896278 0.00474217 0.99980894 -0.29198013] [ 0. 0. 0. 1. ]] SLAMing on 19.773133365 meters Centerline goodness : 0.168084 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.12, Z:-0.29 [[ 0.99981036 0.00320764 -0.01920821 -0.00426048] [-0.00329098 0.9999853 -0.00430866 0.11821395] [ 0.01919411 0.00437105 0.99980622 -0.29226746] [ 0. 0. 0. 1. ]] SLAMing on 19.803133365 meters Centerline goodness : 0.166030 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.12, Z:-0.29 [[ 0.99980991 0.00328576 -0.01921843 -0.00407886] [-0.00336514 0.99998593 -0.0040996 0.11712976] [ 0.01920468 0.0041635 0.9998069 -0.29250682] [ 0. 0. 0. 1. ]] SLAMing on 19.833133365 meters Centerline goodness : 0.175995 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.11, Z:-0.29 [[ 0.99976294 0.00255878 -0.02162193 -0.05041634] [-0.00265068 0.99998757 -0.00422293 0.11181912] [ 0.02161086 0.00427924 0.9997573 -0.29205173] [ 0. 0. 0. 1. ]] SLAMing on 19.863133365 meters Centerline goodness : 0.098118 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:-0.29 [[ 0.99977213 -0.00552165 -0.02062049 -0.03031068] [ 0.00545458 0.99997965 -0.00330742 0.1142795 ] [ 0.02063833 0.00319419 0.9997819 -0.2912958 ] [ 0. 0. 0. 1. ]] SLAMing on 19.893133365 meters Centerline goodness : 0.170545 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.11, Z:-0.29 [[ 0.99978577 0.00244043 -0.02055357 -0.04994807] [-0.00252553 0.99998834 -0.00411543 0.10728781] [ 0.02054328 0.00416645 0.99978028 -0.29267813] [ 0. 0. 0. 1. ]] SLAMing on 19.923133364999998 meters Centerline goodness : 0.173585 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.11, Z:-0.29 [[ 0.99978704 0.00249405 -0.02048545 -0.05017793] [-0.00257895 0.99998819 -0.00411916 0.10752963] [ 0.02047494 0.00417112 0.99978167 -0.29261077] [ 0. 0. 0. 1. ]] SLAMing on 19.953133365 meters Centerline goodness : 0.169838 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.11, Z:-0.29 [[ 0.99979856 0.0028366 -0.01986963 -0.05164136] [-0.00292096 0.99998684 -0.00421764 0.10938905] [ 0.0198574 0.00427483 0.99979368 -0.29284244] [ 0. 0. 0. 1. ]] SLAMing on 19.983133365 meters Centerline goodness : 0.132403 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.11, Z:-0.29 [[ 0.99980909 0.0029164 -0.0193202 -0.05314294] [-0.00300359 0.99998543 -0.00448502 0.11152745] [ 0.01930684 0.0045422 0.99980329 -0.2926948 ] [ 0. 0. 0. 1. ]] SLAMing on 20.013133364999998 meters Centerline goodness : 0.145656 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.12, Z:-0.30 [[ 0.99985077 -0.00376505 -0.01685988 -0.07438012] [ 0.00371836 0.99998917 -0.00279962 0.1172581 ] [ 0.01687024 0.00273651 0.99985394 -0.29536293] [ 0. 0. 0. 1. ]] SLAMing on 20.043133365 meters Centerline goodness : 0.166033 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.12, Z:-0.30 [[ 0.99983393 -0.00189529 -0.01812507 -0.06931133] [ 0.0018687 0.99999715 -0.00148396 0.12131217] [ 0.01812783 0.00144984 0.99983463 -0.29778255] [ 0. 0. 0. 1. ]] SLAMing on 20.073133365 meters Centerline goodness : 0.168353 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.12, Z:-0.30 [[ 0.99983043 -0.00198846 -0.01830724 -0.06846706] [ 0.00195691 0.99999657 -0.0017409 0.12262062] [ 0.01831063 0.00170478 0.99983089 -0.29848763] [ 0. 0. 0. 1. ]] SLAMing on 20.103133364999998 meters Centerline goodness : 0.171195 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.12, Z:-0.30 [[ 0.99982895 -0.00206104 -0.01837981 -0.06815027] [ 0.00202746 0.99999624 -0.00184554 0.12301306] [ 0.01838355 0.00180796 0.99982937 -0.29873238] [ 0. 0. 0. 1. ]] SLAMing on 20.133133365 meters Centerline goodness : 0.173081 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.12, Z:-0.30 [[ 0.99982514 -0.00261016 -0.01851667 -0.06774861] [ 0.00256948 0.99999423 -0.00222073 0.12319836] [ 0.01852235 0.00217277 0.99982609 -0.29873055] [ 0. 0. 0. 1. ]] SLAMing on 20.163133365 meters Centerline goodness : 0.103513 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.12, Z:-0.30 [[ 0.99982133 0.00305466 -0.01865395 -0.04452952] [-0.00315443 0.99998087 -0.00532137 0.12333706] [ 0.01863734 0.00537926 0.99981184 -0.29864975] [ 0. 0. 0. 1. ]] SLAMing on 20.193133364999998 meters Centerline goodness : 0.103513 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.12, Z:-0.30 [[ 0.99982133 0.00305466 -0.01865395 -0.04452952] [-0.00315443 0.99998087 -0.00532137 0.12333706] [ 0.01863734 0.00537926 0.99981184 -0.29864975] [ 0. 0. 0. 1. ]] SLAMing on 20.223133365 meters Centerline goodness : 0.172270 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.12, Z:-0.30 [[ 0.99981318 0.00297516 -0.01909844 -0.04327296] [-0.00307693 0.99998121 -0.0053013 0.12301287] [ 0.01908231 0.00535907 0.99980355 -0.29887806] [ 0. 0. 0. 1. ]] SLAMing on 20.253133365 meters Centerline goodness : 0.104202 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.12, Z:-0.30 [[ 0.99981132 0.00275153 -0.01922888 -0.04294612] [-0.0028549 0.99998161 -0.00535061 0.12302116] [ 0.0192138 0.0054045 0.99980079 -0.29877395] [ 0. 0. 0. 1. ]] SLAMing on 20.283133364999998 meters Centerline goodness : 0.126732 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.13, Z:-0.30 [[ 0.99978815 -0.00611146 -0.01965461 -0.06476139] [ 0.00602182 0.99997121 -0.00461664 0.12575619] [ 0.01968226 0.0044973 0.99979617 -0.29974942] [ 0. 0. 0. 1. ]] SLAMing on 20.313133365 meters Centerline goodness : 0.176690 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.13, Z:-0.30 [[ 0.99978704 -0.00619613 -0.01968471 -0.06476536] [ 0.00610581 0.99997057 -0.00464526 0.12544335] [ 0.01971292 0.00452408 0.99979545 -0.29960157] [ 0. 0. 0. 1. ]] SLAMing on 20.343133365 meters Centerline goodness : 0.175835 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.12, Z:-0.30 [[ 0.99978387 -0.0061986 -0.01984433 -0.06476488] [ 0.00611075 0.99997127 -0.00448492 0.12459948] [ 0.01987156 0.00436269 0.99979302 -0.29894489] [ 0. 0. 0. 1. ]] SLAMing on 20.373133365 meters Centerline goodness : 0.169976 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.12, Z:-0.30 [[ 0.99978376 -0.00613957 -0.01986828 -0.06485371] [ 0.0060549 0.99997234 -0.00431863 0.12390945] [ 0.01989425 0.0041974 0.99979328 -0.29873541] [ 0. 0. 0. 1. ]] SLAMing on 20.403133365 meters Centerline goodness : 0.175096 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.12, Z:-0.30 [[ 0.99972619 -0.00674627 -0.02240602 -0.1109571 ] [ 0.00665228 0.99996877 -0.00426673 0.11909895] [ 0.02243411 0.00411651 0.99973985 -0.29794191] [ 0. 0. 0. 1. ]] SLAMing on 20.433133365 meters Centerline goodness : 0.175225 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.12, Z:-0.30 [[ 9.99786255e-01 -5.43022888e-04 -2.06676024e-02 -8.88200624e-02] [ 4.01634901e-04 9.99976495e-01 -6.84458060e-03 1.18156301e-01] [ 2.06708334e-02 6.83481678e-03 9.99762973e-01 -2.97998241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.463133365 meters Centerline goodness : 0.177429 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.12, Z:-0.30 [[ 9.99803756e-01 -8.65052224e-04 -1.97914205e-02 -9.13692421e-02] [ 7.35208203e-04 9.99978167e-01 -6.56695733e-03 1.15026053e-01] [ 1.97966692e-02 6.55111779e-03 9.99782564e-01 -2.97190595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.493133365 meters Centerline goodness : 0.181935 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.11, Z:-0.30 [[ 9.99806145e-01 -7.36121594e-04 -1.96756335e-02 -9.18568706e-02] [ 6.16121948e-04 9.99981179e-01 -6.10426243e-03 1.12696571e-01] [ 1.96797567e-02 6.09095650e-03 9.99787781e-01 -2.96826274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.523133365 meters Centerline goodness : 0.177021 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.11, Z:-0.30 [[ 9.99806861e-01 -5.52608096e-04 -1.96452127e-02 -9.21189380e-02] [ 4.43132401e-04 9.99984353e-01 -5.57655629e-03 1.10250700e-01] [ 1.96479870e-02 5.56677381e-03 9.99791462e-01 -2.96483958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.553133365 meters Centerline goodness : 0.174888 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.11, Z:-0.30 [[ 9.99797330e-01 -4.03277283e-04 -2.01279999e-02 -9.06899807e-02] [ 3.07637994e-04 9.99988650e-01 -4.75442476e-03 1.05461924e-01] [ 2.01296888e-02 4.74726904e-03 9.99786107e-01 -2.96766965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.583133365 meters Centerline goodness : 0.180394 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.10, Z:-0.30 [[ 0.99973658 -0.00146199 -0.02290468 -0.13489173] [ 0.00134423 0.9999858 -0.00515589 0.09931561] [ 0.02291189 0.00512374 0.99972436 -0.29710093] [ 0. 0. 0. 1. ]] SLAMing on 20.613133365 meters Centerline goodness : 0.170578 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.10, Z:-0.30 [[ 0.99973431 -0.00129042 -0.02301411 -0.13463705] [ 0.00118474 0.9999887 -0.00460488 0.09630092] [ 0.02301979 0.00457639 0.99972453 -0.29706764] [ 0. 0. 0. 1. ]] SLAMing on 20.643133365 meters Centerline goodness : 0.180155 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.09, Z:-0.30 [[ 9.99734617e-01 -9.20762153e-04 -2.30184306e-02 -1.34543113e-01] [ 8.37692859e-04 9.99993103e-01 -3.61819863e-03 9.11752702e-02] [ 2.30216034e-02 3.59795605e-03 9.99728493e-01 -2.97110558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.673133364999998 meters Centerline goodness : 0.172481 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.09, Z:-0.30 [[ 9.99734418e-01 -7.46392102e-04 -2.30333632e-02 -1.34380456e-01] [ 6.70716661e-04 9.99994353e-01 -3.29302134e-03 8.97742788e-02] [ 2.30356910e-02 3.27669792e-03 9.99729273e-01 -2.97311218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.703133365 meters Centerline goodness : 0.117202 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.09, Z:-0.30 [[ 9.99732311e-01 -5.63086861e-04 -2.31298323e-02 -1.34034247e-01] [ 4.92940032e-04 9.99995263e-01 -3.03833225e-03 8.89002086e-02] [ 2.31314335e-02 3.02611731e-03 9.99727853e-01 -2.97529481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.733133365 meters Centerline goodness : 0.168252 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.09, Z:-0.30 [[ 9.99735772e-01 -1.53486567e-05 -2.29866349e-02 -1.34174788e-01] [-3.79250323e-05 9.99997315e-01 -2.31715634e-03 8.64102186e-02] [ 2.29866088e-02 2.31741585e-03 9.99733087e-01 -2.97873115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.763133364999998 meters Centerline goodness : 0.135910 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.09, Z:-0.30 [[ 9.99737463e-01 1.19412550e-04 -2.29126868e-02 -1.34203469e-01] [-1.67560621e-04 9.99997782e-01 -2.09946331e-03 8.54569996e-02] [ 2.29123853e-02 2.10275139e-03 9.99735265e-01 -2.98140392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.793133365 meters Centerline goodness : 0.131040 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.08, Z:-0.30 [[ 9.99738317e-01 2.63762295e-04 -2.28741750e-02 -1.34116550e-01] [-3.05448553e-04 9.99998299e-01 -1.81894102e-03 8.40943528e-02] [ 2.28736563e-02 1.82545192e-03 9.99736697e-01 -2.98432457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.823133365 meters Centerline goodness : 0.156932 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.08, Z:-0.30 [[ 9.99741586e-01 5.57822025e-04 -2.27255303e-02 -1.34304426e-01] [-5.84319266e-04 9.99999157e-01 -1.15934433e-03 8.07506993e-02] [ 2.27248645e-02 1.17232370e-03 9.99741070e-01 -2.98697323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.853133364999998 meters Centerline goodness : 0.135025 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99786153e-01 1.57094291e-03 -2.06199099e-02 -9.18450675e-02] [-1.58739701e-03 9.99998435e-01 -7.81627969e-04 8.18633212e-02] [ 2.06186497e-02 8.14192803e-04 9.99787082e-01 -2.97553766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.883133365 meters Centerline goodness : 0.164568 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99789979e-01 1.74791424e-03 -2.04191923e-02 -9.24411105e-02] [-1.75781829e-03 9.99998346e-01 -4.67097751e-04 8.06926642e-02] [ 2.04183420e-02 5.02892880e-04 9.99791397e-01 -2.97396388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.913133365 meters Centerline goodness : 0.162401 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99791211e-01 1.86187876e-03 -2.03486694e-02 -9.25884390e-02] [-1.86740028e-03 9.99998225e-01 -2.52347544e-04 7.98497888e-02] [ 2.03481634e-02 2.90293967e-04 9.99792913e-01 -2.97442417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.943133364999998 meters Centerline goodness : 0.162252 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99787935e-01 1.98162650e-03 -2.04977838e-02 -9.22399108e-02] [-1.98067078e-03 9.99998036e-01 6.69273255e-05 7.80725659e-02] [ 2.04978762e-02 -2.63137710e-05 9.99789896e-01 -2.97391156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.973133365 meters Centerline goodness : 0.158856 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99787677e-01 2.05332928e-03 -2.05032701e-02 -9.23473977e-02] [-2.04775734e-03 9.99997860e-01 2.92750343e-04 7.67980216e-02] [ 2.05038273e-02 -2.50702464e-04 9.99789743e-01 -2.97182813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.003133365 meters Centerline goodness : 0.160968 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99790965e-01 2.16305716e-03 -2.03309354e-02 -9.29602527e-02] [-2.15126857e-03 9.99997505e-01 6.01688136e-04 7.52082916e-02] [ 2.03321861e-02 -5.57825060e-04 9.99793124e-01 -2.96842919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.033133364999998 meters Centerline goodness : 0.118706 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 9.99794649e-01 2.25969506e-03 -2.01383397e-02 -9.37218010e-02] [-2.24195021e-03 9.99997079e-01 9.03680865e-04 7.36409773e-02] [ 2.01403229e-02 -8.58346139e-04 9.99796795e-01 -2.96331950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.063133365 meters Centerline goodness : 0.159215 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 0.99979074 0.00241467 -0.02031369 -0.09328589] [-0.00238563 0.9999961 0.00145365 0.07080314] [ 0.02031713 -0.00140488 0.9997926 -0.2962751 ] [ 0. 0. 0. 1. ]] SLAMing on 21.093133365 meters Centerline goodness : 0.143886 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 0.99978433 0.00247964 -0.02061912 -0.09232089] [-0.00244517 0.99999557 0.0016968 0.0694278 ] [ 0.02062323 -0.00164601 0.99978596 -0.29659662] [ 0. 0. 0. 1. ]] SLAMing on 21.123133364999997 meters Centerline goodness : 0.154004 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 0.99977876 0.00248065 -0.02088703 -0.0915802 ] [-0.00244265 0.99999532 0.00184472 0.06832174] [ 0.02089151 -0.00179329 0.99978014 -0.29670639] [ 0. 0. 0. 1. ]] SLAMing on 21.153133365 meters Centerline goodness : 0.149569 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 0.99977354 0.00251593 -0.0211314 -0.09089684] [-0.00247476 0.99999499 0.00197386 0.06754072] [ 0.02113626 -0.00192112 0.99977476 -0.29687531] [ 0. 0. 0. 1. ]] SLAMing on 21.183133365 meters Centerline goodness : 0.162194 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 0.99977313 0.00250985 -0.02115157 -0.09065949] [-0.00247087 0.9999952 0.0018689 0.06827361] [ 0.02115616 -0.00181621 0.99977453 -0.29722749] [ 0. 0. 0. 1. ]] SLAMing on 21.213133365 meters Centerline goodness : 0.149173 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 0.99977387 0.00247793 -0.02112017 -0.09072573] [-0.00244376 0.99999566 0.00164356 0.06969231] [ 0.02112415 -0.00159157 0.99977559 -0.29732103] [ 0. 0. 0. 1. ]] SLAMing on 21.243133365 meters Centerline goodness : 0.164011 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 0.99977915 0.00241345 -0.02087643 -0.09145776] [-0.00238538 0.99999622 0.0013695 0.07121695] [ 0.02087966 -0.0013194 0.99978113 -0.29718619] [ 0. 0. 0. 1. ]] SLAMing on 21.273133365 meters Centerline goodness : 0.159209 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 9.99793695e-01 2.42743446e-03 -2.01662069e-02 -9.36620950e-02] [-2.40943215e-03 9.99996677e-01 9.16946393e-04 7.39633144e-02] [ 2.01683657e-02 -8.68168115e-04 9.99796221e-01 -2.96537801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.303133365 meters Centerline goodness : 0.151130 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99796222e-01 2.36125227e-03 -2.00484226e-02 -9.41204203e-02] [-2.34839124e-03 9.99997021e-01 6.65017139e-04 7.53990936e-02] [ 2.00499331e-02 -6.17800083e-04 9.99798789e-01 -2.96336822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.333133365 meters Centerline goodness : 0.152206 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99796509e-01 2.29846638e-03 -2.00414116e-02 -9.42908485e-02] [-2.29042720e-03 9.99997287e-01 4.24073711e-04 7.68236541e-02] [ 2.00423319e-02 -3.78084022e-04 9.99799061e-01 -2.96207932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.363133365 meters Centerline goodness : 0.156747 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99798229e-01 2.14071063e-03 -1.99729404e-02 -9.42468694e-02] [-2.14456667e-03 9.99997686e-01 -1.71646190e-04 8.01157508e-02] [ 1.99725267e-02 2.14444859e-04 9.99800506e-01 -2.96690409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.393133365 meters Centerline goodness : 0.156263 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99802090e-01 2.04520226e-03 -1.97888289e-02 -9.46388540e-02] [-2.05482967e-03 9.99997780e-01 -4.66186660e-04 8.16693734e-02] [ 1.97878315e-02 5.06757070e-04 9.99804073e-01 -2.96853864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.423133364999998 meters Centerline goodness : 0.155924 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.08, Z:-0.30 [[ 9.99807153e-01 1.94561762e-03 -1.95415225e-02 -9.53123330e-02] [-1.96139555e-03 9.99997766e-01 -7.88271935e-04 8.34977348e-02] [ 1.95399452e-02 8.26448575e-04 9.99808735e-01 -2.96835082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.453133365 meters Centerline goodness : 0.200684 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.09, Z:-0.30 [[ 0.99981374 0.0017667 -0.01921882 -0.09600543] [-0.00179738 0.99999714 -0.00157894 0.08819029] [ 0.01921597 0.00161319 0.99981405 -0.29713992] [ 0. 0. 0. 1. ]] SLAMing on 21.483133365 meters Centerline goodness : 0.158239 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.09, Z:-0.30 [[ 0.99981471 0.00155412 -0.01918664 -0.09589689] [-0.00159527 0.99999646 -0.00212936 0.09085908] [ 0.01918326 0.00215957 0.99981365 -0.29753401] [ 0. 0. 0. 1. ]] SLAMing on 21.513133364999998 meters Centerline goodness : 0.160645 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.09, Z:-0.30 [[ 0.99981531 0.00134652 -0.0191712 -0.09571936] [-0.00139811 0.99999544 -0.00267795 0.09348965] [ 0.0191675 0.00270426 0.99981263 -0.29798105] [ 0. 0. 0. 1. ]] SLAMing on 21.543133365 meters Centerline goodness : 0.149825 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.10, Z:-0.30 [[ 0.99981644 0.00116657 -0.01912375 -0.09556128] [-0.00122728 0.99999424 -0.00316321 0.09591736] [ 0.01911995 0.0031861 0.99981212 -0.29853388] [ 0. 0. 0. 1. ]] SLAMing on 21.573133365 meters Centerline goodness : 0.106686 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.10, Z:-0.30 [[ 9.99817104e-01 9.28185034e-04 -1.91022808e-02 -9.50470387e-02] [-1.00215328e-03 9.99992036e-01 -3.86301257e-03 9.97482310e-02] [ 1.90985431e-02 3.88144945e-03 9.99810072e-01 -2.99513977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.603133364999998 meters Centerline goodness : 0.126645 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.11, Z:-0.30 [[ 0.99979474 -0.00653857 -0.01917611 -0.07612058] [ 0.00648415 0.99997478 -0.00289849 0.10719901] [ 0.01919458 0.00277355 0.99981192 -0.29798533] [ 0. 0. 0. 1. ]] SLAMing on 21.633133365 meters Centerline goodness : 0.158157 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.10, Z:-0.30 [[ 0.99980995 0.0010943 -0.01946441 -0.09504105] [-0.00117675 0.99999038 -0.00422498 0.10161411] [ 0.0194596 0.00424708 0.99980162 -0.29988866] [ 0. 0. 0. 1. ]] SLAMing on 21.663133365 meters Centerline goodness : 0.141375 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.10, Z:-0.30 [[ 9.99804740e-01 9.57844975e-04 -1.97373909e-02 -9.40476120e-02] [-1.04500722e-03 9.99989746e-01 -4.40625707e-03 1.01987335e-01] [ 1.97329680e-02 4.42602242e-03 9.99795489e-01 -3.00443651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.693133364999998 meters Centerline goodness : 0.094546 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.10, Z:-0.30 [[ 9.99793836e-01 8.00222401e-04 -2.02890377e-02 -9.20500977e-02] [-8.94417154e-04 9.99988863e-01 -4.63399344e-03 1.02811556e-01] [ 2.02851036e-02 4.65118494e-03 9.99783417e-01 -3.01539557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.723133365 meters Centerline goodness : 0.110486 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.11, Z:-0.30 [[ 0.99977746 -0.00697299 -0.01990987 -0.07266631] [ 0.00690468 0.99997004 -0.00349788 0.10854165] [ 0.01993367 0.00335963 0.99979566 -0.30007979] [ 0. 0. 0. 1. ]] SLAMing on 21.753133365 meters Centerline goodness : 0.111291 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.11, Z:-0.30 [[ 0.99978749 -0.00714567 -0.01933676 -0.07454779] [ 0.00708168 0.99996923 -0.00337569 0.10720305] [ 0.01936029 0.00323803 0.99980733 -0.29922342] [ 0. 0. 0. 1. ]] SLAMing on 21.783133364999998 meters Centerline goodness : 0.227095 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.30 [[ 0.99973896 -0.00806921 -0.02137512 -0.12187352] [ 0.0079992 0.99996237 -0.00335874 0.10174885] [ 0.02140142 0.00318688 0.99976588 -0.29802078] [ 0. 0. 0. 1. ]] SLAMing on 21.813133365 meters Centerline goodness : 0.092933 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.30 [[ 0.9997345 -0.0079778 -0.02161654 -0.12127472] [ 0.00791325 0.99996398 -0.00307002 0.10035012] [ 0.02164025 0.00289815 0.99976162 -0.29800833] [ 0. 0. 0. 1. ]] SLAMing on 21.843133365 meters Centerline goodness : 0.161207 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.10, Z:-0.30 [[ 9.99741667e-01 -1.64558848e-04 -2.27282287e-02 -1.00429730e-01] [ 7.50926877e-05 9.99992247e-01 -3.93714287e-03 9.58480502e-02] [ 2.27287003e-02 3.93441905e-03 9.99733928e-01 -2.96522251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.873133364999997 meters Centerline goodness : 0.161503 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.09, Z:-0.30 [[ 0.99965363 -0.00189919 -0.02624892 -0.14216351] [ 0.00177983 0.99998797 -0.00456994 0.08967096] [ 0.02625728 0.00452164 0.99964499 -0.29783486] [ 0. 0. 0. 1. ]] SLAMing on 21.903133365 meters Centerline goodness : 0.165007 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.09, Z:-0.30 [[ 0.99965297 -0.00179498 -0.02628152 -0.14221481] [ 0.00168483 0.99998971 -0.00421249 0.08787324] [ 0.02628881 0.00416675 0.99964571 -0.29756755] [ 0. 0. 0. 1. ]] SLAMing on 21.933133365 meters Centerline goodness : 0.159614 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.09, Z:-0.30 [[ 0.99965646 -0.00166532 -0.02615698 -0.14287119] [ 0.00156607 0.9999915 -0.00381423 0.08595347] [ 0.02616311 0.00377196 0.99965057 -0.29693808] [ 0. 0. 0. 1. ]] SLAMing on 21.963133365 meters Centerline goodness : 0.158895 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 0.99966521 -0.001559 -0.02582708 -0.14392612] [ 0.0014699 0.9999929 -0.00346841 0.08427359] [ 0.02583231 0.00342928 0.99966041 -0.29646201] [ 0. 0. 0. 1. ]] SLAMing on 21.993133365 meters Centerline goodness : 0.159752 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 0.99966958 -0.0015629 -0.02565719 -0.1442948 ] [ 0.00148234 0.99999391 -0.00315877 0.08195726] [ 0.02566197 0.00311969 0.99966581 -0.2964497 ] [ 0. 0. 0. 1. ]] SLAMing on 22.023133365 meters Centerline goodness : 0.157718 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 0.99966834 -0.00148532 -0.0257098 -0.1440184 ] [ 0.00140937 0.99999459 -0.00297199 0.08107667] [ 0.02571408 0.00293477 0.99966503 -0.29668647] [ 0. 0. 0. 1. ]] SLAMing on 22.053133365 meters Centerline goodness : 0.162662 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 0.99967081 -0.00136805 -0.02562016 -0.14418732] [ 0.00129761 0.99999533 -0.00276562 0.08042614] [ 0.02562382 0.00273146 0.99966792 -0.29675298] [ 0. 0. 0. 1. ]] SLAMing on 22.083133365 meters Centerline goodness : 0.162662 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 0.99967081 -0.00136805 -0.02562016 -0.14418732] [ 0.00129761 0.99999533 -0.00276562 0.08042614] [ 0.02562382 0.00273146 0.99966792 -0.29675298] [ 0. 0. 0. 1. ]] SLAMing on 22.113133365 meters Centerline goodness : 0.160200 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 0.99967701 -0.00127223 -0.02538205 -0.1448825 ] [ 0.00120582 0.99999581 -0.00263162 0.080082 ] [ 0.02538529 0.00260016 0.99967436 -0.29658037] [ 0. 0. 0. 1. ]] SLAMing on 22.143133365 meters Centerline goodness : 0.161596 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.08, Z:-0.30 [[ 0.99969554 -0.00124918 -0.02464295 -0.14714864] [ 0.00118779 0.99999616 -0.00250568 0.07892008] [ 0.02464598 0.00247565 0.99969318 -0.29581575] [ 0. 0. 0. 1. ]] SLAMing on 22.173133364999998 meters Centerline goodness : 0.091673 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.08, Z:-0.30 [[ 0.9996964 -0.00121599 -0.02460949 -0.14724736] [ 0.0011558 0.99999631 -0.00245985 0.07861945] [ 0.02461239 0.00243066 0.99969411 -0.29582181] [ 0. 0. 0. 1. ]] SLAMing on 22.203133365 meters Centerline goodness : 0.163093 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.08, Z:-0.30 [[ 0.99969211 -0.00115344 -0.0247863 -0.14638233] [ 0.00109312 0.99999641 -0.00244701 0.07887305] [ 0.02478904 0.00241917 0.99968978 -0.29657006] [ 0. 0. 0. 1. ]] SLAMing on 22.233133365 meters Centerline goodness : 0.158614 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 9.99675221e-01 -7.70580550e-04 -2.54727007e-02 -1.43854833e-01] [ 7.11319543e-04 9.99997020e-01 -2.33543087e-03 7.96584888e-02] [ 2.54744244e-02 2.31655315e-03 9.99672790e-01 -2.98086333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.263133364999998 meters Centerline goodness : 0.152007 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 9.99685706e-01 -7.40792010e-04 -2.50587476e-02 -1.44927157e-01] [ 6.81378485e-04 9.99996937e-01 -2.37942495e-03 8.00119923e-02] [ 2.50604335e-02 2.36160262e-03 9.99683149e-01 -2.98000700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.293133365 meters Centerline goodness : 0.128360 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.08, Z:-0.30 [[ 9.99698017e-01 -6.94620901e-04 -2.45640265e-02 -1.46535964e-01] [ 6.34817574e-04 9.99996816e-01 -2.44230396e-03 8.06281103e-02] [ 2.45656448e-02 2.42597275e-03 9.99695275e-01 -2.97397135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.323133365 meters Centerline goodness : 0.150436 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.08, Z:-0.30 [[ 9.99709279e-01 -6.46259738e-04 -2.41026935e-02 -1.47981991e-01] [ 5.85189398e-04 9.99996601e-01 -2.54072310e-03 8.15411882e-02] [ 2.41042536e-02 2.52587982e-03 9.99706259e-01 -2.96930174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.353133364999998 meters Centerline goodness : 0.164074 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.08, Z:-0.30 [[ 9.99697240e-01 2.20653824e-03 -2.45063192e-02 -1.45034222e-01] [-2.21111658e-03 9.99997543e-01 -1.59727302e-04 8.47498030e-02] [ 2.45059065e-02 2.13865272e-04 9.99699662e-01 -2.99217529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.383133365 meters Centerline goodness : 0.123188 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.09, Z:-0.30 [[ 9.99689921e-01 2.12307057e-03 -2.48103756e-02 -1.43708085e-01] [-2.13626938e-03 9.99997590e-01 -5.05494714e-04 8.65512265e-02] [ 2.48092426e-02 5.58339616e-04 9.99692047e-01 -3.00218609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.413133365 meters Centerline goodness : 0.117996 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.09, Z:-0.30 [[ 9.99681969e-01 2.04250227e-03 -2.51353987e-02 -1.42395471e-01] [-2.06493097e-03 9.99997493e-01 -8.66392034e-04 8.83984325e-02] [ 2.51335661e-02 9.18019359e-04 9.99683681e-01 -3.01114775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.443133364999998 meters Centerline goodness : 0.161115 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.09, Z:-0.30 [[ 0.99968112 0.00194103 -0.02517699 -0.14216364] [-0.00197254 0.9999973 -0.00122656 0.09024574] [ 0.02517454 0.00127583 0.99968226 -0.30143225] [ 0. 0. 0. 1. ]] SLAMing on 22.473133365 meters Centerline goodness : 0.109209 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.09, Z:-0.30 [[ 0.9996848 0.00202043 -0.0250245 -0.14288661] [-0.00206737 0.99999615 -0.0018502 0.09453975] [ 0.02502067 0.00190136 0.99968513 -0.30116967] [ 0. 0. 0. 1. ]] SLAMing on 22.503133365 meters Centerline goodness : 0.132357 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.10, Z:-0.30 [[ 0.99968531 0.00189724 -0.02501354 -0.14271639] [-0.00195736 0.99999525 -0.00237925 0.0974588 ] [ 0.0250089 0.00242747 0.99968428 -0.30163159] [ 0. 0. 0. 1. ]] SLAMing on 22.533133364999998 meters Centerline goodness : 0.126365 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.10, Z:-0.30 [[ 0.99967282 0.00170697 -0.02552124 -0.14069017] [-0.00179273 0.99999282 -0.0033377 0.10301897] [ 0.02551536 0.00338236 0.99966871 -0.30311362] [ 0. 0. 0. 1. ]] SLAMing on 22.563133365 meters Centerline goodness : 0.160305 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.11, Z:-0.30 [[ 0.99967237 0.00151431 -0.02555113 -0.14037107] [-0.00161252 0.99999139 -0.00382358 0.10534661] [ 0.02554512 0.00386353 0.9996662 -0.30358499] [ 0. 0. 0. 1. ]] SLAMing on 22.593133365 meters Centerline goodness : 0.159077 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.11, Z:-0.30 [[ 0.99964542 -0.00621338 -0.0258926 -0.12121247] [ 0.0061351 0.99997637 -0.00310134 0.11349114] [ 0.02591126 0.00294139 0.99965992 -0.3017728 ] [ 0. 0. 0. 1. ]] SLAMing on 22.623133364999997 meters Centerline goodness : 0.163139 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.11, Z:-0.30 [[ 0.99965518 0.00126611 -0.02622825 -0.14023934] [-0.00138661 0.99998856 -0.00457687 0.10812298] [ 0.02622215 0.00461166 0.9996455 -0.30317079] [ 0. 0. 0. 1. ]] SLAMing on 22.653133365 meters Centerline goodness : 0.146129 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.11, Z:-0.30 [[ 9.99655414e-01 6.80239164e-04 -2.62410052e-02 -1.40717847e-01] [-8.11505224e-04 9.99987211e-01 -4.99200106e-03 1.08633357e-01] [ 2.62372739e-02 5.01157560e-03 9.99643181e-01 -3.02252608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.683133365 meters Centerline goodness : 0.158540 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.11, Z:-0.30 [[ 9.99656581e-01 6.01982768e-04 -2.61984332e-02 -1.40999142e-01] [-7.32591968e-04 9.99987351e-01 -4.97606964e-03 1.08347540e-01] [ 2.61951063e-02 4.99355352e-03 9.99644377e-01 -3.01904710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.713133365 meters Centerline goodness : 0.164507 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.11, Z:-0.30 [[ 0.99965042 -0.00745639 -0.02536624 -0.12140856] [ 0.00735957 0.99996528 -0.00390807 0.11376416] [ 0.0253945 0.00372001 0.99967059 -0.300512 ] [ 0. 0. 0. 1. ]] SLAMing on 22.743133365 meters Centerline goodness : 0.235749 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.11, Z:-0.30 [[ 0.99965381 -0.00747246 -0.0252273 -0.1217724 ] [ 0.00737617 0.99996516 -0.00390755 0.11390079] [ 0.02525562 0.00372011 0.9996741 -0.30042874] [ 0. 0. 0. 1. ]] SLAMing on 22.773133365 meters Centerline goodness : 0.249143 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.30 [[ 0.99965318 -0.0075466 -0.02523042 -0.12164322] [ 0.00744241 0.9999634 -0.00422078 0.11593182] [ 0.02526135 0.00403154 0.99967275 -0.3006634 ] [ 0. 0. 0. 1. ]] SLAMing on 22.803133365 meters Centerline goodness : 0.165117 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.11, Z:-0.30 [[ 9.99663214e-01 9.58878363e-04 -2.59333746e-02 -1.41519607e-01] [-1.09054393e-03 9.99986586e-01 -5.06340381e-03 1.12002554e-01] [ 2.59281716e-02 5.08998001e-03 9.99650850e-01 -3.02130477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.833133365 meters Centerline goodness : 0.159629 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.11, Z:-0.30 [[ 9.99658636e-01 9.33454064e-04 -2.61101681e-02 -1.40967349e-01] [-1.07395971e-03 9.99985017e-01 -5.36775644e-03 1.13884024e-01] [ 2.61047664e-02 5.39396535e-03 9.99644660e-01 -3.02423065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.863133365 meters Centerline goodness : 0.149490 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.12, Z:-0.30 [[ 9.99663452e-01 8.94635176e-04 -2.59264632e-02 -1.41407407e-01] [-1.04935000e-03 9.99981721e-01 -5.95445756e-03 1.17332701e-01] [ 2.59206622e-02 5.97965953e-03 9.99646119e-01 -3.02584710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.893133365 meters Centerline goodness : 0.155426 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.30 [[ 0.99966666 -0.00475792 -0.02537565 -0.119481 ] [ 0.00467766 0.99998387 -0.00322147 0.12283593] [ 0.02539057 0.0031017 0.9996728 -0.3025945 ] [ 0. 0. 0. 1. ]] SLAMing on 22.923133364999998 meters Centerline goodness : 0.153547 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.12, Z:-0.30 [[ 0.99966821 0.00338256 -0.02553493 -0.13987304] [-0.00349562 0.99998428 -0.0043845 0.11905221] [ 0.0255197 0.00447231 0.99966432 -0.30400177] [ 0. 0. 0. 1. ]] SLAMing on 22.953133365 meters Centerline goodness : 0.146735 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.12, Z:-0.30 [[ 0.99967454 0.00324987 -0.02530324 -0.14057652] [-0.00337228 0.99998281 -0.00479639 0.12117904] [ 0.02528721 0.00488016 0.99966832 -0.30387942] [ 0. 0. 0. 1. ]] SLAMing on 22.983133365 meters Centerline goodness : 0.223680 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.12, Z:-0.30 [[ 0.9996888 0.00302577 -0.02476201 -0.14239686] [-0.00316143 0.9999802 -0.00544143 0.12481921] [ 0.02474506 0.00551802 0.99967857 -0.30319966] [ 0. 0. 0. 1. ]] SLAMing on 23.013133364999998 meters Centerline goodness : 0.155471 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.13, Z:-0.30 [[ 0.99969302 0.00291879 -0.02460391 -0.14307621] [-0.00305918 0.99997924 -0.00567037 0.12592904] [ 0.02458685 0.0057439 0.9996812 -0.30275818] [ 0. 0. 0. 1. ]] SLAMing on 23.043133365 meters Centerline goodness : 0.148000 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.13, Z:-0.30 [[ 0.99969513 0.00281503 -0.02452984 -0.14340074] [-0.00295977 0.99997841 -0.00586645 0.12679013] [ 0.02451279 0.00593726 0.99968189 -0.30254667] [ 0. 0. 0. 1. ]] SLAMing on 23.073133365 meters Centerline goodness : 0.156503 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.13, Z:-0.30 [[ 0.99969274 0.00261524 -0.02464915 -0.14310954] [-0.00276628 0.99997759 -0.00609575 0.12738176] [ 0.02463266 0.00616206 0.99967758 -0.30251724] [ 0. 0. 0. 1. ]] SLAMing on 23.103133364999998 meters Centerline goodness : 0.123713 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.30 [[ 0.99966761 -0.00539519 -0.02521018 -0.12312938] [ 0.00526632 0.99997274 -0.00517553 0.1324767 ] [ 0.02523742 0.00504104 0.99966878 -0.30092783] [ 0. 0. 0. 1. ]] SLAMing on 23.133133365 meters Centerline goodness : 0.163345 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.30 [[ 0.99965813 -0.00540544 -0.02558123 -0.1218501 ] [ 0.00527738 0.99997322 -0.00507089 0.13172202] [ 0.02560796 0.00493416 0.99965989 -0.30146171] [ 0. 0. 0. 1. ]] SLAMing on 23.163133365 meters Centerline goodness : 0.131992 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.30 [[ 0.99965044 -0.00537666 -0.02588627 -0.12083531] [ 0.00525148 0.9999742 -0.00490102 0.13073919] [ 0.02591195 0.00476337 0.99965288 -0.30181493] [ 0. 0. 0. 1. ]] SLAMing on 23.193133364999998 meters Centerline goodness : 0.160416 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.30 [[ 0.99965088 -0.00537921 -0.02586839 -0.12102355] [ 0.00526181 0.99997556 -0.00460422 0.12888863] [ 0.02589253 0.0044665 0.99965475 -0.30147363] [ 0. 0. 0. 1. ]] SLAMing on 23.223133365 meters Centerline goodness : 0.205911 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.30 [[ 0.99965143 -0.00533884 -0.0258557 -0.12119753] [ 0.00522589 0.99997651 -0.00443439 0.12789595] [ 0.02587877 0.00429772 0.99965585 -0.3011957 ] [ 0. 0. 0. 1. ]] SLAMing on 23.253133365 meters Centerline goodness : 0.196493 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99967842 0.0025066 -0.02523423 -0.10201877] [-0.00265303 0.99997983 -0.00577102 0.12404048] [ 0.02521926 0.00583611 0.99966491 -0.29909036] [ 0. 0. 0. 1. ]] SLAMing on 23.283133364999998 meters Centerline goodness : 0.150449 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99967405 0.00261286 -0.02539606 -0.10158064] [-0.00275479 0.99998078 -0.00555522 0.12313461] [ 0.02538106 0.00562337 0.99966203 -0.29916807] [ 0. 0. 0. 1. ]] SLAMing on 23.313133365 meters Centerline goodness : 0.192647 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99966842 0.00265987 -0.02561212 -0.1008489 ] [-0.00280203 0.99998086 -0.00551612 0.12313735] [ 0.02559695 0.00558606 0.99965674 -0.29947648] [ 0. 0. 0. 1. ]] SLAMing on 23.343133365 meters Centerline goodness : 0.159979 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99966569 0.00268355 -0.02571581 -0.10036419] [-0.00282618 0.99998082 -0.00551164 0.12319919] [ 0.02570052 0.00558247 0.9996541 -0.29985836] [ 0. 0. 0. 1. ]] SLAMing on 23.373133364999997 meters Centerline goodness : 0.181379 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99966363 0.00270395 -0.02579377 -0.10008117] [-0.00284692 0.99998078 -0.00550751 0.12321536] [ 0.02577839 0.00557909 0.99965211 -0.3000028 ] [ 0. 0. 0. 1. ]] SLAMing on 23.403133365 meters Centerline goodness : 0.144357 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99967214 0.00269753 -0.02546238 -0.10141605] [-0.00283576 0.99998143 -0.00539433 0.12228287] [ 0.02544735 0.00546477 0.99966123 -0.29918511] [ 0. 0. 0. 1. ]] SLAMing on 23.433133365 meters Centerline goodness : 0.145303 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99967302 0.00274204 -0.02542324 -0.10160677] [-0.00287598 0.99998217 -0.00523333 0.12137315] [ 0.02540844 0.00530473 0.99966308 -0.29903997] [ 0. 0. 0. 1. ]] SLAMing on 23.463133365 meters Centerline goodness : 0.147255 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99967019 0.00280769 -0.0255272 -0.10119121] [-0.00293785 0.99998287 -0.00506293 0.12061635] [ 0.02551255 0.00513625 0.99966131 -0.29927645] [ 0. 0. 0. 1. ]] SLAMing on 23.493133365 meters Centerline goodness : 0.149670 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99966159 0.00281909 -0.02586021 -0.10001907] [-0.00294878 0.99998326 -0.00497812 0.1201808 ] [ 0.02584574 0.00505269 0.99965317 -0.29981792] [ 0. 0. 0. 1. ]] SLAMing on 23.523133365 meters Centerline goodness : 0.153763 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99964892 0.00286792 -0.02634034 -0.09807444] [-0.00299704 0.99998368 -0.00486398 0.1196304 ] [ 0.02632596 0.00494121 0.9996412 -0.30096603] [ 0. 0. 0. 1. ]] SLAMing on 23.553133365 meters Centerline goodness : 0.137471 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99964622 0.00286126 -0.0264434 -0.09764334] [-0.00299271 0.99998336 -0.00493243 0.12005551] [ 0.02642884 0.00500982 0.99963814 -0.3012442 ] [ 0. 0. 0. 1. ]] SLAMing on 23.583133365 meters Centerline goodness : 0.156145 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.9996497 0.00287468 -0.02630988 -0.09788988] [-0.00300859 0.99998272 -0.0050515 0.12087796] [ 0.02629491 0.00512888 0.99964107 -0.30141981] [ 0. 0. 0. 1. ]] SLAMing on 23.613133365 meters Centerline goodness : 0.147111 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99965358 0.00289837 -0.02615939 -0.09837565] [-0.00303515 0.99998192 -0.00519069 0.1218622 ] [ 0.02614387 0.00526829 0.99964431 -0.301275 ] [ 0. 0. 0. 1. ]] SLAMing on 23.643133365 meters Centerline goodness : 0.199720 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99966499 0.00292211 -0.02571707 -0.09954919] [-0.00306043 0.99998106 -0.00534072 0.12268491] [ 0.02570097 0.00541764 0.999655 -0.30117514] [ 0. 0. 0. 1. ]] SLAMing on 23.673133364999998 meters Centerline goodness : 0.160786 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.13, Z:-0.30 [[ 0.99966712 -0.00327776 -0.02559129 -0.07895117] [ 0.00320802 0.99999103 -0.00276543 0.12683761] [ 0.02560013 0.00268241 0.99966866 -0.30063138] [ 0. 0. 0. 1. ]] SLAMing on 23.703133365 meters Centerline goodness : 0.252598 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.13, Z:-0.30 [[ 0.99966537 -0.0031898 -0.02567054 -0.07851923] [ 0.00312326 0.99999166 -0.00263152 0.12648644] [ 0.02567872 0.00255046 0.99966699 -0.3010298 ] [ 0. 0. 0. 1. ]] SLAMing on 23.733133365 meters Centerline goodness : 0.171976 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.13, Z:-0.30 [[ 0.99966286 -0.00313307 -0.02577495 -0.07783571] [ 0.00307135 0.99999232 -0.00243378 0.12533799] [ 0.02578238 0.0023538 0.99966481 -0.30162931] [ 0. 0. 0. 1. ]] SLAMing on 23.763133364999998 meters Centerline goodness : 0.119775 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.12, Z:-0.30 [[ 0.9996637 -0.00315824 -0.02573922 -0.07787854] [ 0.00309811 0.99999238 -0.00237588 0.12459448] [ 0.02574653 0.00229534 0.99966587 -0.30168183] [ 0. 0. 0. 1. ]] SLAMing on 23.793133365 meters Centerline goodness : 0.167867 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.12, Z:-0.30 [[ 0.99966331 -0.0031819 -0.02575164 -0.07798174] [ 0.00312193 0.99999232 -0.00236854 0.1243178 ] [ 0.02575898 0.00228734 0.99966557 -0.30146593] [ 0. 0. 0. 1. ]] SLAMing on 23.823133365 meters Centerline goodness : 0.094514 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.12, Z:-0.30 [[ 0.99966631 -0.003123 -0.02564189 -0.07838691] [ 0.00306354 0.99999253 -0.00235773 0.12467259] [ 0.02564906 0.00227838 0.99966841 -0.30130941] [ 0. 0. 0. 1. ]] SLAMing on 23.853133364999998 meters Centerline goodness : 0.162820 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.13, Z:-0.30 [[ 0.99966871 -0.00306482 -0.02555522 -0.07869372] [ 0.0030025 0.99999243 -0.00247658 0.12598281] [ 0.02556262 0.00239903 0.99967034 -0.30120641] [ 0. 0. 0. 1. ]] SLAMing on 23.883133365 meters Centerline goodness : 0.186504 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.13, Z:-0.30 [[ 0.99969188 0.00609731 -0.02406188 -0.05807403] [-0.00617917 0.99997537 -0.00332957 0.12861511] [ 0.02404099 0.00347722 0.99970493 -0.30065311] [ 0. 0. 0. 1. ]] SLAMing on 23.913133365 meters Centerline goodness : 0.164354 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.13, Z:-0.30 [[ 0.99970645 -0.00235575 -0.02411341 -0.07908042] [ 0.00228434 0.99999293 -0.00298836 0.13493797] [ 0.02412028 0.0029324 0.99970476 -0.30197085] [ 0. 0. 0. 1. ]] SLAMing on 23.943133364999998 meters Centerline goodness : 0.165689 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.14, Z:-0.30 [[ 0.9997066 -0.00255405 -0.02408734 -0.07923238] [ 0.00246853 0.99999055 -0.00357944 0.13772315] [ 0.02409626 0.00351893 0.99970345 -0.30197878] [ 0. 0. 0. 1. ]] SLAMing on 23.973133365 meters Centerline goodness : 0.096366 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.14, Z:-0.30 [[ 0.99970666 -0.00270416 -0.02406844 -0.07944807] [ 0.00260607 0.99998818 -0.00410568 0.14050568] [ 0.02407926 0.00404176 0.99970188 -0.30186772] [ 0. 0. 0. 1. ]] SLAMing on 24.003133365 meters Centerline goodness : 0.096366 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.14, Z:-0.30 [[ 0.99970666 -0.00270416 -0.02406844 -0.07944807] [ 0.00260607 0.99998818 -0.00410568 0.14050568] [ 0.02407926 0.00404176 0.99970188 -0.30186772] [ 0. 0. 0. 1. ]] SLAMing on 24.033133364999998 meters Centerline goodness : 0.162957 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.14, Z:-0.30 [[ 9.99702509e-01 7.13721212e-04 -2.43799997e-02 -7.88465970e-02] [-7.45050890e-04 9.99998908e-01 -1.27599722e-03 1.44813109e-01] [ 2.43790624e-02 1.29378196e-03 9.99701949e-01 -3.01695149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.063133365 meters Centerline goodness : 0.164885 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 9.99704098e-01 4.65251491e-04 -2.43207706e-02 -7.91813631e-02] [-5.10277520e-04 9.99998167e-01 -1.84516726e-03 1.47376576e-01] [ 2.43198675e-02 1.85703162e-03 9.99702503e-01 -3.01474039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.093133365 meters Centerline goodness : 0.171891 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 9.99703868e-01 2.16483392e-04 -2.43337210e-02 -7.93784240e-02] [-2.75033359e-04 9.99997075e-01 -2.40280368e-03 1.49851510e-01] [ 2.43331297e-02 2.40878472e-03 9.99701004e-01 -3.01165319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.123133364999997 meters Centerline goodness : 0.168024 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 9.99701914e-01 3.21024528e-05 -2.44147909e-02 -7.93957044e-02] [-1.01764183e-04 9.99995928e-01 -2.85202222e-03 1.52085898e-01] [ 2.44145999e-02 2.85365663e-03 9.99697846e-01 -3.00903092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.153133365 meters Centerline goodness : 0.095382 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 9.99692735e-01 -2.61551457e-04 -2.47864267e-02 -7.87385259e-02] [ 1.69844054e-04 9.99993133e-01 -3.70193720e-03 1.56981351e-01] [ 2.47872247e-02 3.69658990e-03 9.99685915e-01 -3.00632609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.183133365 meters Centerline goodness : 0.098388 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 9.99689394e-01 -4.58073919e-04 -2.49179966e-02 -7.84914601e-02] [ 3.53880570e-04 9.99991177e-01 -4.18569864e-03 1.59336506e-01] [ 2.49196941e-02 4.17558054e-03 9.99680736e-01 -3.00548091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.213133365 meters Centerline goodness : 0.158780 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 9.99686941e-01 -6.84662478e-04 -2.50110104e-02 -7.83202712e-02] [ 5.67056000e-04 9.99988752e-01 -4.70897806e-03 1.61639638e-01] [ 2.50139531e-02 4.69332123e-03 9.99676085e-01 -3.00529116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.243133365 meters Centerline goodness : 0.153416 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 9.99686314e-01 -9.11218828e-04 -2.50288524e-02 -7.85133277e-02] [ 7.80494786e-04 9.99986007e-01 -5.23220641e-03 1.63978661e-01] [ 2.50332699e-02 5.21103025e-03 9.99673037e-01 -3.00221749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.273133365 meters Centerline goodness : 0.142873 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 9.99689306e-01 -1.14368498e-03 -2.48994523e-02 -7.95114694e-02] [ 9.95265333e-04 9.99981670e-01 -5.97233631e-03 1.68161960e-01] [ 2.49058263e-02 5.94569918e-03 9.99672120e-01 -2.99336029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.303133365 meters Centerline goodness : 0.096546 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99968781 -0.00122601 -0.02495572 -0.07951517] [ 0.00107037 0.9999799 -0.00624903 0.16978551] [ 0.02496288 0.00622037 0.99966903 -0.29916395] [ 0. 0. 0. 1. ]] SLAMing on 24.333133365 meters Centerline goodness : 0.143280 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99968386 -0.00135099 -0.02510695 -0.07909006] [ 0.00118795 0.99997812 -0.00650753 0.17096693] [ 0.02511519 0.00647565 0.99966359 -0.29924029] [ 0. 0. 0. 1. ]] SLAMing on 24.363133365 meters Centerline goodness : 0.143181 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99967803 -0.00151648 -0.02532865 -0.07834077] [ 0.00134449 0.99997593 -0.00680612 0.17212482] [ 0.02533836 0.00676987 0.99965601 -0.29960684] [ 0. 0. 0. 1. ]] SLAMing on 24.393133365 meters Centerline goodness : 0.162334 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99967207 -0.00164232 -0.02555498 -0.0775419 ] [ 0.00146251 0.99997406 -0.00705323 0.1731574 ] [ 0.0255659 0.00701354 0.99964854 -0.30000322] [ 0. 0. 0. 1. ]] SLAMing on 24.423133364999998 meters Centerline goodness : 0.159695 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99967313 -0.00186205 -0.02549854 -0.07763285] [ 0.00166848 0.99996964 -0.0076109 0.17616581] [ 0.02551194 0.00756587 0.99964589 -0.30015407] [ 0. 0. 0. 1. ]] SLAMing on 24.453133365 meters Centerline goodness : 0.096520 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99967579 -0.00194226 -0.02538787 -0.07816865] [ 0.00174166 0.99996711 -0.00792115 0.1781821 ] [ 0.02540242 0.00787436 0.99964629 -0.2997795 ] [ 0. 0. 0. 1. ]] SLAMing on 24.483133365 meters Centerline goodness : 0.089523 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99967842 -0.00206047 -0.0252748 -0.07871372] [ 0.00185168 0.99996399 -0.00828145 0.18025369] [ 0.02529095 0.00823198 0.99964624 -0.29942271] [ 0. 0. 0. 1. ]] SLAMing on 24.513133364999998 meters Centerline goodness : 0.099759 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99967407 -0.00244548 -0.02541221 -0.07838374] [ 0.00221445 0.999956 -0.00911541 0.18385072] [ 0.02543338 0.00905616 0.9996355 -0.29944381] [ 0. 0. 0. 1. ]] SLAMing on 24.543133365 meters Centerline goodness : 0.114695 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:-0.30 [[ 0.99966758 -0.00260058 -0.02565098 -0.07761013] [ 0.0023579 0.99995222 -0.00948669 0.18548876] [ 0.02567443 0.00942305 0.99962595 -0.29977057] [ 0. 0. 0. 1. ]] SLAMing on 24.573133365 meters Centerline goodness : 0.110718 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:-0.30 [[ 0.99966159 -0.0027137 -0.02587154 -0.07705109] [ 0.00246023 0.99994872 -0.00982379 0.1872266 ] [ 0.02589687 0.00975681 0.999617 -0.29987829] [ 0. 0. 0. 1. ]] SLAMing on 24.603133364999998 meters Centerline goodness : 0.088827 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:-0.30 [[ 0.99965986 -0.00279328 -0.02592988 -0.07703922] [ 0.00253267 0.99994601 -0.01007812 0.1887323 ] [ 0.02595663 0.01000902 0.99961296 -0.29971164] [ 0. 0. 0. 1. ]] SLAMing on 24.633133365 meters SLAMing on 24.663133365 meters Centerline goodness : 0.095332 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:-0.30 [[ 0.9996669 -0.00352412 -0.02556694 -0.07873837] [ 0.00325512 0.99993899 -0.01055524 0.18926479] [ 0.02560258 0.0104685 0.99961739 -0.29830295] [ 0. 0. 0. 1. ]] SLAMing on 24.693133364999998 meters Centerline goodness : 0.101414 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:-0.30 [[ 0.99966161 -0.00353944 -0.02577097 -0.07835494] [ 0.00327643 0.99994219 -0.01024077 0.18734275] [ 0.02580573 0.01015287 0.99961542 -0.29799937] [ 0. 0. 0. 1. ]] SLAMing on 24.723133365 meters SLAMing on 24.753133365 meters Centerline goodness : 0.141525 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99964288 -0.00715035 -0.02574866 -0.07864427] [ 0.00682089 0.99989404 -0.01286053 0.1813219 ] [ 0.02583789 0.01268031 0.99958572 -0.29742462] [ 0. 0. 0. 1. ]] SLAMing on 24.783133364999998 meters Centerline goodness : 0.095441 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.18, Z:-0.30 [[ 9.99695926e-01 6.57827683e-04 -2.46500218e-02 -5.97881685e-02] [-9.93919030e-04 9.99906685e-01 -1.36247550e-02 1.75533933e-01] [ 2.46387588e-02 1.36451122e-02 9.99603293e-01 -2.95511950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.813133365 meters Centerline goodness : 0.101656 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.29 [[ 9.99652824e-01 6.72855587e-04 -2.63396940e-02 -1.07913725e-01] [-1.03098392e-03 9.99907184e-01 -1.35853078e-02 1.70780462e-01] [ 2.63281083e-02 1.36077471e-02 9.99560733e-01 -2.94190897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.843133365 meters Centerline goodness : 0.101814 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.29 [[ 9.99653938e-01 8.29595116e-04 -2.62928714e-02 -1.08116636e-01] [-1.17584417e-03 9.99912762e-01 -1.31562089e-02 1.68332057e-01] [ 2.62796633e-02 1.31825724e-02 9.99567706e-01 -2.93994077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.873133364999997 meters Centerline goodness : 0.131552 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.29 [[ 9.99643502e-01 9.43079997e-04 -2.66829457e-02 -1.07009511e-01] [-1.29046264e-03 9.99914603e-01 -1.30046786e-02 1.67623686e-01] [ 2.66684026e-02 1.30344758e-02 9.99559352e-01 -2.94296356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.903133365 meters Centerline goodness : 0.129944 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.29 [[ 0.99963286 0.00107023 -0.02707386 -0.10574135] [-0.00141877 0.99991633 -0.01285763 0.16709445] [ 0.02705783 0.01289132 0.99955074 -0.29480455] [ 0. 0. 0. 1. ]] SLAMing on 24.933133365 meters Centerline goodness : 0.128723 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.30 [[ 0.99962688 0.00119876 -0.02728856 -0.10507448] [-0.00154639 0.99991788 -0.01272174 0.16667792] [ 0.02727106 0.0127592 0.99954664 -0.29509934] [ 0. 0. 0. 1. ]] SLAMing on 24.963133365 meters Centerline goodness : 0.089312 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99966892 -0.00400698 -0.02541636 -0.08333266] [ 0.00377269 0.99995001 -0.00925934 0.16658739] [ 0.02545219 0.00916038 0.99963407 -0.29538472] [ 0. 0. 0. 1. ]] SLAMing on 24.993133365 meters Centerline goodness : 0.109230 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99967549 -0.00386247 -0.02517921 -0.08416191] [ 0.00363817 0.99995335 -0.00894774 0.1650944 ] [ 0.0252126 0.00885323 0.99964291 -0.29502512] [ 0. 0. 0. 1. ]] SLAMing on 25.023133365 meters Centerline goodness : 0.108050 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.29 [[ 0.99967807 -0.00367973 -0.02510395 -0.08444386] [ 0.00346575 0.99995734 -0.00856217 0.16330948] [ 0.02513438 0.00847241 0.99964818 -0.29486162] [ 0. 0. 0. 1. ]] SLAMing on 25.053133365 meters Centerline goodness : 0.173596 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 0.99967822 -0.00330978 -0.02514942 -0.0839738 ] [ 0.00311731 0.99996558 -0.00768857 0.15908958] [ 0.025174 0.0076077 0.99965414 -0.29535651] [ 0. 0. 0. 1. ]] SLAMing on 25.083133365 meters Centerline goodness : 0.170737 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 0.99967948 -0.00314886 -0.02512017 -0.08403436] [ 0.00296745 0.99996928 -0.00725542 0.15685035] [ 0.02514224 0.00717856 0.99965811 -0.29533963] [ 0. 0. 0. 1. ]] SLAMing on 25.113133365 meters Centerline goodness : 0.175119 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 0.9996827 -0.00296743 -0.02501384 -0.08440934] [ 0.00279813 0.99997296 -0.0068007 0.15458943] [ 0.02503334 0.00672855 0.99966397 -0.29508921] [ 0. 0. 0. 1. ]] SLAMing on 25.143133365 meters Centerline goodness : 0.169890 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.29 [[ 0.99968455 -0.00279978 -0.02495917 -0.08470813] [ 0.00264012 0.99997586 -0.00642767 0.15283381] [ 0.02497656 0.00635974 0.99966781 -0.29481655] [ 0. 0. 0. 1. ]] SLAMing on 25.173133364999998 meters Centerline goodness : 0.173305 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.15, Z:-0.29 [[ 0.99969134 -0.00236752 -0.02473103 -0.0852081 ] [ 0.00222107 0.99997985 -0.00594737 0.15157002] [ 0.02474461 0.00589061 0.99967645 -0.29493026] [ 0. 0. 0. 1. ]] SLAMing on 25.203133365 meters Centerline goodness : 0.169065 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 0.99968974 -0.00224989 -0.02480629 -0.08491403] [ 0.00210458 0.99998048 -0.00588236 0.15156392] [ 0.02481904 0.00582833 0.99967497 -0.29519692] [ 0. 0. 0. 1. ]] SLAMing on 25.233133365 meters Centerline goodness : 0.168624 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 0.99968692 -0.00220479 -0.02492409 -0.0844221 ] [ 0.00205701 0.99998016 -0.00595334 0.15199277] [ 0.02493672 0.00590021 0.99967162 -0.29558331] [ 0. 0. 0. 1. ]] SLAMing on 25.263133364999998 meters Centerline goodness : 0.165922 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 0.99968232 -0.00214145 -0.02511321 -0.08367036] [ 0.00199102 0.99997994 -0.00601377 0.15242259] [ 0.02512558 0.00596186 0.99966653 -0.29613538] [ 0. 0. 0. 1. ]] SLAMing on 25.293133365 meters Centerline goodness : 0.168579 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 0.99967542 -0.00210132 -0.0253899 -0.08270972] [ 0.00194839 0.99997982 -0.00604657 0.15276675] [ 0.02540209 0.00599514 0.99965934 -0.29663493] [ 0. 0. 0. 1. ]] SLAMing on 25.323133365 meters Centerline goodness : 0.173997 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.15, Z:-0.30 [[ 0.99964084 0.00657238 -0.02598053 -0.10240756] [-0.00674726 0.99995513 -0.00664936 0.14751572] [ 0.02593567 0.00682226 0.99964033 -0.29806605] [ 0. 0. 0. 1. ]] SLAMing on 25.353133364999998 meters Centerline goodness : 0.146185 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.15, Z:-0.30 [[ 0.99964388 0.00650627 -0.0258801 -0.10279992] [-0.00668278 0.99995496 -0.00673988 0.14772521] [ 0.02583508 0.00691044 0.99964233 -0.2978434 ] [ 0. 0. 0. 1. ]] SLAMing on 25.383133365 meters Centerline goodness : 0.169817 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.15, Z:-0.30 [[ 0.99964736 0.0064413 -0.02576182 -0.1032168 ] [-0.00661874 0.99995492 -0.00680843 0.14775724] [ 0.0257168 0.00697654 0.99964492 -0.29765509] [ 0. 0. 0. 1. ]] SLAMing on 25.413133365 meters Centerline goodness : 0.166555 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 0.99967295 -0.00137063 -0.0255367 -0.08481394] [ 0.00122575 0.99998307 -0.0056883 0.15387125] [ 0.02554406 0.00565513 0.9996577 -0.29568144] [ 0. 0. 0. 1. ]] SLAMing on 25.443133364999998 meters Centerline goodness : 0.170938 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 0.99967333 -0.00143997 -0.02551787 -0.08470173] [ 0.00128723 0.99998117 -0.00600101 0.15591243] [ 0.02552603 0.0059662 0.99965635 -0.29602319] [ 0. 0. 0. 1. ]] SLAMing on 25.473133365 meters Centerline goodness : 0.152030 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 0.99966966 -0.00156164 -0.02565422 -0.08422558] [ 0.00139963 0.99997897 -0.00633197 0.15752529] [ 0.02566357 0.00629397 0.99965082 -0.2963012 ] [ 0. 0. 0. 1. ]] SLAMing on 25.503133365 meters Centerline goodness : 0.167536 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 0.99966425 -0.00168108 -0.02585656 -0.08340938] [ 0.00150919 0.99997664 -0.00666583 0.15901915] [ 0.02586716 0.00662457 0.99964344 -0.29686425] [ 0. 0. 0. 1. ]] SLAMing on 25.533133364999998 meters Centerline goodness : 0.166275 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 0.9996613 -0.00185381 -0.02595865 -0.08298387] [ 0.0016706 0.99997356 -0.00707761 0.16079087] [ 0.02597109 0.00703184 0.99963796 -0.29721969] [ 0. 0. 0. 1. ]] SLAMing on 25.563133365 meters Centerline goodness : 0.167372 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 0.99966149 -0.00188552 -0.02594888 -0.0831798 ] [ 0.00168799 0.99996945 -0.00763189 0.16475179] [ 0.02596248 0.00758551 0.99963414 -0.29718905] [ 0. 0. 0. 1. ]] SLAMing on 25.593133365 meters Centerline goodness : 0.167800 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99966122 -0.00196272 -0.02595376 -0.08335753] [ 0.00175495 0.99996625 -0.00802568 0.16721856] [ 0.02596864 0.00797741 0.99963093 -0.29698269] [ 0. 0. 0. 1. ]] SLAMing on 25.623133364999997 meters Centerline goodness : 0.135728 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99965964 -0.0021594 -0.02599904 -0.08324928] [ 0.0019381 0.99996171 -0.00853412 0.16972329] [ 0.02601647 0.00848082 0.99962554 -0.297009 ] [ 0. 0. 0. 1. ]] SLAMing on 25.653133365 meters Centerline goodness : 0.169911 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.9996599 -0.00260901 -0.02594745 -0.08356703] [ 0.00236119 0.99995135 -0.00957718 0.17436617] [ 0.02597117 0.00951266 0.99961743 -0.29686899] [ 0. 0. 0. 1. ]] SLAMing on 25.683133365 meters Centerline goodness : 0.133639 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99966286 -0.00276012 -0.02581761 -0.08406872] [ 0.00250034 0.99994598 -0.01008897 0.17728731] [ 0.02584407 0.01002102 0.99961576 -0.29670024] [ 0. 0. 0. 1. ]] SLAMing on 25.713133364999997 meters Centerline goodness : 0.146052 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.18, Z:-0.30 [[ 0.99967147 -0.00287599 -0.02546929 -0.08529182] [ 0.00260631 0.99994026 -0.0106152 0.18056986] [ 0.02549829 0.01054533 0.99961924 -0.29626082] [ 0. 0. 0. 1. ]] SLAMing on 25.743133365 meters Centerline goodness : 0.099708 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.18, Z:-0.30 [[ 9.99701287e-01 6.16412924e-05 -2.44403920e-02 -8.86492237e-02] [-2.53489911e-04 9.99969183e-01 -7.84663347e-03 1.83123371e-01] [ 2.44391552e-02 7.85048497e-03 9.99670495e-01 -2.95026079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.773133365 meters Centerline goodness : 0.100935 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.19, Z:-0.29 [[ 9.99705132e-01 -4.16197311e-04 -2.42791056e-02 -8.97621926e-02] [ 1.97519246e-04 9.99959403e-01 -9.00854478e-03 1.88669184e-01] [ 2.42818693e-02 9.00109286e-03 9.99664629e-01 -2.94043193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.803133365 meters Centerline goodness : 0.154755 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.19, Z:-0.29 [[ 9.99699421e-01 -6.20589837e-04 -2.45088222e-02 -8.91291765e-02] [ 3.86733036e-04 9.99954368e-01 -9.54532714e-03 1.91246766e-01] [ 2.45136275e-02 9.53297965e-03 9.99654042e-01 -2.94240029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.833133365 meters Centerline goodness : 0.165333 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.19, Z:-0.29 [[ 9.99696636e-01 -7.69591905e-04 -2.46179358e-02 -8.89051021e-02] [ 5.23227925e-04 9.99949738e-01 -1.00123759e-02 1.93818523e-01] [ 2.46244039e-02 9.99645771e-03 9.99646792e-01 -2.94223818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.863133365 meters Centerline goodness : 0.127151 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.20, Z:-0.29 [[ 9.99703874e-01 -9.18715997e-04 -2.43170885e-02 -8.98257115e-02] [ 6.63729682e-04 9.99944738e-01 -1.04918849e-02 1.96519274e-01] [ 2.43253838e-02 1.04726380e-02 9.99649238e-01 -2.94014898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.893133365 meters Centerline goodness : 0.127151 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.20, Z:-0.29 [[ 9.99703874e-01 -9.18715997e-04 -2.43170885e-02 -8.98257115e-02] [ 6.63729682e-04 9.99944738e-01 -1.04918849e-02 1.96519274e-01] [ 2.43253838e-02 1.04726380e-02 9.99649238e-01 -2.94014898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.923133364999998 meters Centerline goodness : 0.141883 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.20, Z:-0.29 [[ 0.99974195 -0.00728862 -0.02151513 -0.0694483 ] [ 0.00711377 0.99994114 -0.00819236 0.20456306] [ 0.02157358 0.00803719 0.99973496 -0.29394058] [ 0. 0. 0. 1. ]] SLAMing on 25.953133365 meters SLAMing on 25.983133365 meters Centerline goodness : 0.141414 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.21, Z:-0.29 [[ 0.99973743 -0.0075702 -0.02162794 -0.06920641] [ 0.00738146 0.99993409 -0.00879337 0.20748693] [ 0.02169308 0.00863141 0.99972742 -0.29394184] [ 0. 0. 0. 1. ]] SLAMing on 26.013133364999998 meters Centerline goodness : 0.110333 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.20, Z:-0.30 [[ 9.99756900e-01 4.91821106e-04 -2.20431081e-02 -8.69726707e-02] [-7.16974670e-04 9.99947645e-01 -1.02074996e-02 2.02714660e-01] [ 2.20369338e-02 1.02208225e-02 9.99704911e-01 -2.95959828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.043133365 meters SLAMing on 26.073133365 meters Centerline goodness : 0.093632 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.20, Z:-0.30 [[ 9.99757944e-01 4.74846800e-05 -2.20011591e-02 -8.71371508e-02] [-2.73245948e-04 9.99947343e-01 -1.02584426e-02 2.01314970e-01] [ 2.19995135e-02 1.02619712e-02 9.99705313e-01 -2.95724636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.103133364999998 meters Centerline goodness : 0.119818 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.20, Z:-0.30 [[ 9.99760118e-01 7.23062634e-05 -2.19020710e-02 -8.72800447e-02] [-2.92229210e-04 9.99949574e-01 -1.00381600e-02 2.00052523e-01] [ 2.19002407e-02 1.00421524e-02 9.99709725e-01 -2.95812179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.133133365 meters SLAMing on 26.163133365 meters Centerline goodness : 0.086772 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.20, Z:-0.30 [[ 9.99758901e-01 1.09854667e-04 -2.19574013e-02 -8.66138398e-02] [-3.24802076e-04 9.99952064e-01 -9.78596522e-03 1.98296718e-01] [ 2.19552737e-02 9.79073765e-03 9.99711012e-01 -2.96598065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.193133364999998 meters Centerline goodness : 0.151985 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.20, Z:-0.30 [[ 9.99752230e-01 1.05077225e-04 -2.22590994e-02 -8.56789832e-02] [-3.26021268e-04 9.99950717e-01 -9.92261364e-03 1.99040730e-01] [ 2.22569597e-02 9.92741205e-03 9.99702993e-01 -2.96993644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.223133365 meters Centerline goodness : 0.148787 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.20, Z:-0.30 [[ 9.99741424e-01 2.00422650e-04 -2.27386089e-02 -8.41476228e-02] [-4.29324187e-04 9.99949283e-01 -1.00622113e-02 2.00252370e-01] [ 2.27354390e-02 1.00693717e-02 9.99690806e-01 -2.97692159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.253133365 meters SLAMing on 26.283133364999998 meters Centerline goodness : 0.097580 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.20, Z:-0.30 [[ 9.99727074e-01 5.11492593e-04 -2.33562802e-02 -8.23059244e-02] [-7.53516580e-04 9.99946105e-01 -1.03546411e-02 2.02618213e-01] [ 2.33497250e-02 1.03694144e-02 9.99673580e-01 -2.98519923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.313133365 meters Centerline goodness : 0.206069 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.20, Z:-0.30 [[ 9.99729373e-01 4.92103297e-04 -2.32581011e-02 -8.25966781e-02] [-7.34310214e-04 9.99945581e-01 -1.04064803e-02 2.02820745e-01] [ 2.32517144e-02 1.04207427e-02 9.99675330e-01 -2.98497279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.343133365 meters SLAMing on 26.373133364999997 meters Centerline goodness : 0.099152 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.20, Z:-0.30 [[ 9.99727644e-01 6.03870571e-04 -2.33296715e-02 -8.20684333e-02] [-8.41187875e-04 9.99947993e-01 -1.01638639e-02 2.01862676e-01] [ 2.33223205e-02 1.01807204e-02 9.99676159e-01 -2.99077193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.403133365 meters Centerline goodness : 0.108426 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.20, Z:-0.30 [[ 9.99723834e-01 6.08063489e-04 -2.34922614e-02 -8.14898551e-02] [-8.44695956e-04 9.99948998e-01 -1.00641739e-02 2.01058156e-01] [ 2.34849436e-02 1.00812383e-02 9.99673360e-01 -2.99318106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.433133365 meters Centerline goodness : 0.141219 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.20, Z:-0.30 [[ 9.99724237e-01 6.66507173e-04 -2.34735084e-02 -8.15546427e-02] [-8.98155109e-04 9.99950992e-01 -9.85932389e-03 1.99910620e-01] [ 2.34657867e-02 9.87768790e-03 9.99675842e-01 -2.99279218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.463133364999997 meters Centerline goodness : 0.102296 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.20, Z:-0.30 [[ 9.99724912e-01 7.82746261e-04 -2.34411716e-02 -8.17306169e-02] [-1.00606762e-03 9.99954210e-01 -9.51660803e-03 1.98313843e-01] [ 2.34326491e-02 9.53757353e-03 9.99679922e-01 -2.99039100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.493133365 meters Centerline goodness : 0.147712 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:-0.30 [[ 9.99740880e-01 8.15809701e-04 -2.27487801e-02 -8.37672538e-02] [-1.01770766e-03 9.99960188e-01 -8.86494684e-03 1.94519787e-01] [ 2.27406424e-02 8.88580137e-03 9.99701908e-01 -2.98303689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.523133365 meters Centerline goodness : 0.139738 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:-0.30 [[ 9.99742955e-01 9.04129100e-04 -2.26540596e-02 -8.41262894e-02] [-1.09598869e-03 9.99963629e-01 -8.45812026e-03 1.92281241e-01] [ 2.26455885e-02 8.48077474e-03 9.99707584e-01 -2.98019640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.553133365 meters SLAMing on 26.583133365 meters SLAMing on 26.613133365 meters Centerline goodness : 0.110059 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99972268 0.00122472 -0.02351744 -0.08107054] [-0.00139214 0.9999738 -0.00710386 0.18483963] [ 0.02350812 0.00713463 0.99969819 -0.29920528] [ 0. 0. 0. 1. ]] SLAMing on 26.643133365 meters Centerline goodness : 0.113574 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99972664 0.00134842 -0.02334143 -0.08180567] [-0.00150589 0.99997622 -0.00672978 0.18289301] [ 0.0233318 0.00676309 0.9997049 -0.29871005] [ 0. 0. 0. 1. ]] SLAMing on 26.673133364999998 meters Centerline goodness : 0.146715 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 0.99970284 -0.0072779 -0.02326529 -0.10464191] [ 0.0071397 0.9999564 -0.00601778 0.18382519] [ 0.02330807 0.00584988 0.99971121 -0.2991625 ] [ 0. 0. 0. 1. ]] SLAMing on 26.703133365 meters SLAMing on 26.733133365 meters Centerline goodness : 0.100478 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 0.99970674 -0.00698911 -0.02318597 -0.10453064] [ 0.00687058 0.99996294 -0.00518792 0.1799006 ] [ 0.02322137 0.0050271 0.99971771 -0.29948584] [ 0. 0. 0. 1. ]] SLAMing on 26.763133364999998 meters Centerline goodness : 0.095815 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 0.99970601 -0.00689873 -0.02324416 -0.10437318] [ 0.00678348 0.99996432 -0.00503352 0.17925175] [ 0.02327806 0.00487437 0.99971715 -0.29951572] [ 0. 0. 0. 1. ]] SLAMing on 26.793133365 meters Centerline goodness : 0.101032 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 0.99970613 -0.00690678 -0.02323669 -0.10444546] [ 0.00679082 0.99996411 -0.00506582 0.17935932] [ 0.02327084 0.00490654 0.99971716 -0.29945934] [ 0. 0. 0. 1. ]] SLAMing on 26.823133365 meters Centerline goodness : 0.100338 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 0.99970541 -0.00693449 -0.02325968 -0.10447074] [ 0.00681081 0.99996227 -0.00539214 0.18106703] [ 0.02329619 0.00523213 0.99971492 -0.29946281] [ 0. 0. 0. 1. ]] SLAMing on 26.853133364999998 meters Centerline goodness : 0.101378 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 0.99971875 -0.00357325 -0.02344466 -0.10389139] [ 0.0035236 0.99999146 -0.00215886 0.18164385] [ 0.02345217 0.00207565 0.99972281 -0.29966747] [ 0. 0. 0. 1. ]] SLAMing on 26.883133365 meters Centerline goodness : 0.135348 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 0.99972352 -0.00360292 -0.023236 -0.10456985] [ 0.00354619 0.99999063 -0.002482 0.18366738] [ 0.02324472 0.00239892 0.99972693 -0.29955406] [ 0. 0. 0. 1. ]] SLAMing on 26.913133365 meters Centerline goodness : 0.116804 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 0.99972784 -0.00379016 -0.02301916 -0.10572257] [ 0.00371955 0.99998825 -0.00310952 0.18689077] [ 0.02303068 0.00302305 0.99973019 -0.29874805] [ 0. 0. 0. 1. ]] SLAMing on 26.943133364999998 meters Centerline goodness : 0.099922 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 0.99972724 -0.00383669 -0.02303761 -0.10589 ] [ 0.00376336 0.99998772 -0.00322548 0.18742119] [ 0.0230497 0.00313791 0.9997294 -0.29845347] [ 0. 0. 0. 1. ]] SLAMing on 26.973133365 meters Centerline goodness : 0.140223 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 0.99972875 -0.00388316 -0.02296409 -0.10625911] [ 0.00380903 0.9999874 -0.00327096 0.18750296] [ 0.02297651 0.0031826 0.99973094 -0.29817215] [ 0. 0. 0. 1. ]] SLAMing on 27.003133365 meters Centerline goodness : 0.133099 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 0.99973197 -0.00390517 -0.02281956 -0.10689628] [ 0.003833 0.99998752 -0.00320569 0.187014 ] [ 0.0228318 0.00311737 0.99973446 -0.29769117] [ 0. 0. 0. 1. ]] SLAMing on 27.033133364999998 meters Centerline goodness : 0.094488 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 0.999735 -0.00393153 -0.02268198 -0.10748142] [ 0.00386355 0.99998792 -0.00304011 0.18589054] [ 0.02269366 0.00295168 0.99973811 -0.29720879] [ 0. 0. 0. 1. ]] SLAMing on 27.063133365 meters Centerline goodness : 0.098955 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 0.99974244 -0.00436195 -0.02227145 -0.10860869] [ 0.00429922 0.99998666 -0.00286355 0.18327148] [ 0.02228364 0.00276707 0.99974786 -0.29677415] [ 0. 0. 0. 1. ]] SLAMing on 27.093133365 meters Centerline goodness : 0.128992 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 0.99974547 -0.0043824 -0.02213127 -0.10891319] [ 0.00432734 0.99998742 -0.00253481 0.18110487] [ 0.0221421 0.0024384 0.99975186 -0.29671246] [ 0. 0. 0. 1. ]] SLAMing on 27.123133364999997 meters Centerline goodness : 0.093652 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 0.99974383 -0.00426111 -0.02222885 -0.10872965] [ 0.00421718 0.99998906 -0.00202264 0.17843496] [ 0.02223722 0.00192838 0.99975086 -0.29649633] [ 0. 0. 0. 1. ]] SLAMing on 27.153133365 meters Centerline goodness : 0.095695 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 0.99974209 -0.00412418 -0.02233257 -0.10850809] [ 0.00409058 0.99999043 -0.00154993 0.17612896] [ 0.02233875 0.00145818 0.9997494 -0.2963584 ] [ 0. 0. 0. 1. ]] SLAMing on 27.183133365 meters Centerline goodness : 0.087396 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.30 [[ 9.99736766e-01 -3.92880044e-03 -2.26045081e-02 -1.07725159e-01] [ 3.90597990e-03 9.99991817e-01 -1.05362054e-03 1.73843263e-01] [ 2.26084625e-02 9.65050438e-04 9.99743930e-01 -2.96462683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.213133364999997 meters Centerline goodness : 0.102264 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.30 [[ 9.99724780e-01 -3.71711102e-03 -2.31634787e-02 -1.05811857e-01] [ 3.70613713e-03 9.99992999e-01 -5.16669633e-04 1.71064913e-01] [ 2.31652371e-02 4.30680406e-04 9.99731557e-01 -2.97277669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.243133365 meters Centerline goodness : 0.103350 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.30 [[ 9.99722840e-01 -3.61859400e-03 -2.32626181e-02 -1.05496609e-01] [ 3.61241884e-03 9.99993428e-01 -3.07471654e-04 1.70015047e-01] [ 2.32635778e-02 2.23352116e-04 9.99729341e-01 -2.97361141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.273133365 meters Centerline goodness : 0.100246 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.30 [[ 9.99724397e-01 -3.48779381e-03 -2.32156209e-02 -1.05617899e-01] [ 3.48646964e-03 9.99993917e-01 -9.75134471e-05 1.69195409e-01] [ 2.32158198e-02 1.65460146e-05 9.99730476e-01 -2.97368673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.303133365 meters Centerline goodness : 0.103694 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.16, Z:-0.30 [[ 9.99714721e-01 5.13697270e-03 -2.33256842e-02 -1.25985954e-01] [-5.15656093e-03 9.99986401e-01 -7.79699791e-04 1.61802751e-01] [ 2.33213617e-02 8.99757671e-04 9.99727615e-01 -2.98780004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.333133365 meters SLAMing on 27.363133365 meters Centerline goodness : 0.097801 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.16, Z:-0.30 [[ 9.99716000e-01 5.25313151e-03 -2.32448658e-02 -1.25853922e-01] [-5.27271590e-03 9.99985794e-01 -7.81315474e-04 1.61989581e-01] [ 2.32404312e-02 9.03657153e-04 9.99729496e-01 -2.99389145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.393133365 meters Centerline goodness : 0.105388 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.16, Z:-0.30 [[ 9.99715925e-01 5.25812447e-03 -2.32469574e-02 -1.25725043e-01] [-5.28127084e-03 9.99985617e-01 -9.34389803e-04 1.62895851e-01] [ 2.32417099e-02 1.05689784e-03 9.99729316e-01 -2.99676797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.423133364999998 meters Centerline goodness : 0.175651 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.17, Z:-0.30 [[ 9.99718576e-01 1.39030676e-04 -2.37223612e-02 -1.04444632e-01] [-9.42214291e-05 9.99998209e-01 1.89001061e-03 1.69954841e-01] [ 2.37225815e-02 -1.88724356e-03 9.99716799e-01 -2.99625556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.453133365 meters Centerline goodness : 0.100262 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.17, Z:-0.30 [[ 9.99718357e-01 8.25415154e-05 -2.37318167e-02 -1.04389919e-01] [-4.63032113e-05 9.99998832e-01 1.52753787e-03 1.71901654e-01] [ 2.37319151e-02 -1.52600879e-03 9.99717194e-01 -2.99831549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.483133365 meters Centerline goodness : 0.101465 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.17, Z:-0.30 [[ 9.99716562e-01 3.69627736e-05 -2.38074313e-02 -1.04158403e-01] [-9.42761444e-06 9.99999331e-01 1.15668953e-03 1.74061058e-01] [ 2.38074581e-02 -1.15613724e-03 9.99715894e-01 -3.00072407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.513133364999998 meters Centerline goodness : 0.143813 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 9.99704752e-01 2.05825700e-04 -2.42974553e-02 -1.02870792e-01] [-1.88058520e-04 9.99999713e-01 7.33518987e-04 1.77619910e-01] [ 2.42975993e-02 -7.28733074e-04 9.99704504e-01 -3.00521082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.543133365 meters Centerline goodness : 0.172586 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 9.99703569e-01 1.32665616e-04 -2.43465966e-02 -1.02775741e-01] [-1.19752634e-04 9.99999851e-01 5.31838661e-04 1.78666664e-01] [ 2.43466636e-02 -5.28765438e-04 9.99703436e-01 -3.00538042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.573133365 meters Centerline goodness : 0.099034 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 9.99699837e-01 6.97018590e-05 -2.44996303e-02 -1.02400500e-01] [-5.82721644e-05 9.99999889e-01 4.67238809e-04 1.78794505e-01] [ 2.44996601e-02 -4.65670915e-04 9.99699730e-01 -3.00544546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.603133364999998 meters SLAMing on 27.633133365 meters Centerline goodness : 0.217015 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99718957e-01 -8.71933533e-04 -2.36906494e-02 -1.05104457e-01] [ 8.71092311e-04 9.99999620e-01 -4.58284075e-05 1.78652689e-01] [ 2.36906803e-02 2.51787853e-05 9.99719336e-01 -2.99246523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.663133365 meters Centerline goodness : 0.132360 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99730561e-01 -9.87310646e-04 -2.31911927e-02 -1.06729531e-01] [ 9.88704395e-04 9.99999510e-01 4.86321139e-05 1.77744556e-01] [ 2.31911334e-02 -7.15482447e-05 9.99731047e-01 -2.98461728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.693133364999998 meters Centerline goodness : 0.120637 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99734287e-01 -9.88861430e-04 -2.30299092e-02 -1.07414238e-01] [ 9.92908007e-04 9.99999494e-01 1.64275474e-04 1.77095612e-01] [ 2.30297351e-02 -1.87098405e-04 9.99734763e-01 -2.97925299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.723133365 meters Centerline goodness : 0.217378 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99736178e-01 -9.44987354e-04 -2.29495608e-02 -1.07917438e-01] [ 9.50366942e-04 9.99999523e-01 2.23503650e-04 1.77373452e-01] [ 2.29493387e-02 -2.45255188e-04 9.99736599e-01 -2.97389430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.753133365 meters Centerline goodness : 0.106146 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99735845e-01 -1.00669786e-03 -2.29614270e-02 -1.07917845e-01] [ 1.00862294e-03 9.99999489e-01 7.22584086e-05 1.78118385e-01] [ 2.29613425e-02 -9.53987431e-05 9.99736349e-01 -2.97372901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.783133364999998 meters Centerline goodness : 0.153613 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99736138e-01 -1.07813134e-03 -2.29454338e-02 -1.07976065e-01] [ 1.07721867e-03 9.99999418e-01 -5.21358944e-05 1.78488454e-01] [ 2.29454766e-02 2.74048879e-05 9.99736718e-01 -2.97379472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.813133365 meters Centerline goodness : 0.153613 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99736138e-01 -1.07813134e-03 -2.29454338e-02 -1.07976065e-01] [ 1.07721867e-03 9.99999418e-01 -5.21358944e-05 1.78488454e-01] [ 2.29454766e-02 2.74048879e-05 9.99736718e-01 -2.97379472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.843133365 meters Centerline goodness : 0.100181 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99736770e-01 -1.14401255e-03 -2.29146642e-02 -1.08188823e-01] [ 1.13816898e-03 9.99999316e-01 -2.68054971e-04 1.79523470e-01] [ 2.29149551e-02 2.41903651e-04 9.99737389e-01 -2.97253928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.873133364999997 meters Centerline goodness : 0.141382 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99739906e-01 -1.12762621e-03 -2.27782322e-02 -1.08367964e-01] [ 1.12067521e-03 9.99999322e-01 -3.17922585e-04 1.80029140e-01] [ 2.27785752e-02 2.92312895e-04 9.99740492e-01 -2.97558267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.903133365 meters Centerline goodness : 0.099539 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99742098e-01 -1.11761807e-03 -2.26823228e-02 -1.08621589e-01] [ 1.10985640e-03 9.99999321e-01 -3.54776022e-04 1.80319071e-01] [ 2.26827039e-02 3.29510404e-04 9.99742660e-01 -2.97561245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.933133365 meters Centerline goodness : 0.098126 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99739987e-01 -1.13475638e-03 -2.27743523e-02 -1.08419643e-01] [ 1.12403442e-03 9.99999251e-01 -4.83587101e-04 1.80772340e-01] [ 2.27748840e-02 4.57862206e-04 9.99740514e-01 -2.97586137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.963133364999997 meters Centerline goodness : 0.113635 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99739247e-01 -1.12134911e-03 -2.28074533e-02 -1.08217759e-01] [ 1.10765982e-03 9.99999199e-01 -6.12835597e-04 1.81626947e-01] [ 2.28081223e-02 5.87412899e-04 9.99739688e-01 -2.97827986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.993133365 meters Centerline goodness : 0.152510 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.18, Z:-0.30 [[ 0.99970841 0.00765445 -0.0229019 -0.12846234] [-0.00768906 0.99996943 -0.00142345 0.17752872] [ 0.0228903 0.00159913 0.9997367 -0.29937293] [ 0. 0. 0. 1. ]] SLAMing on 28.023133365 meters Centerline goodness : 0.088072 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.18, Z:-0.30 [[ 0.99971707 0.00772265 -0.02249754 -0.12955783] [-0.0077605 0.99996861 -0.00159562 0.17898135] [ 0.02248451 0.00176976 0.99974562 -0.29926896] [ 0. 0. 0. 1. ]] SLAMing on 28.053133365 meters Centerline goodness : 0.129555 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99775605e-01 9.41551394e-04 -2.11625391e-02 -1.11910253e-01] [-9.38937055e-04 9.99999550e-01 1.33472119e-04 1.87507047e-01] [ 2.11626553e-02 -1.13571876e-04 9.99776039e-01 -2.97687957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.083133365 meters Centerline goodness : 0.098926 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99778719e-01 8.34468097e-04 -2.10194451e-02 -1.12223187e-01] [-8.39287216e-04 9.99999623e-01 -2.20448973e-04 1.89268942e-01] [ 2.10192532e-02 2.38041544e-04 9.99779043e-01 -2.97864040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.113133365 meters Centerline goodness : 0.123395 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99779389e-01 7.32339188e-04 -2.09913766e-02 -1.12117660e-01] [-7.43144589e-04 9.99999595e-01 -5.06958248e-04 1.90640631e-01] [ 2.09909968e-02 5.22446035e-04 9.99779528e-01 -2.98241321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.143133365 meters Centerline goodness : 0.131912 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99779941e-01 5.78357239e-04 -2.09698442e-02 -1.11861424e-01] [-5.97405149e-04 9.99999415e-01 -9.02094639e-04 1.92472426e-01] [ 2.09693102e-02 9.14423618e-04 9.99779702e-01 -2.98817481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.173133364999998 meters Centerline goodness : 0.111335 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99779418e-01 4.91413663e-04 -2.09970172e-02 -1.11931779e-01] [-5.12914886e-04 9.99999350e-01 -1.01864004e-03 1.92856191e-01] [ 2.09965030e-02 1.02918503e-03 9.99779019e-01 -2.98608717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.203133365 meters Centerline goodness : 0.101472 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99780605e-01 4.23445489e-04 -2.09419059e-02 -1.12182317e-01] [-4.45755438e-04 9.99999338e-01 -1.06066910e-03 1.92882726e-01] [ 2.09414430e-02 1.06977136e-03 9.99780132e-01 -2.98388599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.233133365 meters Centerline goodness : 0.125618 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99780427e-01 3.88226778e-04 -2.09510775e-02 -1.12324907e-01] [-4.09897238e-04 9.99999385e-01 -1.03005186e-03 1.92602109e-01] [ 2.09506647e-02 1.03841348e-03 9.99779971e-01 -2.98061215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.263133364999998 meters SLAMing on 28.293133365 meters Centerline goodness : 0.098835 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99762089e-01 1.09914042e-04 -2.18117928e-02 -1.09505212e-01] [-1.34757485e-04 9.99999344e-01 -1.13752478e-03 1.92523267e-01] [ 2.18116534e-02 1.14019345e-03 9.99761447e-01 -2.99131703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.323133365 meters Centerline goodness : 0.087291 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99753165e-01 8.97307743e-05 -2.22171193e-02 -1.08179243e-01] [-1.13526168e-04 9.99999421e-01 -1.06977969e-03 1.91929619e-01] [ 2.22170104e-02 1.07203786e-03 9.99752597e-01 -2.99629325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.353133364999998 meters Centerline goodness : 0.092552 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99743492e-01 5.17882858e-05 -2.26483499e-02 -1.06958515e-01] [-7.40883612e-05 9.99999513e-01 -9.83784535e-04 1.91169268e-01] [ 2.26482879e-02 9.85210165e-04 9.99743009e-01 -2.99893383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.383133365 meters Centerline goodness : 0.139810 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99740007e-01 -7.20735927e-05 -2.28015920e-02 -1.06684480e-01] [ 5.59489954e-05 9.99999748e-01 -7.07806955e-04 1.89009826e-01] [ 2.28016372e-02 7.06347205e-04 9.99739759e-01 -2.99589004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.413133365 meters Centerline goodness : 0.128546 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99744180e-01 -3.67761762e-05 -2.26179653e-02 -1.07501177e-01] [ 2.61167080e-05 9.99999888e-01 -4.71578460e-04 1.87716318e-01] [ 2.26179802e-02 4.70867115e-04 9.99744070e-01 -2.98917401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.443133364999998 meters Centerline goodness : 0.087361 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99749529e-01 2.40079531e-05 -2.23803181e-02 -1.08461228e-01] [-2.86238957e-05 9.99999978e-01 -2.05929766e-04 1.86416707e-01] [ 2.23803127e-02 2.06518799e-04 9.99749508e-01 -2.98232339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.473133365 meters Centerline goodness : 0.131341 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99752372e-01 1.10531326e-04 -2.22527065e-02 -1.09054893e-01] [-1.08996702e-04 9.99999992e-01 7.01763218e-05 1.85133563e-01] [ 2.22527141e-02 -6.77334725e-05 9.99752375e-01 -2.97752006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.503133365 meters Centerline goodness : 0.036331 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99747032e-01 2.63083579e-04 -2.24900459e-02 -1.08331167e-01] [-2.50162797e-04 9.99999802e-01 5.77322646e-04 1.82656231e-01] [ 2.24901934e-02 -5.71550429e-04 9.99746900e-01 -2.97894725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.533133364999998 meters Centerline goodness : 0.153613 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99742275e-01 3.04693622e-04 -2.27000351e-02 -1.07537428e-01] [-2.87076007e-04 9.99999655e-01 7.79359885e-04 1.81339199e-01] [ 2.27002648e-02 -7.72642389e-04 9.99742017e-01 -2.98265662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.563133365 meters SLAMing on 28.593133365 meters Centerline goodness : 0.100257 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99766484e-01 -1.25561302e-03 -2.15731380e-02 -1.12981732e-01] [ 1.24583112e-03 9.99999115e-01 -4.66863613e-04 1.78756324e-01] [ 2.15737051e-02 4.39878106e-04 9.99767164e-01 -2.95201447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.623133364999997 meters Centerline goodness : 0.087667 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.29 [[ 9.99770824e-01 -1.14787078e-03 -2.13771230e-02 -1.13849388e-01] [ 1.14260425e-03 9.99999314e-01 -2.58575811e-04 1.78001868e-01] [ 2.13774051e-02 2.34090960e-04 9.99771450e-01 -2.94601492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.653133365 meters Centerline goodness : 0.162844 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.29 [[ 9.99774914e-01 -1.05820102e-03 -2.11896766e-02 -1.14394841e-01] [ 1.05630225e-03 9.99999437e-01 -1.00800712e-04 1.77430074e-01] [ 2.11897714e-02 7.83953195e-05 9.99775469e-01 -2.94425479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.683133365 meters Centerline goodness : 0.091800 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.29 [[ 9.99775223e-01 -9.94987483e-04 -2.11781239e-02 -1.14508561e-01] [ 9.95495323e-04 9.99999504e-01 1.34369530e-05 1.76864794e-01] [ 2.11781000e-02 -3.45166560e-05 9.99775718e-01 -2.94286493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.713133364999997 meters Centerline goodness : 0.088600 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.17, Z:-0.29 [[ 9.99745572e-01 7.01332756e-03 -2.14383983e-02 -9.32906524e-02] [-7.03608607e-03 9.99974760e-01 -9.86330373e-04 1.72920045e-01] [ 2.14309397e-02 1.13692184e-03 9.99769685e-01 -2.93022040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.743133365 meters Centerline goodness : 0.093315 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.17, Z:-0.29 [[ 9.99745194e-01 7.03159359e-03 -2.14500453e-02 -9.31387700e-02] [-7.05433782e-03 9.99974633e-01 -9.84851346e-04 1.72796420e-01] [ 2.14425761e-02 1.13591627e-03 9.99769436e-01 -2.93284967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.773133365 meters Centerline goodness : 0.211663 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.17, Z:-0.29 [[ 9.99746138e-01 7.07771418e-03 -2.13907850e-02 -9.33576090e-02] [-7.09875741e-03 9.99974391e-01 -9.07978392e-04 1.72392643e-01] [ 2.13838107e-02 1.05959588e-03 9.99770779e-01 -2.93207452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.803133364999997 meters Centerline goodness : 0.132728 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.17, Z:-0.29 [[ 9.99753165e-01 7.16895930e-03 -2.10289046e-02 -9.43725121e-02] [-7.18374542e-03 9.99974000e-01 -6.27674988e-04 1.70669725e-01] [ 2.10238581e-02 7.78586353e-04 9.99778671e-01 -2.93029567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.833133365 meters Centerline goodness : 0.112270 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.29 [[ 9.99804432e-01 -1.05746332e-03 -1.97478828e-02 -7.51649125e-02] [ 1.06515088e-03 9.99999361e-01 3.78770995e-04 1.74140475e-01] [ 1.97474696e-02 -3.99731394e-04 9.99804920e-01 -2.92158374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.863133365 meters Centerline goodness : 0.101606 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.29 [[ 9.99807668e-01 -1.00516062e-03 -1.95861313e-02 -7.55213755e-02] [ 1.01686595e-03 9.99999310e-01 5.87683951e-04 1.72895466e-01] [ 1.95855271e-02 -6.07487390e-04 9.99808001e-01 -2.92167446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.893133365 meters Centerline goodness : 0.126010 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.17, Z:-0.29 [[ 9.99727495e-01 -9.49690703e-04 -2.33245438e-02 -1.16375673e-01] [ 9.67106157e-04 9.99999262e-01 7.35389027e-04 1.66356904e-01] [ 2.33238282e-02 -7.57745940e-04 9.99727675e-01 -2.93889126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.923133364999998 meters Centerline goodness : 0.122322 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.16, Z:-0.29 [[ 9.99659791e-01 6.39883635e-03 -2.52855229e-02 -9.43718021e-02] [-6.40009270e-03 9.99979519e-01 3.12414570e-05 1.61226062e-01] [ 2.52852049e-02 1.30598862e-04 9.99680270e-01 -2.92648384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.953133365 meters Centerline goodness : 0.216863 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.16, Z:-0.29 [[ 9.99654603e-01 6.51438708e-03 -2.54605224e-02 -9.37660873e-02] [-6.50394232e-03 9.99978728e-01 4.93023054e-04 1.58660979e-01] [ 2.54631926e-02 -3.27258996e-04 9.99675707e-01 -2.92888675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.983133365 meters Centerline goodness : 0.119878 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.29 [[ 9.99712727e-01 -3.31311043e-03 -2.37378934e-02 -7.48855281e-02] [ 3.33571777e-03 9.99994020e-01 9.12839806e-04 1.56283135e-01] [ 2.37347271e-02 -9.91760484e-04 9.99717800e-01 -2.91503911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.013133364999998 meters Centerline goodness : 0.149371 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.29 [[ 0.99971692 -0.00332811 -0.02355854 -0.07546019] [ 0.00336414 0.99999323 0.00148959 0.15255521] [ 0.02355342 -0.00156842 0.99972135 -0.29111884] [ 0. 0. 0. 1. ]] SLAMing on 29.043133365 meters Centerline goodness : 0.097157 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.29 [[ 0.99971642 -0.00327642 -0.02358715 -0.07525474] [ 0.00332746 0.99999221 0.00212485 0.14863892] [ 0.02358001 -0.00220273 0.99971953 -0.29115618] [ 0. 0. 0. 1. ]] SLAMing on 29.073133365 meters Centerline goodness : 0.098107 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.14, Z:-0.29 [[ 9.99699846e-01 -6.84323797e-03 -2.35242045e-02 -7.47534414e-02] [ 6.82956996e-03 9.99976460e-01 -6.61312003e-04 1.43453011e-01] [ 2.35281762e-02 5.00453307e-04 9.99723049e-01 -2.91866641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.103133364999998 meters Centerline goodness : 0.094978 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 9.99717670e-01 8.81833571e-04 -2.37445487e-02 -5.47669895e-02] [-9.18289938e-04 9.99998416e-01 -1.52449741e-03 1.37103126e-01] [ 2.37431667e-02 1.54587137e-03 9.99716896e-01 -2.90277329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.133133365 meters Centerline goodness : 0.097802 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.99971755 0.00102897 -0.0237437 -0.05466843] [-0.00105773 0.99999872 -0.00119845 0.13551769] [ 0.02374244 0.00122323 0.99971736 -0.29041504] [ 0. 0. 0. 1. ]] SLAMing on 29.163133365 meters Centerline goodness : 0.112928 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.13, Z:-0.29 [[ 0.99971635 0.00117427 -0.02378728 -0.05433405] [-0.00119876 0.99999877 -0.00101501 0.13490976] [ 0.02378606 0.00104324 0.99971653 -0.29082546] [ 0. 0. 0. 1. ]] SLAMing on 29.193133364999998 meters Centerline goodness : 0.095121 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 9.99696145e-01 1.66365508e-03 -2.45937002e-02 -5.19882722e-02] [-1.68510722e-03 9.99998218e-01 -8.51562757e-04 1.35397712e-01] [ 2.45922396e-02 8.92747027e-04 9.99697167e-01 -2.91624252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.223133365 meters Centerline goodness : 0.093534 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.999691 0.00169556 -0.02479964 -0.05146743] [-0.00172214 0.99999797 -0.00105066 0.13664967] [ 0.02479781 0.00109304 0.99969189 -0.29176371] [ 0. 0. 0. 1. ]] SLAMing on 29.253133365 meters Centerline goodness : 0.093097 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.9996957 0.00177967 -0.02460359 -0.05206997] [-0.00180846 0.99999771 -0.00114797 0.13766065] [ 0.02460149 0.00119212 0.99969663 -0.29169604] [ 0. 0. 0. 1. ]] SLAMing on 29.283133364999998 meters Centerline goodness : 0.118487 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.99970436 0.00183922 -0.0242446 -0.0533046 ] [-0.00186935 0.99999751 -0.00122019 0.13849315] [ 0.0242423 0.00126515 0.99970531 -0.29119495] [ 0. 0. 0. 1. ]] SLAMing on 29.313133365 meters Centerline goodness : 0.140742 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.99971615 0.00178736 -0.02375776 -0.05458893] [-0.0018213 0.99999735 -0.00140701 0.13940362] [ 0.02375518 0.00144988 0.99971675 -0.29112914] [ 0. 0. 0. 1. ]] SLAMing on 29.343133365 meters Centerline goodness : 0.094905 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.99971633 0.00172089 -0.02375497 -0.05444648] [-0.00175624 0.99999738 -0.00146742 0.13932159] [ 0.02375239 0.00150872 0.99971673 -0.29137654] [ 0. 0. 0. 1. ]] SLAMing on 29.373133364999997 meters Centerline goodness : 0.169591 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.99971338 0.00168181 -0.02388168 -0.05416568] [-0.00171686 0.99999748 -0.0014475 0.1389475 ] [ 0.02387918 0.00148809 0.99971374 -0.29133507] [ 0. 0. 0. 1. ]] SLAMing on 29.403133365 meters Centerline goodness : 0.125395 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.99971601 0.00178059 -0.02376397 -0.05486747] [-0.00180985 0.99999763 -0.00120987 0.13829442] [ 0.02376176 0.00125254 0.99971686 -0.29070928] [ 0. 0. 0. 1. ]] SLAMing on 29.433133365 meters Centerline goodness : 0.141461 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.14, Z:-0.29 [[ 0.99972038 0.00180512 -0.02357776 -0.0555705 ] [-0.00183178 0.99999771 -0.00110888 0.1378825 ] [ 0.02357571 0.00115176 0.99972139 -0.2902601 ] [ 0. 0. 0. 1. ]] SLAMing on 29.463133364999997 meters Centerline goodness : 0.172041 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.14, Z:-0.29 [[ 9.99734810e-01 -6.49117853e-03 -2.20946888e-02 -3.60887602e-02] [ 6.48562117e-03 9.99978916e-01 -3.23173827e-04 1.42605623e-01] [ 2.20963207e-02 1.79790343e-04 9.99755830e-01 -2.89242385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.493133365 meters Centerline goodness : 0.113665 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.14, Z:-0.29 [[ 9.99731836e-01 -6.61714563e-03 -2.21916753e-02 -3.56506146e-02] [ 6.61030149e-03 9.99978079e-01 -3.81752863e-04 1.42300226e-01] [ 2.21937149e-02 2.34956826e-04 9.99753662e-01 -2.89536193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.523133365 meters Centerline goodness : 0.162091 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.14, Z:-0.29 [[ 9.99656658e-01 -6.33901007e-03 -2.54240503e-02 -7.90491728e-02] [ 6.34059223e-03 9.99979898e-01 -1.83842675e-05 1.39743706e-01] [ 2.54236558e-02 -1.42825580e-04 9.99676756e-01 -2.90133568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.553133364999997 meters Centerline goodness : 0.119268 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.14, Z:-0.29 [[ 9.99672211e-01 1.78972239e-03 -2.55395384e-02 -5.79099068e-02] [-1.81242552e-03 9.99997983e-01 -8.65820070e-04 1.38064494e-01] [ 2.55379373e-02 9.11824775e-04 9.99673438e-01 -2.89206093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.583133365 meters Centerline goodness : 0.176759 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.14, Z:-0.29 [[ 0.99967322 0.00153407 -0.02551682 -0.05797836] [-0.0015697 0.99999782 -0.00137625 0.14005663] [ 0.02551465 0.00141585 0.99967345 -0.2892262 ] [ 0. 0. 0. 1. ]] SLAMing on 29.613133365 meters Centerline goodness : 0.095532 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.29 [[ 9.99666529e-01 -6.09521713e-03 -2.50934073e-02 -4.05717261e-02] [ 6.09498144e-03 9.99981422e-01 -8.58770266e-05 1.46777965e-01] [ 2.50934646e-02 -6.70954627e-05 9.99685107e-01 -2.86637793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.643133365 meters Centerline goodness : 0.129347 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.29 [[ 9.99670923e-01 -6.09084425e-03 -2.49188321e-02 -4.14197529e-02] [ 6.08679851e-03 9.99981447e-01 -2.38204028e-04 1.48068940e-01] [ 2.49198207e-02 8.64497301e-05 9.99689449e-01 -2.86086770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.673133364999998 meters Centerline goodness : 0.094634 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.29 [[ 9.99674663e-01 -6.07547369e-03 -2.47720960e-02 -4.20304628e-02] [ 6.06828496e-03 9.99981521e-01 -3.65358620e-04 1.49319748e-01] [ 2.47738580e-02 2.14915617e-04 9.99693058e-01 -2.85757065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.703133365 meters Centerline goodness : 0.094634 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.29 [[ 9.99674663e-01 -6.07547369e-03 -2.47720960e-02 -4.20304628e-02] [ 6.06828496e-03 9.99981521e-01 -3.65358620e-04 1.49319748e-01] [ 2.47738580e-02 2.14915617e-04 9.99693058e-01 -2.85757065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.733133365 meters Centerline goodness : 0.094521 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.29 [[ 9.99667255e-01 -6.27554053e-03 -2.50199238e-02 -4.08921400e-02] [ 6.25746970e-03 9.99980101e-01 -8.00486049e-04 1.51103119e-01] [ 2.50244494e-02 6.43658276e-04 9.99686632e-01 -2.86644546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.763133364999998 meters Centerline goodness : 0.090073 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.29 [[ 9.99659611e-01 -6.38346548e-03 -2.52965295e-02 -3.98782553e-02] [ 6.35947217e-03 9.99979249e-01 -1.02881908e-03 1.51898266e-01] [ 2.53025720e-02 8.67596304e-04 9.99679462e-01 -2.87250630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.793133365 meters Centerline goodness : 0.100370 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.29 [[ 0.99965421 -0.00642565 -0.02549843 -0.03917489] [ 0.00639699 0.99997881 -0.00120519 0.15294968] [ 0.02550563 0.00104166 0.99967414 -0.28767433] [ 0. 0. 0. 1. ]] SLAMing on 29.823133365 meters Centerline goodness : 0.087900 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.29 [[ 0.99965454 -0.00635694 -0.02550274 -0.03938259] [ 0.00632313 0.99997902 -0.00140615 0.155081 ] [ 0.02551114 0.00124441 0.99967376 -0.28748167] [ 0. 0. 0. 1. ]] SLAMing on 29.853133364999998 meters Centerline goodness : 0.215931 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.15, Z:-0.29 [[ 0.99971371 0.0014247 -0.02388469 -0.02048669] [-0.00149398 0.99999473 -0.00288289 0.15338336] [ 0.02388045 0.00291774 0.99971056 -0.2858561 ] [ 0. 0. 0. 1. ]] SLAMing on 29.883133365 meters Centerline goodness : 0.100961 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.15, Z:-0.29 [[ 0.99971886 0.0013553 -0.0236722 -0.02125377] [-0.00142438 0.99999478 -0.00290178 0.15286248] [ 0.02366814 0.00293468 0.99971556 -0.28545723] [ 0. 0. 0. 1. ]] SLAMing on 29.913133365 meters Centerline goodness : 0.093350 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.15, Z:-0.28 [[ 0.99972567 0.00133353 -0.0233839 -0.02248324] [-0.00139695 0.99999539 -0.0026961 0.15146442] [ 0.0233802 0.00272802 0.99972292 -0.28459819] [ 0. 0. 0. 1. ]] SLAMing on 29.943133364999998 meters Centerline goodness : 0.094361 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.15, Z:-0.28 [[ 0.99972573 0.00149078 -0.02337192 -0.02249708] [-0.00154659 0.999996 -0.00237012 0.15023327] [ 0.02336829 0.00240561 0.99972403 -0.2845875 ] [ 0. 0. 0. 1. ]] SLAMing on 29.973133365 meters Centerline goodness : 0.092279 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.15, Z:-0.28 [[ 0.99972362 0.00160378 -0.02345427 -0.02206315] [-0.00165281 0.99999649 -0.00207154 0.14885323] [ 0.02345086 0.00210973 0.99972276 -0.28491958] [ 0. 0. 0. 1. ]] SLAMing on 30.003133365 meters Centerline goodness : 0.123029 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.15, Z:-0.29 [[ 0.99971729 0.0016107 -0.02372221 -0.02073171] [-0.00165185 0.99999716 -0.00171531 0.14577828] [ 0.02371938 0.00175401 0.99971712 -0.28586369] [ 0. 0. 0. 1. ]] SLAMing on 30.033133364999998 meters Centerline goodness : 0.163915 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.14, Z:-0.29 [[ 0.99971882 0.00170043 -0.02365132 -0.02098343] [-0.00173579 0.99999741 -0.00147472 0.14447259] [ 0.02364876 0.00151536 0.99971918 -0.28570667] [ 0. 0. 0. 1. ]] SLAMing on 30.063133365 meters Centerline goodness : 0.075380 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.14, Z:-0.29 [[ 0.99972248 0.00184522 -0.0234854 -0.02165157] [-0.00187414 0.99999751 -0.00120955 0.14339052] [ 0.02348311 0.00125323 0.99972345 -0.28532183] [ 0. 0. 0. 1. ]] SLAMing on 30.093133365 meters Centerline goodness : 0.197044 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.14, Z:-0.29 [[ 0.99972424 0.00194698 -0.02340199 -0.02196441] [-0.00197101 0.99999755 -0.0010036 0.14244185] [ 0.02339998 0.00104945 0.99972563 -0.28515562] [ 0. 0. 0. 1. ]] SLAMing on 30.123133364999997 meters Centerline goodness : 0.132968 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.14, Z:-0.28 [[ 9.99723493e-01 2.06340026e-03 -2.34239116e-02 -2.20946388e-02] [-2.07698613e-03 9.99997689e-01 -5.55685569e-04 1.39409621e-01] [ 2.34227109e-02 6.04183057e-04 9.99725468e-01 -2.84837571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.153133365 meters Centerline goodness : 0.092526 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.14, Z:-0.28 [[ 9.99724595e-01 2.22081572e-03 -2.33623962e-02 -2.23777968e-02] [-2.22348611e-03 9.99997524e-01 -8.83270539e-05 1.36982935e-01] [ 2.33621422e-02 1.40248692e-04 9.99727058e-01 -2.84606590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.183133365 meters Centerline goodness : 0.090396 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.13, Z:-0.28 [[ 9.99726412e-01 2.46912857e-03 -2.32595249e-02 -2.27475617e-02] [-2.45684495e-03 9.99996827e-01 5.56673053e-04 1.33938314e-01] [ 2.32608256e-02 -4.99375707e-04 9.99729306e-01 -2.84344649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.213133364999997 meters Centerline goodness : 0.100215 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.13, Z:-0.28 [[ 0.99972882 -0.00573414 -0.02256999 -0.00226578] [ 0.00577806 0.99998154 0.00188116 0.13497551] [ 0.02255878 -0.00201106 0.9997435 -0.28344249] [ 0. 0. 0. 1. ]] SLAMing on 30.243133365 meters Centerline goodness : 0.106054 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.13, Z:-0.28 [[ 9.99703425e-01 -9.38723827e-03 -2.24708903e-02 -1.86644108e-03] [ 9.37057732e-03 9.99955737e-01 -8.46629396e-04 1.28054537e-01] [ 2.24778432e-02 6.35813092e-04 9.99747139e-01 -2.84062532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.273133365 meters Centerline goodness : 0.169395 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.12, Z:-0.28 [[ 9.99704175e-01 -9.22806719e-03 -2.25034541e-02 -1.68128272e-03] [ 9.22586885e-03 9.99957420e-01 -2.01509753e-04 1.24243078e-01] [ 2.25043554e-02 -6.16377448e-06 9.99746745e-01 -2.84104705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.303133364999997 meters Centerline goodness : 0.176145 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.11, Z:-0.29 [[ 9.99770632e-01 -1.50271677e-03 -2.13641145e-02 -2.08274211e-02] [ 1.50050224e-03 9.99998867e-01 -1.19686294e-04 1.11635133e-01] [ 2.13642702e-02 8.76019402e-05 9.99771754e-01 -2.86008313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.333133365 meters Centerline goodness : 0.120268 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.11, Z:-0.29 [[ 9.99769799e-01 -1.31004846e-03 -2.14157098e-02 -2.04358374e-02] [ 1.31715075e-03 9.99999082e-01 3.17537197e-04 1.09625775e-01] [ 2.14152742e-02 -3.45671818e-04 9.99770607e-01 -2.86383796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.363133365 meters Centerline goodness : 0.167645 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.11, Z:-0.29 [[ 9.99769812e-01 -1.15639069e-03 -2.14239395e-02 -2.03029229e-02] [ 1.17197680e-03 9.99999058e-01 7.14967895e-04 1.07572752e-01] [ 2.14230925e-02 -7.39911678e-04 9.99770225e-01 -2.86516007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.393133365 meters Centerline goodness : 0.174565 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.11, Z:-0.29 [[ 9.99772505e-01 -9.99649950e-04 -2.13058431e-02 -2.07265575e-02] [ 1.02358249e-03 9.99998857e-01 1.11240948e-03 1.05494731e-01] [ 2.13047067e-02 -1.13396470e-03 9.99772386e-01 -2.86281112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.423133364999998 meters Centerline goodness : 0.171241 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.10, Z:-0.28 [[ 9.99752860e-01 7.43150726e-03 -2.09521205e-02 -1.13920514e-03] [-7.42489076e-03 9.99972358e-01 3.93566786e-04 9.90475389e-02] [ 2.09544661e-02 -2.37902314e-04 9.99780403e-01 -2.84455225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.453133365 meters Centerline goodness : 0.092105 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.10, Z:-0.28 [[ 9.99748718e-01 7.52350275e-03 -2.11162895e-02 -4.37385101e-04] [-7.51341222e-03 9.99971619e-01 5.57152073e-04 9.82454819e-02] [ 2.11198820e-02 -3.98356683e-04 9.99776871e-01 -2.84933426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.483133365 meters Centerline goodness : 0.163099 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:-0.29 [[ 9.99743535e-01 7.58557927e-03 -2.13383080e-02 4.88484038e-04] [-7.57259446e-03 9.99971090e-01 6.89258706e-04 9.74585274e-02] [ 2.13429195e-02 -5.27495583e-04 9.99772075e-01 -2.85557109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.513133364999998 meters Centerline goodness : 0.163555 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:-0.29 [[ 9.99740020e-01 7.61289964e-03 -2.14926985e-02 1.04180378e-03] [-7.59803957e-03 9.99970836e-01 7.72977757e-04 9.67537925e-02] [ 2.14979563e-02 -6.09474424e-04 9.99768706e-01 -2.85844250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.543133365 meters Centerline goodness : 0.093147 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:-0.29 [[ 9.99738133e-01 7.62434735e-03 -2.15762449e-02 1.39684472e-03] [-7.60965929e-03 9.99970755e-01 7.62774473e-04 9.63600915e-02] [ 2.15814296e-02 -5.98386855e-04 9.99766915e-01 -2.86161091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.573133365 meters Centerline goodness : 0.165974 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:-0.29 [[ 9.99739578e-01 7.66546033e-03 -2.14945932e-02 1.20482129e-03] [-7.65195960e-03 9.99970471e-01 7.10277132e-04 9.68965256e-02] [ 2.14994031e-02 -5.45616401e-04 9.99768712e-01 -2.86236529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.603133364999998 meters Centerline goodness : 0.120989 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:-0.29 [[ 9.99742128e-01 7.74676139e-03 -2.13463352e-02 7.07721120e-04] [-7.73291354e-03 9.99969833e-01 7.31191630e-04 9.72627590e-02] [ 2.13513556e-02 -5.65933711e-04 9.99771874e-01 -2.86069458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.633133365 meters Centerline goodness : 0.162016 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:-0.28 [[ 9.99773655e-01 3.59250058e-04 -2.12722899e-02 1.88334444e-02] [-3.20356457e-04 9.99998271e-01 1.83174877e-03 1.02411809e-01] [ 2.12729112e-02 -1.82451945e-03 9.99772041e-01 -2.84368262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.663133365 meters Centerline goodness : 0.165885 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:-0.28 [[ 9.99768382e-01 3.20856387e-04 -2.15192891e-02 1.97080578e-02] [-2.81978384e-04 9.99998323e-01 1.80966831e-03 1.02080039e-01] [ 2.15198337e-02 -1.80318119e-03 9.99766795e-01 -2.84830468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.693133364999998 meters Centerline goodness : 0.116974 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:-0.29 [[ 9.99761562e-01 3.17083037e-04 -2.18338861e-02 2.08443440e-02] [-2.76719180e-04 9.99998247e-01 1.85167593e-03 1.01604224e-01] [ 2.18344350e-02 -1.84519257e-03 9.99759898e-01 -2.85389250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.723133365 meters Centerline goodness : 0.163930 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.28 [[ 9.99699485e-01 6.06558790e-04 -2.45065862e-02 -2.50377977e-02] [-5.34941374e-04 9.99995568e-01 2.92882429e-03 9.62278591e-02] [ 2.45082541e-02 -2.91483454e-03 9.99695378e-01 -2.84511576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.753133365 meters Centerline goodness : 0.158630 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.09, Z:-0.28 [[ 0.9997095 0.00874579 -0.02245966 -0.00574907] [-0.00870709 0.99996044 0.00182065 0.0938772 ] [ 0.02247469 -0.00162456 0.99974609 -0.28336082] [ 0. 0. 0. 1. ]] SLAMing on 30.783133364999998 meters Centerline goodness : 0.130390 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.29 [[ 9.99767178e-01 2.24186086e-04 -2.15763572e-02 -2.69054558e-02] [-1.69403532e-04 9.99996758e-01 2.54080280e-03 9.69718703e-02] [ 2.15768569e-02 -2.53655613e-03 9.99763975e-01 -2.85034770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.813133365 meters Centerline goodness : 0.165131 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.29 [[ 9.99767996e-01 2.10865298e-04 -2.15385644e-02 -2.70370922e-02] [-1.56971642e-04 9.99996853e-01 2.50385356e-03 9.72796490e-02] [ 2.15390246e-02 -2.49989171e-03 9.99764883e-01 -2.85039793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.843133365 meters Centerline goodness : 0.127394 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.29 [[ 9.99770737e-01 2.05197131e-04 -2.14110320e-02 -2.73855585e-02] [-1.54139028e-04 9.99997141e-01 2.38628641e-03 9.83137956e-02] [ 2.14114604e-02 -2.38243905e-03 9.99767910e-01 -2.85036601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.873133364999997 meters Centerline goodness : 0.160315 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.29 [[ 9.99772038e-01 1.32323522e-04 -2.13507473e-02 -2.74806763e-02] [-8.62094152e-05 9.99997662e-01 2.16074167e-03 9.95479903e-02] [ 2.13509833e-02 -2.15840847e-03 9.99769712e-01 -2.85123905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.903133365 meters Centerline goodness : 0.163587 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.29 [[ 9.99768329e-01 -2.15645813e-04 -2.15230447e-02 -2.70497397e-02] [ 2.46197157e-04 9.99998966e-01 1.41683162e-03 1.02547326e-01] [ 2.15227169e-02 -1.42180230e-03 9.99767349e-01 -2.85277839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.933133365 meters Centerline goodness : 0.166472 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.10, Z:-0.28 [[ 9.99747928e-01 7.79644621e-03 -2.10545972e-02 -7.11800007e-03] [-7.80028440e-03 9.99969572e-01 -1.00176522e-04 1.02303769e-01] [ 2.10531755e-02 2.64383116e-04 9.99778322e-01 -2.83722732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.963133364999997 meters Centerline goodness : 0.165106 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:-0.29 [[ 9.99781349e-01 -2.70649929e-04 -2.09088739e-02 -2.72137238e-02] [ 2.94661453e-04 9.99999301e-01 1.14531686e-03 1.07806875e-01] [ 2.09085493e-02 -1.15122747e-03 9.99780730e-01 -2.85593069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.993133365 meters Centerline goodness : 0.157217 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:-0.29 [[ 9.99783182e-01 -4.50575370e-04 -2.08179171e-02 -2.77907274e-02] [ 4.70218001e-04 9.99999449e-01 9.38659129e-04 1.09043311e-01] [ 2.08174827e-02 -9.48244570e-04 9.99782843e-01 -2.85005495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.023133365 meters Centerline goodness : 0.106770 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:-0.28 [[ 9.99780443e-01 -6.98507544e-04 -2.09422565e-02 -2.75099412e-02] [ 7.16162501e-04 9.99999394e-01 8.35542345e-04 1.08547310e-01] [ 2.09416602e-02 -8.50356954e-04 9.99780338e-01 -2.84881917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.053133364999997 meters Centerline goodness : 0.169739 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:-0.28 [[ 9.99775092e-01 -9.04326996e-04 -2.11883627e-02 -2.70498566e-02] [ 9.22048170e-04 9.99999233e-01 8.26609053e-04 1.07503861e-01] [ 2.11875989e-02 -8.45959834e-04 9.99775160e-01 -2.84611554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.083133365 meters Centerline goodness : 0.134808 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:-0.28 [[ 9.99772674e-01 -1.03532134e-03 -2.12961877e-02 -2.69342200e-02] [ 1.05574186e-03 9.99998994e-01 9.47660918e-04 1.06110446e-01] [ 2.12951851e-02 -9.69928768e-04 9.99772761e-01 -2.84317080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.113133365 meters Centerline goodness : 0.106981 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.28 [[ 9.99780516e-01 -9.55395902e-04 -2.09286030e-02 -2.80696334e-02] [ 9.88453240e-04 9.99998280e-01 1.56924146e-03 1.03127348e-01] [ 2.09270677e-02 -1.58958398e-03 9.99779741e-01 -2.83729844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.143133365 meters Centerline goodness : 0.110494 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.28 [[ 9.99784067e-01 -8.46248162e-04 -2.07630265e-02 -2.85149475e-02] [ 8.84895829e-04 9.99997893e-01 1.85225271e-03 1.01890954e-01] [ 2.07614153e-02 -1.87022586e-03 9.99782709e-01 -2.83611647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.173133364999998 meters Centerline goodness : 0.112590 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.28 [[ 9.99784112e-01 -7.83260462e-04 -2.07633258e-02 -2.84434921e-02] [ 8.26291240e-04 9.99997529e-01 2.06394329e-03 1.00623396e-01] [ 2.07616579e-02 -2.08065426e-03 9.99782289e-01 -2.83681840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.203133365 meters Centerline goodness : 0.166222 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.28 [[ 9.99777115e-01 -7.29925137e-04 -2.10994867e-02 -2.74318864e-02] [ 7.77712315e-04 9.99997151e-01 2.25673342e-03 9.90939937e-02] [ 2.10977793e-02 -2.27263976e-03 9.99774834e-01 -2.83974476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.233133365 meters Centerline goodness : 0.167633 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.28 [[ 9.99772817e-01 -6.01725967e-04 -2.13061641e-02 -2.67416134e-02] [ 6.53824398e-04 9.99996813e-01 2.43834651e-03 9.84775450e-02] [ 2.13046290e-02 -2.45172305e-03 9.99770024e-01 -2.84362780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.263133364999998 meters Centerline goodness : 0.127446 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.09, Z:-0.28 [[ 0.99973446 0.00789579 -0.0216489 -0.00561254] [-0.00785736 0.9999674 0.00185948 0.09459117] [ 0.02166287 -0.00168889 0.99976391 -0.28323534] [ 0. 0. 0. 1. ]] SLAMing on 31.293133365 meters Centerline goodness : 0.113445 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.09, Z:-0.28 [[ 9.99768005e-01 5.47238447e-03 -2.08323969e-02 -8.15702773e-03] [-5.48083456e-03 9.99984919e-01 -3.48548046e-04 9.09174652e-02] [ 2.08301754e-02 4.62646105e-04 9.99782921e-01 -2.82679594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.323133365 meters Centerline goodness : 0.078652 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.09, Z:-0.28 [[ 0.99979952 0.00346894 -0.01972037 -0.01298281] [-0.00351152 0.99999158 -0.00212478 0.08888727] [ 0.01971283 0.00219361 0.99980328 -0.2804353 ] [ 0. 0. 0. 1. ]] SLAMing on 31.353133364999998 meters Centerline goodness : 0.159433 Centerline is valid? [False, False] Translation: X:0.01, Y:0.09, Z:-0.28 [[ 0.9998217 -0.00466392 -0.01829778 0.00673874] [ 0.00464407 0.99998858 -0.0011269 0.09076283] [ 0.01830282 0.00104172 0.99983195 -0.27942916] [ 0. 0. 0. 1. ]] SLAMing on 31.383133365 meters Centerline goodness : 0.119967 Centerline is valid? [False, False] Translation: X:0.01, Y:0.09, Z:-0.28 [[ 9.99822745e-01 -4.34707269e-03 -1.83188977e-02 6.82956950e-03] [ 4.34603885e-03 9.99990551e-01 -9.62463311e-05 8.56565290e-02] [ 1.83191430e-02 1.66146297e-05 9.99832190e-01 -2.79341402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.413133365 meters Centerline goodness : 0.156763 Centerline is valid? [False, False] Translation: X:0.01, Y:0.08, Z:-0.28 [[ 9.99821357e-01 -4.19710228e-03 -1.84292550e-02 7.32141472e-03] [ 4.20653450e-03 9.99991041e-01 4.73071930e-04 8.26147457e-02] [ 1.84271043e-02 -5.50510716e-04 9.99830055e-01 -2.79589398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.443133364999998 meters Centerline goodness : 0.122815 Centerline is valid? [False, False] Translation: X:0.01, Y:0.08, Z:-0.28 [[ 9.99821660e-01 -4.20180296e-03 -1.84117548e-02 7.31513520e-03] [ 4.22060363e-03 9.99990611e-01 9.82384395e-04 7.91127197e-02] [ 1.84074541e-02 -1.05991792e-03 9.99830007e-01 -2.79500674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.473133365 meters Centerline goodness : 0.159034 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.28 [[ 9.99881960e-01 2.31991012e-04 -1.53626775e-02 2.70325578e-02] [-2.69183024e-04 9.99997038e-01 -2.41890941e-03 7.03493352e-02] [ 1.53620708e-02 2.42275926e-03 9.99879061e-01 -2.78742237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.503133365 meters Centerline goodness : 0.168146 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.28 [[ 9.99886112e-01 3.90289177e-04 -1.50867893e-02 2.61034719e-02] [-4.15427421e-04 9.99998531e-01 -1.66314417e-03 6.63059911e-02] [ 1.50861180e-02 1.66922223e-03 9.99884805e-01 -2.78195093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.533133364999998 meters Centerline goodness : 0.153855 Centerline is valid? [False, False] Translation: X:0.03, Y:0.06, Z:-0.28 [[ 9.99888031e-01 5.44881383e-04 -1.49542059e-02 2.56370517e-02] [-5.59352154e-04 9.99999379e-01 -9.63506811e-04 6.25584340e-02] [ 1.49536717e-02 9.71763596e-04 9.99887715e-01 -2.77872436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.563133365 meters Centerline goodness : 0.111041 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.28 [[ 9.99881395e-01 3.77103238e-04 -1.53965637e-02 2.69977959e-02] [-3.80663255e-04 9.99999901e-01 -2.28291612e-04 5.49582107e-02] [ 1.53964761e-02 2.34125442e-04 9.99881440e-01 -2.78157020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.593133365 meters Centerline goodness : 0.156939 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.28 [[ 9.99876380e-01 5.22591780e-04 -1.57147089e-02 2.80786078e-02] [-5.18197765e-04 9.99999825e-01 2.83682234e-04 5.21385784e-02] [ 1.57148544e-02 -2.75503839e-04 9.99876476e-01 -2.78601380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.623133364999997 meters Centerline goodness : 0.156939 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.28 [[ 9.99876380e-01 5.22591780e-04 -1.57147089e-02 2.80786078e-02] [-5.18197765e-04 9.99999825e-01 2.83682234e-04 5.21385784e-02] [ 1.57148544e-02 -2.75503839e-04 9.99876476e-01 -2.78601380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.653133365 meters Centerline goodness : 0.157847 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.28 [[ 9.99873768e-01 6.80671513e-04 -1.58740024e-02 2.86944191e-02] [-6.68533739e-04 9.99999480e-01 7.69926196e-04 4.94945502e-02] [ 1.58745182e-02 -7.59216701e-04 9.99873704e-01 -2.78940822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.683133365 meters Centerline goodness : 0.154402 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.28 [[ 9.99870713e-01 7.88216845e-04 -1.60604099e-02 2.93258643e-02] [-7.70654236e-04 9.99999098e-01 1.09969389e-03 4.76068813e-02] [ 1.60612622e-02 -1.08717469e-03 9.99870419e-01 -2.79216893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.713133364999997 meters Centerline goodness : 0.152420 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.28 [[ 9.99865286e-01 9.13729899e-04 -1.63882338e-02 3.08447631e-02] [-8.89583812e-04 9.99998508e-01 1.48060879e-03 4.54151057e-02] [ 1.63895622e-02 -1.46583062e-03 9.99864608e-01 -2.80383905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.743133365 meters Centerline goodness : 0.153200 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 9.99862564e-01 9.46332783e-04 -1.65516726e-02 3.13740794e-02] [-9.19467011e-04 9.99998248e-01 1.63068001e-03 4.44091448e-02] [ 1.65531868e-02 -1.61523718e-03 9.99861682e-01 -2.80595694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.773133365 meters Centerline goodness : 0.133232 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 9.99861050e-01 1.00283778e-03 -1.66395704e-02 3.15896494e-02] [-9.72891661e-04 9.99997893e-01 1.80769002e-03 4.34381138e-02] [ 1.66413482e-02 -1.79125035e-03 9.99859919e-01 -2.80597120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.803133364999997 meters Centerline goodness : 0.154433 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 0.99986206 0.0010551 -0.01657524 0.03139635] [-0.00102287 0.99999757 0.00195322 0.04270642] [ 0.01657726 -0.001936 0.99986071 -0.28054223] [ 0. 0. 0. 1. ]] SLAMing on 31.833133365 meters Centerline goodness : 0.114681 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 0.99986466 0.00117339 -0.01640989 0.03097751] [-0.00113793 0.999997 0.0021704 0.04178067] [ 0.01641239 -0.00215143 0.99986299 -0.28046975] [ 0. 0. 0. 1. ]] SLAMing on 31.863133365 meters Centerline goodness : 0.110823 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 0.99986429 0.00119134 -0.01643125 0.0310239 ] [-0.00115433 0.99999678 0.00226212 0.04107598] [ 0.01643389 -0.00224285 0.99986244 -0.28047493] [ 0. 0. 0. 1. ]] SLAMing on 31.893133365 meters Centerline goodness : 0.119236 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 0.9998596 0.00122098 -0.01671181 0.03190848] [-0.00117979 0.99999624 0.00247443 0.03951442] [ 0.01671477 -0.00245437 0.99985729 -0.2808097 ] [ 0. 0. 0. 1. ]] SLAMing on 31.923133364999998 meters Centerline goodness : 0.113828 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 0.99985903 0.00130223 -0.01673993 0.03191589] [-0.0012579 0.99999568 0.00265796 0.03873576] [ 0.01674332 -0.00263652 0.99985634 -0.28072177] [ 0. 0. 0. 1. ]] SLAMing on 31.953133365 meters Centerline goodness : 0.154834 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 0.99986 0.00135963 -0.01667755 0.03177293] [-0.00131254 0.99999512 0.00283446 0.03777184] [ 0.01668133 -0.00281218 0.9998569 -0.28070766] [ 0. 0. 0. 1. ]] SLAMing on 31.983133365 meters Centerline goodness : 0.154057 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 0.99986014 0.00138437 -0.01666692 0.03180072] [-0.00133301 0.99999433 0.0030924 0.0357961 ] [ 0.0166711 -0.00306975 0.99985632 -0.28073667] [ 0. 0. 0. 1. ]] SLAMing on 32.013133364999995 meters Centerline goodness : 0.153565 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.28 [[ 0.99985875 0.0013767 -0.01675079 0.03181859] [-0.00132336 0.99999402 0.00319487 0.03493081] [ 0.01675509 -0.00317225 0.99985459 -0.28043859] [ 0. 0. 0. 1. ]] SLAMing on 32.043133364999996 meters Centerline goodness : 0.159868 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.28 [[ 0.99986152 0.00155335 -0.01656899 0.03085207] [-0.00149309 0.99999223 0.00364887 0.03273307] [ 0.01657453 -0.00362363 0.99985607 -0.27952743] [ 0. 0. 0. 1. ]] SLAMing on 32.073133365 meters Centerline goodness : 0.148949 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.28 [[ 0.99986409 0.00166984 -0.01640191 0.03022079] [-0.00160528 0.99999091 0.00394881 0.03130584] [ 0.01640836 -0.00392194 0.99985768 -0.27913581] [ 0. 0. 0. 1. ]] SLAMing on 32.103133365 meters Centerline goodness : 0.146962 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.28 [[ 0.9998679 0.00176853 -0.01615718 0.02946277] [-0.00169995 0.99998949 0.00425703 0.02973303] [ 0.01616454 -0.004229 0.9998604 -0.27886045] [ 0. 0. 0. 1. ]] SLAMing on 32.13313336499999 meters Centerline goodness : 0.142564 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.28 [[ 0.99987022 0.00186563 -0.01600187 0.02891881] [-0.00179196 0.99998774 0.00461658 0.02773746] [ 0.01601028 -0.00458731 0.9998613 -0.27853925] [ 0. 0. 0. 1. ]] SLAMing on 32.16313336499999 meters Centerline goodness : 0.144368 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.28 [[ 9.99890217e-01 -3.05054045e-04 -1.48142450e-02 2.44631706e-02] [ 3.48956143e-04 9.99995555e-01 2.96101110e-03 2.28286262e-02] [ 1.48132759e-02 -2.96585555e-03 9.99885879e-01 -2.76680066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.193133364999994 meters Centerline goodness : 0.144154 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.28 [[ 9.99888870e-01 -2.16066470e-04 -1.49064016e-02 2.47158746e-02] [ 2.66157130e-04 9.99994325e-01 3.35844356e-03 2.04190823e-02] [ 1.49055914e-02 -3.36203778e-03 9.99883253e-01 -2.76681089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.223133364999995 meters Centerline goodness : 0.138444 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.28 [[ 9.99885895e-01 -6.62487376e-05 -1.51060739e-02 2.54055431e-02] [ 1.23825368e-04 9.99992732e-01 3.81058525e-03 1.79865559e-02] [ 1.51057117e-02 -3.81202096e-03 9.99878636e-01 -2.76987812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.253133365 meters Centerline goodness : 0.140617 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.28 [[ 9.99883650e-01 9.91803830e-05 -1.52537476e-02 2.59841825e-02] [-3.44612008e-05 9.99990998e-01 4.24304247e-03 1.58830675e-02] [ 1.52540311e-02 -4.24202313e-03 9.99874652e-01 -2.77336260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.283133365 meters Centerline goodness : 0.137247 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 9.99883782e-01 4.19256691e-04 -1.52396226e-02 2.60235894e-02] [-3.42729522e-04 9.99987322e-01 5.02385703e-03 1.20640752e-02] [ 1.52415357e-02 -5.01805010e-03 9.99871249e-01 -2.77351769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.313133365 meters Centerline goodness : 0.138156 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 9.99884942e-01 5.04030191e-04 -1.51607309e-02 2.57930508e-02] [-4.24577675e-04 9.99986163e-01 5.24344068e-03 1.08679415e-02] [ 1.51631639e-02 -5.23640047e-03 9.99871321e-01 -2.77265136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34313336499999 meters Centerline goodness : 0.120812 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 9.99884772e-01 6.20200000e-04 -1.51676954e-02 2.58755578e-02] [-5.38012128e-04 9.99985156e-01 5.42209331e-03 1.01344658e-02] [ 1.51708330e-02 -5.41330813e-03 9.99870263e-01 -2.77353163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.373133364999994 meters Centerline goodness : 0.132921 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 9.99882030e-01 7.39984446e-04 -1.53420372e-02 2.65851373e-02] [-6.56074403e-04 9.99984805e-01 5.47360135e-03 1.00923815e-02] [ 1.53458545e-02 -5.46289011e-03 9.99867322e-01 -2.77859774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.403133364999995 meters Centerline goodness : 0.139761 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 0.99987285 0.00139911 -0.01588507 0.02857737] [-0.00130698 0.99998227 0.00580889 0.0099657 ] [ 0.01589291 -0.00578739 0.99985695 -0.27911067] [ 0. 0. 0. 1. ]] SLAMing on 32.433133364999996 meters Centerline goodness : 0.143176 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 0.99987056 0.00151052 -0.01601807 0.02903247] [-0.0014184 0.9999824 0.00576108 0.01040225] [ 0.01602649 -0.00573762 0.99985511 -0.27941834] [ 0. 0. 0. 1. ]] SLAMing on 32.463133365 meters Centerline goodness : 0.135206 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 0.99988053 0.00182947 -0.01534865 0.02719072] [-0.00173748 0.99998046 0.0060045 0.00979835] [ 0.01535934 -0.00597712 0.99986417 -0.2791397 ] [ 0. 0. 0. 1. ]] SLAMing on 32.493133365 meters Centerline goodness : 0.142242 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 0.999882 0.00192144 -0.0152413 0.02669139] [-0.00182757 0.99997929 0.00617028 0.00898783] [ 0.01525284 -0.00614169 0.99986481 -0.27877664] [ 0. 0. 0. 1. ]] SLAMing on 32.52313336499999 meters Centerline goodness : 0.141522 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 0.99988261 0.00200438 -0.01519074 0.02660691] [-0.00190815 0.99997804 0.00634699 0.00814765] [ 0.01520313 -0.00631726 0.99986447 -0.2788364 ] [ 0. 0. 0. 1. ]] SLAMing on 32.553133364999994 meters Centerline goodness : 0.136582 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 0.99987986 0.00222437 -0.01534013 0.02749873] [-0.00212019 0.9999746 0.0068046 0.0061985 ] [ 0.01535487 -0.00677126 0.99985918 -0.27968641] [ 0. 0. 0. 1. ]] SLAMing on 32.583133364999995 meters Centerline goodness : 0.138163 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.28 [[ 0.99984736 0.00956439 -0.01462128 0.04945127] [-0.00949976 0.99994483 0.00448342 0.00430926] [ 0.01466335 -0.00434383 0.99988305 -0.27987817] [ 0. 0. 0. 1. ]] SLAMing on 32.613133364999996 meters Centerline goodness : 0.141370 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.28 [[ 0.99987581 0.00700357 -0.01411823 0.0478751 ] [-0.00697751 0.99997386 0.00189438 0.00315301] [ 0.01413113 -0.00179564 0.99989854 -0.27965512] [ 0. 0. 0. 1. ]] SLAMing on 32.643133365 meters Centerline goodness : 0.117962 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.28 [[ 0.9999002 0.00396726 -0.01355914 0.04599885] [-0.00398245 0.99999147 -0.00109357 0.00164032] [ 0.01355469 0.00114746 0.99990747 -0.27920437] [ 0. 0. 0. 1. ]] SLAMing on 32.673133365 meters Centerline goodness : 0.146361 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.28 [[ 9.99900461e-01 4.03891439e-03 -1.35187256e-02 4.58211315e-02] [-4.05213313e-03 9.99991338e-01 -9.50561427e-04 1.13292268e-03] [ 1.35147693e-02 1.00524648e-03 9.99908166e-01 -2.79110126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70313336499999 meters Centerline goodness : 0.119923 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.28 [[ 9.99899949e-01 4.11195745e-03 -1.35345521e-02 4.57605092e-02] [-4.12359393e-03 9.99991152e-01 -8.31966432e-04 8.18662320e-04] [ 1.35310113e-02 8.87694189e-04 9.99908058e-01 -2.78964486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73313336499999 meters Centerline goodness : 0.136792 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.28 [[ 9.99893725e-01 -2.98638862e-03 -1.42695253e-02 6.49214926e-02] [ 2.98450020e-03 9.99995535e-01 -1.53632870e-04 7.38052269e-03] [ 1.42699204e-02 1.11029141e-04 9.99898173e-01 -2.77555863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.763133364999995 meters Centerline goodness : 0.141500 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.28 [[ 0.9998885 0.0045724 -0.0142156 0.04458653] [-0.00458991 0.99998875 -0.00119913 0.00220518] [ 0.01420995 0.00126424 0.99989823 -0.27854359] [ 0. 0. 0. 1. ]] SLAMing on 32.793133364999996 meters Centerline goodness : 0.143327 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.28 [[ 9.99912619e-01 -2.47340756e-03 -1.29860189e-02 6.21981648e-02] [ 2.47515789e-03 9.99996930e-01 1.18715393e-04 9.54428838e-03] [ 1.29856854e-02 -1.50847467e-04 9.99915671e-01 -2.76787486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.823133365 meters Centerline goodness : 0.136072 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.28 [[ 9.99918757e-01 -2.38654317e-03 -1.25213363e-02 6.05215613e-02] [ 2.38731987e-03 9.99997149e-01 4.70838962e-05 1.08348147e-02] [ 1.25211882e-02 -7.69725060e-05 9.99921604e-01 -2.76057218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.853133365 meters Centerline goodness : 0.138224 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.28 [[ 9.99924413e-01 -2.59522436e-03 -1.20180058e-02 5.86880353e-02] [ 2.58856976e-03 9.99996488e-01 -5.69241340e-04 1.41225349e-02] [ 1.20194409e-02 5.38088867e-04 9.99927619e-01 -2.75249378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88313336499999 meters Centerline goodness : 0.137888 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 9.99923138e-01 -2.79304878e-03 -1.20796179e-02 5.88348154e-02] [ 2.78107700e-03 9.99995625e-01 -1.00775632e-03 1.60133484e-02] [ 1.20823797e-02 9.74084516e-04 9.99926531e-01 -2.75328811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91313336499999 meters Centerline goodness : 0.131566 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 0.99992199 -0.00291966 -0.01214485 0.05894261] [ 0.00290312 0.99999483 -0.00137944 0.01800215] [ 0.01214881 0.00134407 0.9999253 -0.27535676] [ 0. 0. 0. 1. ]] SLAMing on 32.943133364999994 meters Centerline goodness : 0.136527 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.27 [[ 0.99992552 -0.00289174 -0.01185706 0.05777989] [ 0.002872 0.99999446 -0.00168174 0.02107383] [ 0.01186186 0.00164756 0.99992829 -0.27483549] [ 0. 0. 0. 1. ]] SLAMing on 32.973133364999995 meters Centerline goodness : 0.126235 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.27 [[ 0.99992612 -0.00299237 -0.01178103 0.05726002] [ 0.00297081 0.99999388 -0.00184715 0.02179675] [ 0.01178648 0.00181202 0.9999289 -0.27430293] [ 0. 0. 0. 1. ]] SLAMing on 33.003133365 meters Centerline goodness : 0.126241 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.27 [[ 0.9999124 -0.00343183 -0.01278374 0.05977733] [ 0.0034046 0.99999189 -0.00215117 0.02159884] [ 0.01279102 0.00210746 0.99991597 -0.27446904] [ 0. 0. 0. 1. ]] SLAMing on 33.033133365 meters Centerline goodness : 0.129841 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.27 [[ 0.99990837 -0.00342016 -0.01309781 0.06087248] [ 0.00339299 0.99999205 -0.00209633 0.02137023] [ 0.01310488 0.0020517 0.99991202 -0.27497884] [ 0. 0. 0. 1. ]] SLAMing on 33.063133365 meters Centerline goodness : 0.144698 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 0.99990709 -0.00334718 -0.01321412 0.06153884] [ 0.00332124 0.99999251 -0.00198515 0.02116238] [ 0.01322066 0.00194108 0.99991072 -0.27561832] [ 0. 0. 0. 1. ]] SLAMing on 33.09313336499999 meters Centerline goodness : 0.129799 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 0.99990965 -0.00325797 -0.01304133 0.06117548] [ 0.00323501 0.99999318 -0.00178099 0.02016906] [ 0.01304704 0.00173864 0.99991337 -0.27563248] [ 0. 0. 0. 1. ]] SLAMing on 33.123133364999994 meters Centerline goodness : 0.144200 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 0.99990989 -0.00327172 -0.01301973 0.06109467] [ 0.00324942 0.99999322 -0.00173342 0.01955509] [ 0.01302531 0.00169096 0.99991374 -0.27557772] [ 0. 0. 0. 1. ]] SLAMing on 33.153133364999995 meters Centerline goodness : 0.136754 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 0.99990811 -0.00327862 -0.01315392 0.06162383] [ 0.00325582 0.99999316 -0.00175425 0.01953392] [ 0.01315958 0.00171127 0.99991194 -0.27593807] [ 0. 0. 0. 1. ]] SLAMing on 33.183133364999996 meters Centerline goodness : 0.128191 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 0.99990547 -0.00320377 -0.01337129 0.06255546] [ 0.00318091 0.99999344 -0.00173068 0.01979469] [ 0.01337674 0.00168798 0.9999091 -0.27667016] [ 0. 0. 0. 1. ]] SLAMing on 33.213133365 meters Centerline goodness : 0.126528 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 0.99989739 -0.00303908 -0.01399918 0.06476015] [ 0.0030176 0.99999424 -0.00155528 0.01931856] [ 0.01400383 0.00151288 0.9999008 -0.27781304] [ 0. 0. 0. 1. ]] SLAMing on 33.243133365 meters Centerline goodness : 0.137514 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.28 [[ 0.99989528 -0.00302575 -0.01415151 0.06524289] [ 0.00300677 0.99999455 -0.00136273 0.01783517] [ 0.01415556 0.00132004 0.99989893 -0.27798263] [ 0. 0. 0. 1. ]] SLAMing on 33.27313336499999 meters Centerline goodness : 0.130114 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.28 [[ 0.99991261 0.00330973 -0.01279884 0.0471995 ] [-0.00334393 0.99999089 -0.00265163 0.00919864] [ 0.01278995 0.0026942 0.99991458 -0.28027919] [ 0. 0. 0. 1. ]] SLAMing on 33.303133364999994 meters Centerline goodness : 0.130631 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.28 [[ 0.99992665 -0.004911 -0.01107148 0.06686922] [ 0.0048935 0.99998674 -0.00160708 0.0090696 ] [ 0.01107922 0.00155278 0.99993742 -0.2787778 ] [ 0. 0. 0. 1. ]] SLAMing on 33.333133364999995 meters Centerline goodness : 0.129658 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.28 [[ 0.99992653 -0.00479014 -0.01113523 0.06674386] [ 0.00477624 0.99998778 -0.00127436 0.00744915] [ 0.01114119 0.00122109 0.99993719 -0.27830056] [ 0. 0. 0. 1. ]] SLAMing on 33.363133364999996 meters Centerline goodness : 0.131956 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.28 [[ 9.99924708e-01 -4.82630945e-03 -1.12820926e-02 6.69907455e-02] [ 4.81598443e-03 9.99987959e-01 -9.42158608e-04 4.77027197e-03] [ 1.12865040e-02 8.87753288e-04 9.99935911e-01 -2.78063075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.393133365 meters Centerline goodness : 0.131641 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.28 [[ 9.99927184e-01 -4.71330855e-03 -1.11090774e-02 6.63671485e-02] [ 4.70670745e-03 9.99988731e-01 -6.20278167e-04 3.27140129e-03] [ 1.11118757e-02 5.67945824e-04 9.99938100e-01 -2.77716540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.423133365 meters Centerline goodness : 0.131768 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.28 [[ 9.99930562e-01 -4.53860686e-03 -1.08753094e-02 6.54043799e-02] [ 4.53620947e-03 9.99989681e-01 -2.45099635e-04 1.81018128e-03] [ 1.08763096e-02 1.95749934e-04 9.99940832e-01 -2.77085544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45313336499999 meters Centerline goodness : 0.124269 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.28 [[ 9.99937270e-01 -4.61131305e-03 -1.02074677e-02 6.32023490e-02] [ 4.61401617e-03 9.99989326e-01 2.41284371e-04 -1.39382707e-03] [ 1.02062461e-02 -2.88366656e-04 9.99947873e-01 -2.75950866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48313336499999 meters Centerline goodness : 0.127442 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.28 [[ 9.99937373e-01 -4.73082365e-03 -1.01424129e-02 6.25586135e-02] [ 4.73579767e-03 9.99988677e-01 4.66457728e-04 -3.56165129e-03] [ 1.01400914e-02 -5.14460931e-04 9.99948456e-01 -2.75129887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.513133364999995 meters Centerline goodness : 0.127442 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.28 [[ 9.99937373e-01 -4.73082365e-03 -1.01424129e-02 6.25586135e-02] [ 4.73579767e-03 9.99988677e-01 4.66457728e-04 -3.56165129e-03] [ 1.01400914e-02 -5.14460931e-04 9.99948456e-01 -2.75129887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.543133364999996 meters Centerline goodness : 0.135252 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.27 [[ 9.99938383e-01 -4.78437931e-03 -1.00169703e-02 6.17352281e-02] [ 4.79300587e-03 9.99988163e-01 8.37365365e-04 -6.22475358e-03] [ 1.00128454e-02 -8.85325167e-04 9.99949478e-01 -2.74240510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.573133365 meters Centerline goodness : 0.129873 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.27 [[ 0.99994154 -0.00464969 -0.00976188 0.0606468 ] [ 0.00466371 0.99998812 0.00141455 -0.0089716 ] [ 0.00975519 -0.00146 0.99995135 -0.27344423] [ 0. 0. 0. 1. ]] SLAMing on 33.603133365 meters Centerline goodness : 0.127242 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.27 [[ 0.99994118 -0.00467632 -0.00978597 0.06090591] [ 0.00469727 0.99998672 0.00211893 -0.01286027] [ 0.00977593 -0.00216478 0.99994987 -0.27360883] [ 0. 0. 0. 1. ]] SLAMing on 33.63313336499999 meters Centerline goodness : 0.117276 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.28 [[ 9.99941826e-01 2.26763657e-03 -1.05452379e-02 4.28782437e-02] [-2.26061836e-03 9.99997215e-01 6.77405279e-04 -2.06500965e-02] [ 1.05467446e-02 -6.53527113e-04 9.99944168e-01 -2.75709120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66313336499999 meters Centerline goodness : 0.136453 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.28 [[ 9.99938926e-01 2.21645676e-03 -1.08273364e-02 4.36205055e-02] [-2.20707010e-03 9.99997178e-01 8.78813349e-04 -2.24325875e-02] [ 1.08292537e-02 -8.54862987e-04 9.99940996e-01 -2.75812032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.693133364999994 meters Centerline goodness : 0.116655 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.27 [[ 0.99994808 0.00188807 -0.01001315 0.04106137] [-0.00187474 0.99999734 0.0013406 -0.02684301] [ 0.01001566 -0.00132176 0.99994897 -0.27464679] [ 0. 0. 0. 1. ]] SLAMing on 33.723133364999995 meters Centerline goodness : 0.125252 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.27 [[ 0.99994797 0.00188457 -0.01002502 0.04081601] [-0.00186663 0.99999664 0.00179903 -0.02979024] [ 0.01002837 -0.00178022 0.99994813 -0.27428695] [ 0. 0. 0. 1. ]] SLAMing on 33.753133365 meters Centerline goodness : 0.127715 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.27 [[ 0.99994199 0.00181591 -0.01061697 0.04233844] [-0.00179266 0.99999597 0.00219934 -0.03275608] [ 0.01062092 -0.00218018 0.99994122 -0.2744173 ] [ 0. 0. 0. 1. ]] SLAMing on 33.783133365 meters Centerline goodness : 0.133306 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.28 [[ 9.99927351e-01 -6.74261719e-05 -1.20535743e-02 4.81425448e-02] [ 8.06434963e-05 9.99999396e-01 1.09606545e-03 -3.95206829e-02] [ 1.20534931e-02 -1.09695787e-03 9.99926752e-01 -2.77288866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.813133365 meters Centerline goodness : 0.125983 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.28 [[ 9.99924827e-01 6.90899071e-05 -1.22611731e-02 4.85068737e-02] [-4.90566391e-05 9.99998664e-01 1.63417181e-03 -4.24736576e-02] [ 1.22612696e-02 -1.63344748e-03 9.99923494e-01 -2.77083811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84313336499999 meters Centerline goodness : 0.140352 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:-0.28 [[ 9.99925574e-01 2.65209007e-04 -1.21973928e-02 4.80500195e-02] [-2.38190476e-04 9.99997515e-01 2.21650645e-03 -4.53644948e-02] [ 1.21979503e-02 -2.21343618e-03 9.99923152e-01 -2.76554180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.873133364999994 meters Centerline goodness : 0.127811 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:-0.28 [[ 9.99924387e-01 4.08444006e-04 -1.22903978e-02 4.81923992e-02] [-3.71961964e-04 9.99995519e-01 2.97047638e-03 -5.00131515e-02] [ 1.22915560e-02 -2.96568022e-03 9.99920058e-01 -2.76356445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.903133364999995 meters Centerline goodness : 0.134990 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.28 [[ 9.99901050e-01 7.36834852e-03 -1.19832089e-02 7.02266388e-02] [-7.36497093e-03 9.99972825e-01 3.25966315e-04 -5.35673144e-02] [ 1.19852851e-02 -2.37678076e-04 9.99928146e-01 -2.76860456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.933133364999996 meters Centerline goodness : 0.129814 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.28 [[ 9.99897953e-01 7.39809613e-03 -1.22209350e-02 7.10912176e-02] [-7.39275891e-03 9.99972557e-01 4.81846035e-04 -5.46126760e-02] [ 1.22241643e-02 -3.91450438e-04 9.99925205e-01 -2.77296887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.963133365 meters Centerline goodness : 0.138571 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:-0.28 [[ 0.99989079 -0.00130733 -0.01472074 0.05291313] [ 0.00133774 0.99999699 0.00205631 -0.05452433] [ 0.01471801 -0.00207578 0.99988953 -0.27840124] [ 0. 0. 0. 1. ]] SLAMing on 33.993133365 meters Centerline goodness : 0.130077 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.06, Z:-0.28 [[ 9.99879447e-01 5.76427681e-03 -1.44174997e-02 7.53637167e-02] [-5.77020725e-03 9.99983284e-01 -3.69771640e-04 -5.75382997e-02] [ 1.44151273e-02 4.52919025e-04 9.99895994e-01 -2.78779620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02313336499999 meters Centerline goodness : 0.141346 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.05, Z:-0.28 [[ 9.99881496e-01 -3.21662894e-03 -1.50548207e-02 5.53772048e-02] [ 3.22982226e-03 9.99994421e-01 8.52119836e-04 -5.48367816e-02] [ 1.50519957e-02 -9.00643251e-04 9.99886307e-01 -2.79613394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.053133364999994 meters Centerline goodness : 0.134600 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-0.28 [[ 0.99988969 -0.00307281 -0.01453181 0.05377838] [ 0.00309039 0.99999452 0.00118757 -0.05615359] [ 0.01452808 -0.00123234 0.9998937 -0.27904623] [ 0. 0. 0. 1. ]] SLAMing on 34.083133364999995 meters Centerline goodness : 0.127554 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-0.28 [[ 0.99989349 -0.00299609 -0.01428403 0.05310662] [ 0.00301484 0.99999462 0.00129127 -0.05634964] [ 0.01428008 -0.0013342 0.99989714 -0.2789161 ] [ 0. 0. 0. 1. ]] SLAMing on 34.113133364999996 meters Centerline goodness : 0.118138 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-0.28 [[ 0.99989546 -0.00301756 -0.0141408 0.05275568] [ 0.00303528 0.99999463 0.00123181 -0.055964 ] [ 0.01413701 -0.0012746 0.99989926 -0.27890134] [ 0. 0. 0. 1. ]] SLAMing on 34.143133365 meters Centerline goodness : 0.113910 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-0.28 [[ 0.99989639 -0.00308418 -0.01406032 0.0525072 ] [ 0.00309979 0.9999946 0.00108895 -0.05533292] [ 0.01405689 -0.00113242 0.99990056 -0.27883505] [ 0. 0. 0. 1. ]] SLAMing on 34.173133365 meters Centerline goodness : 0.113900 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:-0.28 [[ 9.99896897e-01 -3.17927046e-03 -1.40031189e-02 5.20385371e-02] [ 3.18971804e-03 9.99994651e-01 7.23818939e-04 -5.30220310e-02] [ 1.40007428e-02 -7.68410312e-04 9.99901690e-01 -2.78387229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20313336499999 meters Centerline goodness : 0.125820 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.28 [[ 9.99907028e-01 5.36662985e-03 -1.25353058e-02 7.15250441e-02] [-5.37252677e-03 9.99985472e-01 -4.36797145e-04 -5.43149635e-02] [ 1.25327796e-02 5.04102801e-04 9.99921335e-01 -2.77779603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23313336499999 meters Centerline goodness : 0.151717 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.28 [[ 9.99911889e-01 5.15456464e-03 -1.22329096e-02 7.04169440e-02] [-5.16216992e-03 9.99986502e-01 -5.90212228e-04 -5.37411937e-02] [ 1.22297022e-02 6.53308582e-04 9.99925001e-01 -2.77237138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.263133364999995 meters Centerline goodness : 0.141130 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.28 [[ 9.99924885e-01 -2.96216121e-03 -1.18932596e-02 9.08194468e-02] [ 2.96358931e-03 9.99995603e-01 1.02454743e-04 -5.08326763e-02] [ 1.18929038e-02 -1.37693785e-04 9.99929267e-01 -2.75887529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.293133364999996 meters Centerline goodness : 0.110538 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.28 [[ 9.99921939e-01 -3.59887639e-03 -1.19651149e-02 9.13180413e-02] [ 3.60083483e-03 9.99993507e-01 1.42140152e-04 -5.31384337e-02] [ 1.19645257e-02 -1.85213459e-04 9.99928405e-01 -2.76384155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.323133365 meters Centerline goodness : 0.139914 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.28 [[ 9.99920546e-01 -3.63476843e-03 -1.20702405e-02 9.16268617e-02] [ 3.63966367e-03 9.99993303e-01 3.83621130e-04 -5.44397609e-02] [ 1.20687652e-02 -4.27522265e-04 9.99927078e-01 -2.76509786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.353133365 meters Centerline goodness : 0.122180 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.28 [[ 9.99920050e-01 -3.67183055e-03 -1.21000509e-02 9.16588375e-02] [ 3.67843851e-03 9.99993097e-01 5.23899410e-04 -5.53154417e-02] [ 1.20980437e-02 -5.68366817e-04 9.99926654e-01 -2.76488293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38313336499999 meters Centerline goodness : 0.120814 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.28 [[ 9.99919017e-01 -3.73734713e-03 -1.21651812e-02 9.17432274e-02] [ 3.74418141e-03 9.99992845e-01 5.39062834e-04 -5.56243366e-02] [ 1.21630795e-02 -5.84567825e-04 9.99925856e-01 -2.76394498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41313336499999 meters Centerline goodness : 0.143096 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.28 [[ 9.99915753e-01 -3.87726572e-03 -1.23876051e-02 9.23226996e-02] [ 3.87916671e-03 9.99992468e-01 1.29435321e-04 -5.34770004e-02] [ 1.23870099e-02 -1.77478002e-04 9.99923262e-01 -2.76438926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.443133364999994 meters Centerline goodness : 0.130337 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.28 [[ 9.99912282e-01 -3.94640903e-03 -1.26433357e-02 9.32345102e-02] [ 3.94357403e-03 9.99992193e-01 -2.49151930e-04 -5.10954376e-02] [ 1.26442202e-02 1.99270145e-04 9.99920039e-01 -2.76933113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.473133364999995 meters Centerline goodness : 0.112007 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.28 [[ 0.99990674 0.00523514 -0.01261339 0.11534953] [-0.00525 0.99998556 -0.00114557 -0.05060278] [ 0.01260721 0.00121168 0.99991979 -0.2772321 ] [ 0. 0. 0. 1. ]] SLAMing on 34.503133365 meters Centerline goodness : 0.132398 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.28 [[ 9.99917538e-01 -2.28717137e-03 -1.26367329e-02 1.34566921e-01] [ 2.28157931e-03 9.99997293e-01 -4.56923084e-04 -4.46385649e-02] [ 1.26377438e-02 4.28053697e-04 9.99920049e-01 -2.75593472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.533133365 meters Centerline goodness : 0.110691 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.28 [[ 9.99918963e-01 -2.39804285e-03 -1.25026806e-02 1.34153363e-01] [ 2.38976582e-03 9.99996915e-01 -6.76917926e-04 -4.36305930e-02] [ 1.25042653e-02 6.46984592e-04 9.99921609e-01 -2.75502539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.563133365 meters Centerline goodness : 0.128493 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.28 [[ 9.99917789e-01 -2.65220469e-03 -1.25451282e-02 1.34243080e-01] [ 2.64187041e-03 9.99996157e-01 -8.40268156e-04 -4.29778368e-02] [ 1.25473086e-02 8.07056474e-04 9.99920954e-01 -2.75588051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59313336499999 meters Centerline goodness : 0.124796 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.28 [[ 9.99914651e-01 -2.68305644e-03 -1.27863712e-02 1.34970926e-01] [ 2.67413140e-03 9.99996169e-01 -7.15057483e-04 -4.35279624e-02] [ 1.27882408e-02 6.80804017e-04 9.99917995e-01 -2.75933526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.623133364999994 meters Centerline goodness : 0.128985 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.28 [[ 9.99907836e-01 -2.83041809e-03 -1.32781288e-02 1.36353586e-01] [ 2.82135733e-03 9.99995774e-01 -7.01064379e-04 -4.39217262e-02] [ 1.32800570e-02 6.63537420e-04 9.99911596e-01 -2.76379591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.653133364999995 meters Centerline goodness : 0.152839 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.28 [[ 0.99989045 -0.00347791 -0.01438712 0.13938154] [ 0.00346226 0.99999339 -0.00111269 -0.04376542] [ 0.01439089 0.00106276 0.99989588 -0.27706981] [ 0. 0. 0. 1. ]] SLAMing on 34.683133364999996 meters Centerline goodness : 0.126900 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.28 [[ 0.9998876 -0.00356054 -0.01456394 0.13992581] [ 0.00354284 0.99999295 -0.00124051 -0.04328104] [ 0.01456825 0.00118877 0.99989317 -0.27728611] [ 0. 0. 0. 1. ]] SLAMing on 34.713133365 meters Centerline goodness : 0.099558 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.28 [[ 0.99988755 -0.00363123 -0.01454965 0.13982907] [ 0.00361045 0.99999242 -0.00145456 -0.0420705 ] [ 0.01455482 0.00140187 0.99989309 -0.27718575] [ 0. 0. 0. 1. ]] SLAMing on 34.743133365 meters Centerline goodness : 0.039805 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.28 [[ 0.9998916 -0.00370358 -0.01425047 0.13878641] [ 0.00367713 0.99999147 -0.00188165 -0.03934762] [ 0.01425732 0.00182905 0.99989669 -0.27663146] [ 0. 0. 0. 1. ]] SLAMing on 34.77313336499999 meters Centerline goodness : 0.124978 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.28 [[ 0.9998925 -0.0037554 -0.01417314 0.13857554] [ 0.00372604 0.99999086 -0.00209674 -0.03805386] [ 0.01418089 0.00204371 0.99989736 -0.27661318] [ 0. 0. 0. 1. ]] SLAMing on 34.803133364999994 meters Centerline goodness : 0.151195 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.28 [[ 0.99989247 -0.00389539 -0.0141378 0.13860604] [ 0.00385993 0.99998934 -0.00253454 -0.03564932] [ 0.01414752 0.0024797 0.99989684 -0.27674357] [ 0. 0. 0. 1. ]] SLAMing on 34.833133364999995 meters Centerline goodness : 0.223637 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:-0.28 [[ 0.99989225 -0.00401174 -0.01412078 0.13860935] [ 0.00397235 0.99998814 -0.00281675 -0.03428473] [ 0.01413191 0.00276035 0.99989633 -0.2768204 ] [ 0. 0. 0. 1. ]] SLAMing on 34.863133364999996 meters Centerline goodness : 0.127308 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.28 [[ 0.99989459 0.00441085 -0.01383318 0.11607558] [-0.00445708 0.99998458 -0.00331296 -0.0357878 ] [ 0.01381835 0.00337427 0.99989883 -0.27731001] [ 0. 0. 0. 1. ]] SLAMing on 34.893133365 meters Centerline goodness : 0.222734 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.03, Z:-0.28 [[ 0.99990957 -0.00259566 -0.01319505 0.13414104] [ 0.00256878 0.99999459 -0.00205327 -0.02903563] [ 0.01320031 0.00201918 0.99991083 -0.27509708] [ 0. 0. 0. 1. ]] SLAMing on 34.923133365 meters Centerline goodness : 0.125074 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.27 [[ 9.99922152e-01 -4.39403320e-04 -1.24698181e-02 1.30685754e-01] [ 4.29267651e-04 9.99999575e-01 -8.15480985e-04 -2.14414511e-02] [ 1.24701712e-02 8.10064612e-04 9.99921916e-01 -2.73099438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95313336499999 meters Centerline goodness : 0.108805 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.27 [[ 9.99922439e-01 -5.69063821e-04 -1.24415471e-02 1.30692306e-01] [ 5.51373829e-04 9.99998832e-01 -1.42523215e-03 -1.78977631e-02] [ 1.24423436e-02 1.41826166e-03 9.99921585e-01 -2.73137045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98313336499999 meters Centerline goodness : 0.166550 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.27 [[ 9.99922657e-01 -7.27337600e-04 -1.24157813e-02 1.30685021e-01] [ 7.02064667e-04 9.99997673e-01 -2.03978633e-03 -1.43816313e-02] [ 1.24172360e-02 2.03091189e-03 9.99920841e-01 -2.73195209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.013133364999995 meters Centerline goodness : 0.093819 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.27 [[ 9.99933194e-01 4.49913209e-04 -1.15501079e-02 1.28064002e-01] [-4.70635704e-04 9.99998285e-01 -1.79148329e-03 -5.49926546e-03] [ 1.15492821e-02 1.79679951e-03 9.99931690e-01 -2.72438491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.043133364999996 meters Centerline goodness : 0.093562 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.27 [[ 9.99936336e-01 2.09660696e-04 -1.12818409e-02 1.27162113e-01] [-2.37543258e-04 9.99996921e-01 -2.47017169e-03 -1.95333745e-03] [ 1.12812883e-02 2.47269435e-03 9.99933307e-01 -2.72039186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.073133365 meters Centerline goodness : 0.113160 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-0.27 [[ 9.99924989e-01 -6.44850198e-03 -1.04131073e-02 1.03967643e-01] [ 6.44664474e-03 9.99979198e-01 -2.11912834e-04 5.59287636e-03] [ 1.04142572e-02 1.44767335e-04 9.99945760e-01 -2.71813608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.103133365 meters Centerline goodness : 0.067801 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-0.27 [[ 0.99992271 -0.00689453 -0.01034624 0.10378224] [ 0.00688111 0.99997544 -0.00133214 0.01237813] [ 0.01035517 0.00126085 0.99994559 -0.27181485] [ 0. 0. 0. 1. ]] SLAMing on 35.13313336499999 meters Centerline goodness : 0.091133 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.27 [[ 0.99991995 -0.00712372 -0.01045695 0.104205 ] [ 0.00710455 0.99997302 -0.00186924 0.01509134] [ 0.01046999 0.0017948 0.99994358 -0.27205519] [ 0. 0. 0. 1. ]] SLAMing on 35.16313336499999 meters SLAMing on 35.193133364999994 meters SLAMing on 35.223133364999995 meters Centerline goodness : 0.097073 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.27 [[ 0.99990628 -0.0082575 -0.0109199 0.10560192] [ 0.00822113 0.99996052 -0.00337115 0.02261398] [ 0.0109473 0.00328106 0.99993469 -0.27239027] [ 0. 0. 0. 1. ]] SLAMing on 35.253133365 meters Centerline goodness : 0.110527 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:-0.27 [[ 9.99950915e-01 1.46715351e-04 -9.90689285e-03 1.25378651e-01] [-1.88668012e-04 9.99991019e-01 -4.23389232e-03 2.06760838e-02] [ 9.90618270e-03 4.23555362e-03 9.99941962e-01 -2.71917055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.283133365 meters Centerline goodness : 0.113144 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.27 [[ 9.99948643e-01 -1.85522707e-04 -1.01330014e-02 1.26144307e-01] [ 1.33827610e-04 9.99986975e-01 -5.10209681e-03 2.53450285e-02] [ 1.01338159e-02 5.10047870e-03 9.99935643e-01 -2.72134581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31313336499999 meters SLAMing on 35.34313336499999 meters Centerline goodness : 0.171215 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.27 [[ 9.99944130e-01 -4.94331126e-04 -1.05589693e-02 1.27952812e-01] [ 4.31813482e-04 9.99982370e-01 -5.92226881e-03 2.95260611e-02] [ 1.05617107e-02 5.91737843e-03 9.99926715e-01 -2.73358056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.373133364999994 meters Centerline goodness : 0.157682 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.27 [[ 9.99943432e-01 -7.52866465e-04 -1.06097308e-02 1.28229730e-01] [ 6.82507176e-04 9.99977764e-01 -6.63364208e-03 3.34171730e-02] [ 1.06144892e-02 6.62602561e-03 9.99921711e-01 -2.73554979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.403133364999995 meters Centerline goodness : 0.128546 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-0.27 [[ 9.99943687e-01 -8.88722645e-04 -1.05750789e-02 1.28178192e-01] [ 8.14655944e-04 9.99975125e-01 -7.00613866e-03 3.53675388e-02] [ 1.05810424e-02 6.99712908e-03 9.99919538e-01 -2.73570841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.433133364999996 meters Centerline goodness : 0.128546 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-0.27 [[ 9.99943687e-01 -8.88722645e-04 -1.05750789e-02 1.28178192e-01] [ 8.14655944e-04 9.99975125e-01 -7.00613866e-03 3.53675388e-02] [ 1.05810424e-02 6.99712908e-03 9.99919538e-01 -2.73570841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.463133365 meters Centerline goodness : 0.189768 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.27 [[ 9.99912074e-01 -1.03194510e-03 -1.32204088e-02 8.31267750e-02] [ 9.38960966e-04 9.99974795e-01 -7.03765549e-03 3.97223747e-02] [ 1.32273380e-02 7.02462325e-03 9.99887840e-01 -2.72746224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.493133365 meters Centerline goodness : 0.163057 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.27 [[ 0.99990888 -0.0011534 -0.01344975 0.08397169] [ 0.00105458 0.99997242 -0.00735185 0.04133716] [ 0.01345786 0.00733699 0.99988252 -0.27321466] [ 0. 0. 0. 1. ]] SLAMing on 35.52313336499999 meters Centerline goodness : 0.164819 Centerline is valid? [False, False] Translation: X:0.09, Y:0.04, Z:-0.27 [[ 0.9999017 -0.00134523 -0.01395654 0.08581514] [ 0.00123486 0.99996792 -0.00791361 0.04432324] [ 0.01396673 0.0078956 0.99987129 -0.27417469] [ 0. 0. 0. 1. ]] SLAMing on 35.553133364999994 meters Centerline goodness : 0.180082 Centerline is valid? [False, False] Translation: X:0.09, Y:0.05, Z:-0.27 [[ 0.99990328 0.00125876 -0.01385095 0.08566226] [-0.00133261 0.99998494 -0.0053241 0.04566046] [ 0.01384404 0.00534204 0.9998899 -0.27430223] [ 0. 0. 0. 1. ]] SLAMing on 35.583133364999995 meters Centerline goodness : 0.162983 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-0.27 [[ 0.99988144 -0.00527011 -0.01446833 0.06289439] [ 0.0052292 0.99998223 -0.00286363 0.05113046] [ 0.01448317 0.00278763 0.99989123 -0.27372171] [ 0. 0. 0. 1. ]] SLAMing on 35.613133364999996 meters Centerline goodness : 0.120183 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-0.27 [[ 0.99988437 -0.00539662 -0.01421717 0.0620588 ] [ 0.00534821 0.99997978 -0.00344065 0.05435252] [ 0.01423545 0.00336422 0.99989301 -0.27325682] [ 0. 0. 0. 1. ]] SLAMing on 35.643133365 meters Centerline goodness : 0.169534 Centerline is valid? [False, False] Translation: X:0.06, Y:0.06, Z:-0.27 [[ 0.99988573 -0.0054941 -0.01408324 0.06168443] [ 0.0054418 0.99997817 -0.00374914 0.05594236] [ 0.01410353 0.00367208 0.9998938 -0.27315221] [ 0. 0. 0. 1. ]] SLAMing on 35.673133365 meters Centerline goodness : 0.109046 Centerline is valid? [False, False] Translation: X:0.06, Y:0.06, Z:-0.27 [[ 0.99988796 -0.00567213 -0.01385289 0.06085241] [ 0.00561333 0.99997509 -0.00427942 0.05866296] [ 0.01387682 0.00420118 0.99989489 -0.27267804] [ 0. 0. 0. 1. ]] SLAMing on 35.70313336499999 meters Centerline goodness : 0.114662 Centerline is valid? [False, False] Translation: X:0.04, Y:0.06, Z:-0.27 [[ 0.99991407 0.00253975 -0.0128607 0.03992908] [-0.00260489 0.99998385 -0.00505068 0.05577464] [ 0.01284766 0.00508375 0.99990454 -0.27427534] [ 0. 0. 0. 1. ]] SLAMing on 35.73313336499999 meters Centerline goodness : 0.179371 Centerline is valid? [False, False] Translation: X:0.04, Y:0.06, Z:-0.27 [[ 0.99991713 0.00248432 -0.01263169 0.03935165] [-0.0025495 0.99998351 -0.0051463 0.05631529] [ 0.0126187 0.00517808 0.99990697 -0.27420425] [ 0. 0. 0. 1. ]] SLAMing on 35.763133364999995 meters Centerline goodness : 0.114551 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-0.27 [[ 0.9999133 -0.00641181 -0.01150169 0.01698702] [ 0.00635561 0.99996772 -0.00491599 0.06272586] [ 0.01153284 0.00484247 0.99992177 -0.27451099] [ 0. 0. 0. 1. ]] SLAMing on 35.793133364999996 meters Centerline goodness : 0.168854 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-0.27 [[ 0.99991372 -0.0064352 -0.01145161 0.01670239] [ 0.00637938 0.99996763 -0.00490428 0.06271003] [ 0.0114828 0.0048308 0.9999224 -0.27430166] [ 0. 0. 0. 1. ]] SLAMing on 35.823133365 meters Centerline goodness : 0.101954 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-0.27 [[ 0.99991368 -0.00646827 -0.0114368 0.01671451] [ 0.00641291 0.99996757 -0.00487085 0.06250763] [ 0.01146793 0.00479708 0.99992273 -0.27443484] [ 0. 0. 0. 1. ]] SLAMing on 35.853133365 meters Centerline goodness : 0.170513 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-0.27 [[ 0.99991147 -0.00660606 -0.01155081 0.01707715] [ 0.00654906 0.99996623 -0.00496547 0.06257268] [ 0.01158322 0.00488938 0.99992096 -0.27462569] [ 0. 0. 0. 1. ]] SLAMing on 35.88313336499999 meters Centerline goodness : 0.171660 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.06, Z:-0.28 [[ 0.99992108 0.00199313 -0.01240405 -0.00385992] [-0.00206362 0.99998178 -0.00567251 0.06008207] [ 0.01239252 0.00569766 0.99990698 -0.27536156] [ 0. 0. 0. 1. ]] SLAMing on 35.91313336499999 meters Centerline goodness : 0.167026 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.06, Z:-0.28 [[ 0.99991793 0.00197273 -0.01265868 -0.00314743] [-0.00204599 0.99998122 -0.00577755 0.06087306] [ 0.01264705 0.00580297 0.99990318 -0.27549774] [ 0. 0. 0. 1. ]] SLAMing on 35.943133364999994 meters Centerline goodness : 0.167165 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.06, Z:-0.28 [[ 0.99992004 0.00187397 -0.01250629 -0.00352958] [-0.00195048 0.99997944 -0.00610835 0.06280692] [ 0.01249459 0.00613225 0.99990314 -0.27543327] [ 0. 0. 0. 1. ]] SLAMing on 35.973133364999995 meters Centerline goodness : 0.103337 Centerline is valid? [False, False] Translation: X:0.01, Y:0.07, Z:-0.27 [[ 0.99991952 -0.00608905 -0.01113003 0.01487881] [ 0.00603443 0.99996962 -0.0049344 0.06733118] [ 0.01115974 0.00486684 0.99992588 -0.27375785] [ 0. 0. 0. 1. ]] SLAMing on 36.003133365 meters Centerline goodness : 0.163886 Centerline is valid? [False, False] Translation: X:0.01, Y:0.07, Z:-0.27 [[ 0.9999223 -0.00626492 -0.0107774 0.01416959] [ 0.00620636 0.99996584 -0.00545834 0.07036293] [ 0.01081123 0.00539103 0.99992702 -0.27391254] [ 0. 0. 0. 1. ]] SLAMing on 36.033133365 meters Centerline goodness : 0.123770 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:-0.27 [[ 0.99991888 -0.00637042 -0.01102976 0.01520752] [ 0.00630796 0.99996392 -0.00568848 0.07152436] [ 0.0110656 0.00561844 0.99992299 -0.27461144] [ 0. 0. 0. 1. ]] SLAMing on 36.06313336499999 meters Centerline goodness : 0.168824 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.27 [[ 9.99899933e-01 -6.14961229e-04 -1.41331510e-02 3.26969260e-02] [ 5.24071616e-04 9.99979166e-01 -6.43375586e-03 6.68081237e-02] [ 1.41368131e-02 6.42570526e-03 9.99879423e-01 -2.73152454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09313336499999 meters Centerline goodness : 0.161755 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.27 [[ 9.99894027e-01 -7.79100537e-04 -1.45371011e-02 3.42251760e-02] [ 6.83542826e-04 9.99978137e-01 -6.57717889e-03 6.70886293e-02] [ 1.45419076e-02 6.56654516e-03 9.99872699e-01 -2.74077260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.123133364999994 meters Centerline goodness : 0.135937 Centerline is valid? [False, False] Translation: X:0.04, Y:0.07, Z:-0.27 [[ 9.99889591e-01 -9.78932761e-04 -1.48272729e-02 3.50631000e-02] [ 8.79028227e-04 9.99976880e-01 -6.74290915e-03 6.76429022e-02] [ 1.48335310e-02 6.72913108e-03 9.99867334e-01 -2.74439193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.153133364999995 meters Centerline goodness : 0.143224 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.27 [[ 9.99892148e-01 -9.91119233e-04 -1.46530065e-02 3.43264059e-02] [ 8.92186017e-04 9.99976775e-01 -6.75673085e-03 6.78299541e-02] [ 1.46593629e-02 6.74292891e-03 9.99869810e-01 -2.73943736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.183133364999996 meters Centerline goodness : 0.123406 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.27 [[ 9.99893929e-01 -1.06757183e-03 -1.45255348e-02 3.38085038e-02] [ 9.68169768e-04 9.99976080e-01 -6.84857550e-03 6.81017564e-02] [ 1.45324987e-02 6.83378588e-03 9.99871045e-01 -2.73644550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.213133365 meters Centerline goodness : 0.165382 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.27 [[ 0.99989373 -0.00129179 -0.0145213 0.03378502] [ 0.00118656 0.99997299 -0.00725278 0.06951089] [ 0.01453028 0.00723478 0.99986826 -0.27357876] [ 0. 0. 0. 1. ]] SLAMing on 36.243133365 meters Centerline goodness : 0.133143 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.27 [[ 0.99989442 -0.0013415 -0.01446924 0.03371561] [ 0.00123345 0.99997131 -0.00747414 0.07077201] [ 0.01447886 0.0074555 0.99986738 -0.27364195] [ 0. 0. 0. 1. ]] SLAMing on 36.27313336499999 meters Centerline goodness : 0.168120 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.27 [[ 0.99989979 0.00245706 -0.01394203 0.03220089] [-0.00251363 0.99998867 -0.00404194 0.07306502] [ 0.01393194 0.00407658 0.99989464 -0.27317979] [ 0. 0. 0. 1. ]] SLAMing on 36.303133364999994 meters Centerline goodness : 0.161952 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:-0.27 [[ 0.99989943 0.0024469 -0.01396904 0.0322909 ] [-0.00250881 0.9999871 -0.00441632 0.07547063] [ 0.01395805 0.00445092 0.99989268 -0.27302981] [ 0. 0. 0. 1. ]] SLAMing on 36.333133364999995 meters Centerline goodness : 0.120722 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:-0.27 [[ 0.9998952 0.00238756 -0.01427904 0.03302037] [-0.00245669 0.99998534 -0.00482588 0.0778368 ] [ 0.01426731 0.00486045 0.9998864 -0.27289795] [ 0. 0. 0. 1. ]] SLAMing on 36.363133364999996 meters Centerline goodness : 0.122319 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.09, Z:-0.27 [[ 0.99984711 0.00400034 -0.01702214 -0.01133241] [-0.00408636 0.99997904 -0.00502171 0.08877949] [ 0.0170017 0.0050905 0.9998425 -0.27156162] [ 0. 0. 0. 1. ]] SLAMing on 36.393133365 meters Centerline goodness : 0.130621 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.09, Z:-0.27 [[ 0.9998448 0.00392337 -0.01717518 -0.01095137] [-0.00402021 0.9999762 -0.00560746 0.0922414 ] [ 0.01715277 0.00567564 0.99983677 -0.27147989] [ 0. 0. 0. 1. ]] SLAMing on 36.423133365 meters Centerline goodness : 0.159056 Centerline is valid? [False, False] Translation: X:0.01, Y:0.10, Z:-0.27 [[ 0.9998635 -0.0017128 -0.0164332 0.01154121] [ 0.00166946 0.99999509 -0.00265064 0.09625208] [ 0.01643766 0.00262284 0.99986145 -0.27134664] [ 0. 0. 0. 1. ]] SLAMing on 36.45313336499999 meters Centerline goodness : 0.125886 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.10, Z:-0.27 [[ 9.99829286e-01 -7.28220663e-04 -1.84626347e-02 -3.50737377e-02] [ 6.82434884e-04 9.99996677e-01 -2.48609478e-03 1.03011129e-01] [ 1.84643838e-02 2.47307082e-03 9.99826460e-01 -2.70484575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48313336499999 meters Centerline goodness : 0.125133 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:-0.27 [[ 9.99831480e-01 -9.53979853e-04 -1.83330833e-02 -3.55114889e-02] [ 8.94886374e-04 9.99994379e-01 -3.23125807e-03 1.07512294e-01] [ 1.83360628e-02 3.21430751e-03 9.99826714e-01 -2.70237543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.513133364999995 meters Centerline goodness : 0.126728 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:-0.27 [[ 9.99833738e-01 -1.06141132e-03 -1.82035713e-02 -3.60601187e-02] [ 9.97957222e-04 9.99993396e-01 -3.49453466e-03 1.08913449e-01] [ 1.82071602e-02 3.47578727e-03 9.99828194e-01 -2.69819140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.543133364999996 meters Centerline goodness : 0.124439 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:-0.27 [[ 0.99983724 -0.00117243 -0.01800341 -0.03664725] [ 0.00110632 0.99999261 -0.00368139 0.10977597] [ 0.01800759 0.00366088 0.99983115 -0.26968122] [ 0. 0. 0. 1. ]] SLAMing on 36.573133365 meters Centerline goodness : 0.127505 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:-0.27 [[ 0.99984166 -0.001518 -0.0177301 -0.03713588] [ 0.00144723 0.99999094 -0.00400364 0.11055703] [ 0.01773601 0.00397735 0.99983479 -0.26997679] [ 0. 0. 0. 1. ]] SLAMing on 36.603133365 meters Centerline goodness : 0.173005 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:-0.27 [[ 0.99984117 -0.00159791 -0.01775041 -0.0369291 ] [ 0.00152528 0.99999041 -0.00410429 0.11083909] [ 0.0177568 0.00407656 0.99983403 -0.27023089] [ 0. 0. 0. 1. ]] SLAMing on 36.63313336499999 meters Centerline goodness : 0.124975 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:-0.27 [[ 0.99983829 -0.00164352 -0.01790779 -0.03637675] [ 0.0015684 0.99998992 -0.00420797 0.1113407 ] [ 0.01791452 0.0041792 0.99983079 -0.27051472] [ 0. 0. 0. 1. ]] SLAMing on 36.66313336499999 meters Centerline goodness : 0.127331 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:-0.27 [[ 0.99983297 -0.00165527 -0.01820125 -0.03559504] [ 0.00157563 0.99998913 -0.00438903 0.11265941] [ 0.01820831 0.00435962 0.99982471 -0.27058237] [ 0. 0. 0. 1. ]] SLAMing on 36.693133364999994 meters Centerline goodness : 0.167152 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.12, Z:-0.27 [[ 9.99786614e-01 7.14396458e-04 -2.06450003e-02 -8.20054153e-02] [-7.86975959e-04 9.99993538e-01 -3.50768646e-03 1.21163798e-01] [ 2.06423610e-02 3.52318509e-03 9.99780716e-01 -2.69133239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.723133364999995 meters Centerline goodness : 0.123609 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.12, Z:-0.27 [[ 9.99787214e-01 -5.09752581e-03 -1.99885367e-02 -5.89190733e-02] [ 5.08108634e-03 9.99986710e-01 -8.73145716e-04 1.24441842e-01] [ 1.99927220e-02 7.71396442e-04 9.99799828e-01 -2.69418210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.753133365 meters Centerline goodness : 0.166805 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.13, Z:-0.27 [[ 0.9998005 -0.0018193 -0.01989074 -0.05908339] [ 0.00185014 0.99999711 0.00153233 0.12987226] [ 0.0198879 -0.00156882 0.99980099 -0.26949035] [ 0. 0. 0. 1. ]] SLAMing on 36.783133365 meters Centerline goodness : 0.126291 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.13, Z:-0.27 [[ 0.99980011 -0.00185019 -0.01990795 -0.05893249] [ 0.00187191 0.99999767 0.0010725 0.13267583] [ 0.01990592 -0.00110955 0.99980124 -0.26959974] [ 0. 0. 0. 1. ]] SLAMing on 36.81313336499999 meters Centerline goodness : 0.165362 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.13, Z:-0.27 [[ 9.99801365e-01 6.47529648e-03 -1.88494135e-02 -3.84613670e-02] [-6.47369488e-03 9.99979035e-01 1.45985718e-04 1.30944096e-01] [ 1.88499636e-02 -2.39313681e-05 9.99822323e-01 -2.69039943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84313336499999 meters Centerline goodness : 0.125052 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.14, Z:-0.27 [[ 9.99857473e-01 4.64529502e-04 -1.68765349e-02 -5.50286815e-02] [-4.47847328e-04 9.99999407e-01 9.92249209e-04 1.41194817e-01] [ 1.68769859e-02 -9.84549676e-04 9.99857089e-01 -2.71802793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.873133364999994 meters Centerline goodness : 0.123219 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.27 [[ 9.99853768e-01 3.51783101e-04 -1.70973416e-02 -5.43976678e-02] [-3.39082079e-04 9.99999664e-01 7.45758547e-04 1.42248495e-01] [ 1.70975982e-02 -7.39852091e-04 9.99853552e-01 -2.71946736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.903133364999995 meters Centerline goodness : 0.107433 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.15, Z:-0.27 [[ 0.99981042 -0.00781638 -0.01783347 -0.07423771] [ 0.0078433 0.9999682 0.00144008 0.14851964] [ 0.01782164 -0.00157968 0.99983993 -0.27301955] [ 0. 0. 0. 1. ]] SLAMing on 36.933133364999996 meters Centerline goodness : 0.112327 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99869230e-01 1.02285213e-04 -1.61713625e-02 -5.55104068e-02] [-9.64950741e-05 9.99999931e-01 3.58828796e-04 1.45779791e-01] [ 1.61713981e-02 -3.57221415e-04 9.99869171e-01 -2.72098193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.963133365 meters Centerline goodness : 0.126260 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99869883e-01 9.52210929e-05 -1.61309652e-02 -5.56585045e-02] [-9.09794594e-05 9.99999961e-01 2.63683401e-04 1.46507283e-01] [ 1.61309897e-02 -2.62181504e-04 9.99869853e-01 -2.71942050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.993133365 meters Centerline goodness : 0.165205 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99867268e-01 1.05798343e-04 -1.62921959e-02 -5.52288263e-02] [-1.02505212e-04 9.99999974e-01 2.02964317e-04 1.46969238e-01] [ 1.62922169e-02 -2.01267343e-04 9.99867253e-01 -2.72017607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02313336499999 meters Centerline goodness : 0.168019 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.15, Z:-0.27 [[ 9.99863705e-01 1.13372640e-04 -1.65093729e-02 -5.44962607e-02] [-1.10275789e-04 9.99999976e-01 1.88491660e-04 1.47080238e-01] [ 1.65093939e-02 -1.86645386e-04 9.99863693e-01 -2.72356214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.053133364999994 meters Centerline goodness : 0.124650 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.15, Z:-0.27 [[ 9.99862022e-01 2.55725329e-04 -1.66094006e-02 -5.43926532e-02] [-2.51645824e-04 9.99999938e-01 2.47703722e-04 1.47103429e-01] [ 1.66094629e-02 -2.43489858e-04 9.99862024e-01 -2.72120802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.083133364999995 meters Centerline goodness : 0.122023 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99869114e-01 3.36318381e-04 -1.61753683e-02 -5.58818768e-02] [-3.32961805e-04 9.99999922e-01 2.10204203e-04 1.47446097e-01] [ 1.61754377e-02 -2.04790911e-04 9.99869148e-01 -2.71373162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.113133364999996 meters Centerline goodness : 0.169934 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99877134e-01 4.11497718e-04 -1.56699379e-02 -5.75703935e-02] [-4.09542763e-04 9.99999908e-01 1.27967072e-04 1.48055062e-01] [ 1.56699892e-02 -1.21533840e-04 9.99877211e-01 -2.70540728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.143133365 meters Centerline goodness : 0.127956 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99883073e-01 9.67381236e-04 -1.52612135e-02 -5.87263112e-02] [-9.63632527e-04 9.99999504e-01 2.52987925e-04 1.49199538e-01] [ 1.52614506e-02 -2.38252142e-04 9.99883509e-01 -2.70148924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.173133365 meters Centerline goodness : 0.166414 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99877998e-01 1.08224886e-03 -1.55825990e-02 -5.79216280e-02] [-1.08043446e-03 9.99999409e-01 1.24855472e-04 1.50451784e-01] [ 1.55827249e-02 -1.08004262e-04 9.99878576e-01 -2.70220163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20313336499999 meters Centerline goodness : 0.163900 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99884164e-01 1.61212837e-03 -1.51347130e-02 -5.93164941e-02] [-1.61007417e-03 9.99998693e-01 1.47911150e-04 1.52271563e-01] [ 1.51349316e-02 -1.23526007e-04 9.99885453e-01 -2.69654192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23313336499999 meters Centerline goodness : 0.108195 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.27 [[ 0.99989446 -0.00402833 -0.01395863 -0.08361376] [ 0.00406847 0.99998767 0.00284818 0.15715734] [ 0.01394698 -0.00290467 0.99989852 -0.26924069] [ 0. 0. 0. 1. ]] SLAMing on 37.263133364999995 meters Centerline goodness : 0.118983 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.27 [[ 0.99989888 -0.00400041 -0.01364678 -0.08465042] [ 0.00403725 0.99998828 0.00267304 0.15849133] [ 0.01363592 -0.00272787 0.99990331 -0.26880032] [ 0. 0. 0. 1. ]] SLAMing on 37.293133364999996 meters Centerline goodness : 0.160237 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.27 [[ 0.99991451 0.00401815 -0.01244308 -0.06539966] [-0.00400337 0.99999125 0.00121254 0.15619154] [ 0.01244784 -0.00116262 0.99992185 -0.26802279] [ 0. 0. 0. 1. ]] SLAMing on 37.323133365 meters Centerline goodness : 0.160237 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.27 [[ 0.99991451 0.00401815 -0.01244308 -0.06539966] [-0.00400337 0.99999125 0.00121254 0.15619154] [ 0.01244784 -0.00116262 0.99992185 -0.26802279] [ 0. 0. 0. 1. ]] SLAMing on 37.353133365 meters Centerline goodness : 0.168747 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.27 [[ 0.99991466 0.00393659 -0.0124568 -0.06508609] [-0.00392338 0.99999172 0.00108415 0.15659266] [ 0.01246097 -0.00103519 0.99992182 -0.26851021] [ 0. 0. 0. 1. ]] SLAMing on 37.38313336499999 meters SLAMing on 37.41313336499999 meters Centerline goodness : 0.161185 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.27 [[ 9.99916095e-01 3.86791629e-03 -1.23629433e-02 -6.51086835e-02] [-3.85854800e-03 9.99992250e-01 7.81534367e-04 1.58611480e-01] [ 1.23658704e-02 -7.33765782e-04 9.99923270e-01 -2.68819931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.443133364999994 meters Centerline goodness : 0.171674 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.16, Z:-0.27 [[ 9.99915269e-01 3.77797492e-03 -1.24571910e-02 -6.48683163e-02] [-3.77126564e-03 9.99992731e-01 5.62033863e-04 1.59711983e-01] [ 1.24592238e-02 -5.15006865e-04 9.99922248e-01 -2.68816264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.473133364999995 meters Centerline goodness : 0.165612 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.17, Z:-0.27 [[ 0.99989163 -0.00125649 -0.01466767 -0.04312561] [ 0.00130179 0.99999441 0.00307927 0.16575345] [ 0.01466372 -0.00309803 0.99988768 -0.26855942] [ 0. 0. 0. 1. ]] SLAMing on 37.503133365 meters Centerline goodness : 0.167698 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.17, Z:-0.27 [[ 0.99988534 -0.00128777 -0.01508791 -0.04172516] [ 0.00133094 0.99999505 0.00285163 0.16704862] [ 0.01508416 -0.00287138 0.9998821 -0.26920206] [ 0. 0. 0. 1. ]] SLAMing on 37.533133365 meters Centerline goodness : 0.168097 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.17, Z:-0.27 [[ 0.99987856 -0.00134985 -0.01552567 -0.04013846] [ 0.0013905 0.99999563 0.00260802 0.16817675] [ 0.01552209 -0.00262929 0.99987607 -0.27009714] [ 0. 0. 0. 1. ]] SLAMing on 37.56313336499999 meters SLAMing on 37.59313336499999 meters SLAMing on 37.623133364999994 meters SLAMing on 37.653133364999995 meters SLAMing on 37.683133364999996 meters Centerline goodness : 0.096576 Centerline is valid? [False, False] Translation: X:0.00, Y:0.18, Z:-0.27 [[ 0.99987029 0.00290128 -0.01584278 0.00453507] [-0.00283533 0.99998723 0.0041838 0.17569778] [ 0.01585471 -0.00413834 0.99986574 -0.27041994] [ 0. 0. 0. 1. ]] SLAMing on 37.713133365 meters Centerline goodness : 0.217711 Centerline is valid? [False, False] Translation: X:0.01, Y:0.18, Z:-0.27 [[ 0.99986626 0.00331165 -0.01601531 0.00511764] [-0.00325216 0.99998772 0.00373924 0.17960167] [ 0.0160275 -0.00368666 0.99986475 -0.27078495] [ 0. 0. 0. 1. ]] SLAMing on 37.743133365 meters Centerline goodness : 0.331536 Centerline is valid? [False, False] Translation: X:0.00, Y:0.18, Z:-0.27 [[ 0.99987008 0.00339203 -0.01575837 0.0044604 ] [-0.00333823 0.99998851 0.00343914 0.18191673] [ 0.01576986 -0.00338609 0.99986991 -0.27074917] [ 0. 0. 0. 1. ]] SLAMing on 37.77313336499999 meters Centerline goodness : 0.101373 Centerline is valid? [False, False] Translation: X:0.03, Y:0.19, Z:-0.27 [[ 0.99988727 -0.00241139 -0.01482003 0.02557842] [ 0.00250627 0.99997646 0.00638744 0.18668999] [ 0.01480428 -0.00642387 0.99986978 -0.27055931] [ 0. 0. 0. 1. ]] SLAMing on 37.803133364999994 meters Centerline goodness : 0.312391 Centerline is valid? [False, False] Translation: X:0.00, Y:0.19, Z:-0.27 [[ 0.99987631 0.00619166 -0.01445788 0.00393369] [-0.00611882 0.99996839 0.00507715 0.18567771] [ 0.01448886 -0.00498805 0.99988259 -0.27135934] [ 0. 0. 0. 1. ]] SLAMing on 37.833133364999995 meters Centerline goodness : 0.309157 Centerline is valid? [False, False] Translation: X:0.00, Y:0.19, Z:-0.27 [[ 0.99989345 0.0030559 -0.01427381 0.00321971] [-0.00303257 0.99999403 0.0016562 0.18693598] [ 0.01427878 -0.00161274 0.99989675 -0.27112609] [ 0. 0. 0. 1. ]] SLAMing on 37.863133364999996 meters Centerline goodness : 0.214909 Centerline is valid? [False, False] Translation: X:0.00, Y:0.19, Z:-0.27 [[ 0.99989445 0.00298344 -0.0142192 0.00289749] [-0.00296101 0.99999434 0.00159845 0.18687393] [ 0.01422389 -0.00155618 0.99989762 -0.27090041] [ 0. 0. 0. 1. ]] SLAMing on 37.893133365 meters Centerline goodness : 0.302056 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 0.99988047 0.00343414 -0.01507522 -0.04707758] [-0.00340711 0.99999254 0.00181881 0.18657749] [ 0.01508136 -0.00176723 0.99988471 -0.26865903] [ 0. 0. 0. 1. ]] SLAMing on 37.923133365 meters Centerline goodness : 0.336651 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.19, Z:-0.27 [[ 0.99989588 -0.00489465 -0.01357436 -0.02740005] [ 0.0049313 0.99998428 0.0026681 0.18966445] [ 0.01356109 -0.00273476 0.9999043 -0.26783791] [ 0. 0. 0. 1. ]] SLAMing on 37.95313336499999 meters SLAMing on 37.98313336499999 meters SLAMing on 38.013133364999995 meters Centerline goodness : 0.329266 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.19, Z:-0.27 [[ 0.9999028 -0.00469192 -0.01312911 -0.02862256] [ 0.00473157 0.99998433 0.00299092 0.18811683] [ 0.01311487 -0.00305275 0.99990934 -0.26762079] [ 0. 0. 0. 1. ]] SLAMing on 38.043133364999996 meters Centerline goodness : 0.088792 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.19, Z:-0.27 [[ 0.99990409 -0.00462173 -0.01305552 -0.02874124] [ 0.00466044 0.99998483 0.00293626 0.18868187] [ 0.01304175 -0.00299682 0.99991046 -0.26776254] [ 0. 0. 0. 1. ]] SLAMing on 38.073133365 meters Centerline goodness : 0.091017 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.18, Z:-0.27 [[ 0.9999076 0.00391173 -0.01301872 -0.04880278] [-0.00388911 0.99999088 0.00176266 0.18453938] [ 0.0130255 -0.00171186 0.9999137 -0.2695914 ] [ 0. 0. 0. 1. ]] SLAMing on 38.103133365 meters Centerline goodness : 0.097703 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 0.99990089 0.00427502 -0.01341431 -0.04759322] [-0.004253 0.99998956 0.00166902 0.18593124] [ 0.01342131 -0.00161181 0.99990863 -0.27018541] [ 0. 0. 0. 1. ]] SLAMing on 38.13313336499999 meters Centerline goodness : 0.242250 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 0.999896 0.0043775 -0.01374169 -0.04667559] [-0.00435734 0.99998939 0.00149647 0.18734611] [ 0.0137481 -0.00143644 0.99990446 -0.27052778] [ 0. 0. 0. 1. ]] SLAMing on 38.16313336499999 meters Centerline goodness : 0.124423 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 0.99989441 0.00446981 -0.01382683 -0.04624404] [-0.00445189 0.99998921 0.00132682 0.18871395] [ 0.01383261 -0.00126513 0.99990352 -0.27098052] [ 0. 0. 0. 1. ]] SLAMing on 38.193133364999994 meters Centerline goodness : 0.051469 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 0.99989578 0.0046276 -0.01367512 -0.04629533] [-0.0046124 0.99998871 0.00114274 0.19041124] [ 0.01368025 -0.00107954 0.99990584 -0.27160471] [ 0. 0. 0. 1. ]] SLAMing on 38.223133364999995 meters Centerline goodness : 0.098256 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 9.99894762e-01 4.57999876e-03 -1.37655137e-02 -4.57900966e-02] [-4.56704700e-03 9.99989098e-01 9.72173272e-04 1.91227904e-01] [ 1.37698162e-02 -9.09203214e-04 9.99904778e-01 -2.72141294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.253133365 meters Centerline goodness : 0.115679 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.19, Z:-0.27 [[ 9.99891779e-01 4.51237792e-03 -1.40024869e-02 -4.48142571e-02] [-4.50137373e-03 9.99989535e-01 8.17291444e-04 1.91889763e-01] [ 1.40060283e-02 -7.54172569e-04 9.99901626e-01 -2.72812211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.283133365 meters SLAMing on 38.31313336499999 meters SLAMing on 38.34313336499999 meters Centerline goodness : 0.094764 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.20, Z:-0.27 [[ 9.99886119e-01 4.40068206e-03 -1.44354686e-02 -4.31993737e-02] [-4.39759531e-03 9.99990300e-01 2.45566519e-04 1.95342741e-01] [ 1.44364092e-02 -1.82057205e-04 9.99895773e-01 -2.73857236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.373133364999994 meters Centerline goodness : 0.103121 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.20, Z:-0.27 [[ 9.99886524e-01 4.36439623e-03 -1.44184395e-02 -4.34631553e-02] [-4.36158494e-03 9.99990463e-01 2.26417990e-04 1.95347923e-01] [ 1.44192902e-02 -1.63505048e-04 9.99896023e-01 -2.73514753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.403133364999995 meters Centerline goodness : 0.094503 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.19, Z:-0.27 [[ 9.99884577e-01 4.30872285e-03 -1.45694060e-02 -4.31717912e-02] [-4.30556716e-03 9.99990700e-01 2.47956575e-04 1.94882945e-01] [ 1.45703389e-02 -1.85198399e-04 9.99893830e-01 -2.73380008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.433133364999996 meters Centerline goodness : 0.104353 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.19, Z:-0.27 [[ 9.99881293e-01 4.28333186e-03 -1.48004474e-02 -4.26678816e-02] [-4.27894340e-03 9.99990791e-01 3.28162797e-04 1.94207379e-01] [ 1.48017167e-02 -2.64793565e-04 9.99890414e-01 -2.73296244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.463133365 meters Centerline goodness : 0.099199 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.19, Z:-0.27 [[ 9.99875383e-01 4.30694171e-03 -1.51877556e-02 -4.13767118e-02] [-4.29858280e-03 9.99990591e-01 5.82973630e-04 1.92714128e-01] [ 1.51901235e-02 -5.17615157e-04 9.99884489e-01 -2.73831185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.493133365 meters Centerline goodness : 0.097219 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.20, Z:-0.28 [[ 0.99989117 -0.003735 -0.01427256 -0.06211264] [ 0.0037568 0.99999182 0.00150113 0.19600041] [ 0.01426683 -0.00155459 0.99989702 -0.27560022] [ 0. 0. 0. 1. ]] SLAMing on 38.52313336499999 meters Centerline goodness : 0.147376 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.19, Z:-0.27 [[ 9.99911073e-01 3.92067707e-03 -1.27465156e-02 -4.38785516e-02] [-3.91945622e-03 9.99992312e-01 1.20758652e-04 1.92309958e-01] [ 1.27468911e-02 -7.07885036e-05 9.99918753e-01 -2.73816786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.553133364999994 meters Centerline goodness : 0.084859 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 9.99914665e-01 3.98346626e-03 -1.24416560e-02 -4.50646917e-02] [-3.97983008e-03 9.99992030e-01 3.17003706e-04 1.91187865e-01] [ 1.24428196e-02 -2.67460978e-04 9.99922549e-01 -2.73141129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.583133364999995 meters Centerline goodness : 0.085192 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 9.99914971e-01 4.02082691e-03 -1.24049770e-02 -4.52373304e-02] [-4.01584038e-03 9.99991845e-01 4.26861299e-04 1.90559584e-01] [ 1.24065922e-02 -3.77008596e-04 9.99922964e-01 -2.73007689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.613133364999996 meters SLAMing on 38.643133365 meters SLAMing on 38.673133365 meters Centerline goodness : 0.089656 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 0.99991524 0.00423561 -0.01231152 -0.04515599] [-0.00422241 0.99999048 0.00109734 0.18616833] [ 0.01231605 -0.00104527 0.99992361 -0.27346667] [ 0. 0. 0. 1. ]] SLAMing on 38.70313336499999 meters Centerline goodness : 0.153988 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 0.99991694 0.00434249 -0.01213507 -0.04549766] [-0.00432685 0.99998977 0.001315 0.18515963] [ 0.01214065 -0.00126239 0.9999255 -0.27364146] [ 0. 0. 0. 1. ]] SLAMing on 38.73313336499999 meters Centerline goodness : 0.086064 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.18, Z:-0.27 [[ 0.99992567 0.00449171 -0.01133498 -0.04791903] [-0.00447424 0.99998876 0.00156615 0.18377308] [ 0.01134189 -0.00151532 0.99993453 -0.27282353] [ 0. 0. 0. 1. ]] SLAMing on 38.763133364999995 meters Centerline goodness : 0.130872 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.18, Z:-0.27 [[ 0.99992676 0.00451334 -0.01123004 -0.0482752 ] [-0.0044958 0.99998864 0.00158644 0.18351865] [ 0.01123707 -0.00153584 0.99993568 -0.2727242 ] [ 0. 0. 0. 1. ]] SLAMing on 38.793133364999996 meters SLAMing on 38.823133365 meters SLAMing on 38.853133365 meters SLAMing on 38.88313336499999 meters SLAMing on 38.91313336499999 meters Centerline goodness : 0.098009 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.18, Z:-0.27 [[ 0.99992399 0.00496681 -0.01128507 -0.04808152] [-0.00494009 0.99998493 0.00239414 0.17922059] [ 0.01129679 -0.0023382 0.99993346 -0.27295415] [ 0. 0. 0. 1. ]] SLAMing on 38.943133364999994 meters Centerline goodness : 0.097578 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.18, Z:-0.27 [[ 0.99992028 0.00518325 -0.01151399 -0.04728125] [-0.00514828 0.99998205 0.00306504 0.17566198] [ 0.01152967 -0.00300552 0.99992901 -0.27333543] [ 0. 0. 0. 1. ]] SLAMing on 38.973133364999995 meters Centerline goodness : 0.159897 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.17, Z:-0.27 [[ 0.99991812 0.00536695 -0.01161687 -0.04684523] [-0.00532602 0.99997951 0.00355106 0.17336151] [ 0.01163569 -0.0034889 0.99992622 -0.27361059] [ 0. 0. 0. 1. ]] SLAMing on 39.003133365 meters Centerline goodness : 0.090458 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.17, Z:-0.27 [[ 9.99928546e-01 1.83141930e-03 -1.18130365e-02 -4.61456382e-02] [-1.82526312e-03 9.99998193e-01 5.31894207e-04 1.69612804e-01] [ 1.18139892e-02 -5.10294301e-04 9.99930082e-01 -2.73987111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.033133365 meters Centerline goodness : 0.086579 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.17, Z:-0.27 [[ 9.99926167e-01 1.93831205e-03 -1.19959616e-02 -4.55728895e-02] [-1.92665736e-03 9.99997661e-01 9.83031520e-04 1.66858151e-01] [ 1.19978389e-02 -9.59846832e-04 9.99927563e-01 -2.74144629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06313336499999 meters Centerline goodness : 0.140174 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.16, Z:-0.27 [[ 0.99992395 0.00210781 -0.01215114 -0.0450816 ] [-0.00208983 0.9999967 0.00149173 0.16409266] [ 0.01215424 -0.00146622 0.99992506 -0.27434614] [ 0. 0. 0. 1. ]] SLAMing on 39.09313336499999 meters Centerline goodness : 0.148080 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.27 [[ 0.99992162 0.00250718 -0.01226642 -0.04467282] [-0.00247763 0.99999399 0.00242366 0.15969306] [ 0.01227242 -0.00239308 0.99992183 -0.27453022] [ 0. 0. 0. 1. ]] SLAMing on 39.123133364999994 meters SLAMing on 39.153133364999995 meters Centerline goodness : 0.095640 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.28 [[ 0.99991974 0.00280474 -0.012355 -0.04412924] [-0.00276897 0.99999193 0.00291174 0.15746724] [ 0.01236307 -0.00287729 0.99991943 -0.27504447] [ 0. 0. 0. 1. ]] SLAMing on 39.183133364999996 meters Centerline goodness : 0.125229 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.28 [[ 0.99985281 0.01159649 -0.01264466 -0.06497732] [-0.01157036 0.99993078 0.00213799 0.15130967] [ 0.01266858 -0.00199138 0.99991777 -0.27673908] [ 0. 0. 0. 1. ]] SLAMing on 39.213133365 meters Centerline goodness : 0.198888 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.28 [[ 0.99991081 0.00610729 -0.01187711 -0.04255425] [-0.00604676 0.99996858 0.00512566 0.15430114] [ 0.01190804 -0.00505339 0.99991633 -0.27750275] [ 0. 0. 0. 1. ]] SLAMing on 39.243133365 meters Centerline goodness : 0.198888 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.28 [[ 0.99991081 0.00610729 -0.01187711 -0.04255425] [-0.00604676 0.99996858 0.00512566 0.15430114] [ 0.01190804 -0.00505339 0.99991633 -0.27750275] [ 0. 0. 0. 1. ]] SLAMing on 39.27313336499999 meters Centerline goodness : 0.155193 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.28 [[ 0.99991249 0.00627653 -0.01164573 -0.04299796] [-0.00621731 0.99996759 0.00511447 0.15511441] [ 0.01167745 -0.00504161 0.99991911 -0.27776588] [ 0. 0. 0. 1. ]] SLAMing on 39.303133364999994 meters Centerline goodness : 0.106043 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.28 [[ 0.99991366 0.00635591 -0.01150106 -0.04328366] [-0.00629893 0.99996774 0.00498354 0.15625792] [ 0.01153237 -0.00491067 0.99992144 -0.27794799] [ 0. 0. 0. 1. ]] SLAMing on 39.333133364999995 meters Centerline goodness : 0.121350 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.16, Z:-0.28 [[ 0.99993182 -0.00160351 -0.01156657 -0.0617665 ] [ 0.00167073 0.99998176 0.00580421 0.16051866] [ 0.01155705 -0.00582314 0.99991626 -0.28034752] [ 0. 0. 0. 1. ]] SLAMing on 39.363133364999996 meters Centerline goodness : 0.167073 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.28 [[ 0.99991454 0.00604918 -0.01158973 -0.04219077] [-0.00600181 0.99997351 0.00411722 0.15840032] [ 0.01161433 -0.00404731 0.99992436 -0.27861397] [ 0. 0. 0. 1. ]] SLAMing on 39.393133365 meters Centerline goodness : 0.148583 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.16, Z:-0.28 [[ 0.99993117 -0.00255362 -0.01145096 -0.0639169 ] [ 0.00260784 0.99998545 0.00472274 0.16249274] [ 0.01143873 -0.00475228 0.99992328 -0.27969511] [ 0. 0. 0. 1. ]] SLAMing on 39.423133365 meters Centerline goodness : 0.133957 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.28 [[ 0.99993675 -0.00252945 -0.01095892 -0.06550739] [ 0.00258061 0.99998583 0.00465622 0.16359322] [ 0.01094699 -0.00468421 0.99992911 -0.27903744] [ 0. 0. 0. 1. ]] SLAMing on 39.45313336499999 meters Centerline goodness : 0.146846 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.28 [[ 0.99993784 -0.00262165 -0.01083687 -0.06579854] [ 0.00267079 0.99998621 0.00452256 0.16402457] [ 0.01082486 -0.00455122 0.99993105 -0.27903772] [ 0. 0. 0. 1. ]] SLAMing on 39.48313336499999 meters Centerline goodness : 0.164512 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.28 [[ 0.99993646 -0.00272538 -0.01093855 -0.06551317] [ 0.00277376 0.99998643 0.00441005 0.1641432 ] [ 0.01092639 -0.00444012 0.99993045 -0.27910962] [ 0. 0. 0. 1. ]] SLAMing on 39.513133364999995 meters Centerline goodness : 0.115994 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.28 [[ 0.99992286 0.00478536 -0.01146195 -0.04482634] [-0.00474961 0.99998378 0.00314408 0.16153782] [ 0.01147681 -0.0030894 0.99992937 -0.27780729] [ 0. 0. 0. 1. ]] SLAMing on 39.543133364999996 meters Centerline goodness : 0.126554 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.28 [[ 0.99991367 0.00469024 -0.01227424 -0.04240125] [-0.00465078 0.99998393 0.00324109 0.16089251] [ 0.01228924 -0.00318373 0.99991942 -0.27851706] [ 0. 0. 0. 1. ]] SLAMing on 39.573133365 meters Centerline goodness : 0.156917 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.28 [[ 0.99991086 0.00462233 -0.01252648 -0.04164847] [-0.00458009 0.99998374 0.0033988 0.15971361] [ 0.01254198 -0.00334113 0.99991576 -0.27867534] [ 0. 0. 0. 1. ]] SLAMing on 39.603133365 meters Centerline goodness : 0.166183 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.16, Z:-0.28 [[ 0.99990334 -0.00465895 -0.01309942 -0.06466461] [ 0.00470866 0.99998182 0.00376628 0.1603835 ] [ 0.01308164 -0.0038276 0.99990711 -0.27861373] [ 0. 0. 0. 1. ]] SLAMing on 39.63313336499999 meters Centerline goodness : 0.162818 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.15, Z:-0.28 [[ 0.99993016 0.00129067 -0.011748 -0.04899768] [-0.00127292 0.99999804 0.00151829 0.15345456] [ 0.01174994 -0.00150323 0.99992984 -0.27594289] [ 0. 0. 0. 1. ]] SLAMing on 39.66313336499999 meters Centerline goodness : 0.105867 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.15, Z:-0.28 [[ 0.99993149 0.00135065 -0.01162727 -0.04924813] [-0.00132951 0.99999745 0.00182636 0.15178506] [ 0.01162971 -0.00181077 0.99993073 -0.27596729] [ 0. 0. 0. 1. ]] SLAMing on 39.693133364999994 meters Centerline goodness : 0.097921 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.15, Z:-0.28 [[ 0.9999319 0.00144403 -0.01158075 -0.04913132] [-0.00142032 0.99999688 0.00205537 0.15078785] [ 0.01158368 -0.00203878 0.99993083 -0.27625012] [ 0. 0. 0. 1. ]] SLAMing on 39.723133364999995 meters Centerline goodness : 0.160820 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.15, Z:-0.28 [[ 0.99989762 0.00180676 -0.01419436 -0.09328123] [-0.00177336 0.99999563 0.00236587 0.14818471] [ 0.01419857 -0.00234045 0.99989646 -0.2766059 ] [ 0. 0. 0. 1. ]] SLAMing on 39.753133365 meters Centerline goodness : 0.126951 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.15, Z:-0.28 [[ 0.99989828 0.00177863 -0.01415142 -0.09330754] [-0.00174634 0.99999584 0.00229389 0.14824522] [ 0.01415544 -0.00226895 0.99989723 -0.27677066] [ 0. 0. 0. 1. ]] SLAMing on 39.783133365 meters Centerline goodness : 0.159116 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.15, Z:-0.28 [[ 0.99989883 0.00174464 -0.01411721 -0.09353064] [-0.00171301 0.999996 0.00225211 0.14807089] [ 0.01412109 -0.0022277 0.99989781 -0.27657386] [ 0. 0. 0. 1. ]] SLAMing on 39.81313336499999 meters Centerline goodness : 0.127228 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.15, Z:-0.28 [[ 0.99989947 0.00188234 -0.01405379 -0.09370323] [-0.00184802 0.99999528 0.00245438 0.14718868] [ 0.01405834 -0.00242817 0.99989823 -0.27661129] [ 0. 0. 0. 1. ]] SLAMing on 39.84313336499999 meters Centerline goodness : 0.131479 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.15, Z:-0.28 [[ 0.99989888 0.00196166 -0.01408474 -0.09335534] [-0.00192481 0.99999469 0.00262944 0.14631748] [ 0.01408983 -0.00260207 0.99989735 -0.27706753] [ 0. 0. 0. 1. ]] SLAMing on 39.873133364999994 meters Centerline goodness : 0.118212 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.14, Z:-0.28 [[ 0.99989802 0.00199129 -0.01414186 -0.09281222] [-0.00195165 0.99999413 0.0028163 0.14488603] [ 0.01414738 -0.00278841 0.99989603 -0.27770219] [ 0. 0. 0. 1. ]] SLAMing on 39.903133364999995 meters Centerline goodness : 0.161528 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.14, Z:-0.28 [[ 9.99901006e-01 -1.49368120e-03 -1.39909580e-02 -9.28218197e-02] [ 1.48745501e-03 9.99998790e-01 -4.55410495e-04 1.42563609e-01] [ 1.39916213e-02 4.34554492e-04 9.99902018e-01 -2.78264480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.933133364999996 meters Centerline goodness : 0.134171 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.14, Z:-0.28 [[ 9.99902244e-01 -1.31766238e-03 -1.39199775e-02 -9.30291660e-02] [ 1.31761765e-03 9.99999132e-01 -1.23841121e-05 1.40453326e-01] [ 1.39199817e-02 -5.95830659e-06 9.99903112e-01 -2.78163513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.963133365 meters Centerline goodness : 0.134659 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.14, Z:-0.28 [[ 9.99902090e-01 -1.09066819e-03 -1.39506383e-02 -9.29791545e-02] [ 1.09754133e-03 9.99999280e-01 4.85028773e-04 1.38303068e-01] [ 1.39500992e-02 -5.00292686e-04 9.99902567e-01 -2.78107465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.993133365 meters Centerline goodness : 0.220489 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.13, Z:-0.28 [[ 9.99862079e-01 -1.40818358e-03 -1.65481134e-02 -1.37508611e-01] [ 1.41931683e-03 9.99998774e-01 6.61055929e-04 1.32153338e-01] [ 1.65471623e-02 -6.84451771e-04 9.99862852e-01 -2.77822794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02313336499999 meters Centerline goodness : 0.157209 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.28 [[ 0.99987961 0.00464525 -0.01480469 -0.11636048] [-0.0046771 0.99998682 -0.00211761 0.12653106] [ 0.01479466 0.0021866 0.99988816 -0.27728199] [ 0. 0. 0. 1. ]] SLAMing on 40.053133364999994 meters Centerline goodness : 0.128536 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.13, Z:-0.28 [[ 9.99904880e-01 -2.98307412e-03 -1.34659666e-02 -9.76444340e-02] [ 2.97506178e-03 9.99995385e-01 -6.14999711e-04 1.28618065e-01] [ 1.34677391e-02 5.74879129e-04 9.99909141e-01 -2.76105111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.083133364999995 meters Centerline goodness : 0.113858 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.13, Z:-0.28 [[ 9.99911922e-01 -2.58332813e-03 -1.30182386e-02 -9.88013332e-02] [ 2.58467483e-03 9.99996656e-01 8.66236842e-05 1.25619859e-01] [ 1.30179713e-02 -1.20263968e-04 9.99915255e-01 -2.76013894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.113133364999996 meters Centerline goodness : 0.121890 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.28 [[ 9.99912469e-01 -2.44721480e-03 -1.30024961e-02 -9.85517909e-02] [ 2.45185906e-03 9.99996936e-01 3.41253083e-04 1.24465214e-01] [ 1.30016212e-02 -3.73103501e-04 9.99915406e-01 -2.76486886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.143133365 meters Centerline goodness : 0.155286 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.28 [[ 9.99913489e-01 -2.30702625e-03 -1.29496345e-02 -9.84543336e-02] [ 2.31519298e-03 9.99997130e-01 6.15697750e-04 1.23200586e-01] [ 1.29481769e-02 -6.45625388e-04 9.99915960e-01 -2.76861302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.173133365 meters Centerline goodness : 0.109760 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.28 [[ 0.99991423 -0.00205753 -0.01293421 -0.09807557] [ 0.00207235 0.99999721 0.00113254 0.12091674] [ 0.01293185 -0.00115925 0.99991571 -0.27750491] [ 0. 0. 0. 1. ]] SLAMing on 40.20313336499999 meters Centerline goodness : 0.188116 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.28 [[ 0.99991181 -0.00202516 -0.01312556 -0.0973449 ] [ 0.0020422 0.99999709 0.00128559 0.11987457] [ 0.01312292 -0.00131228 0.99991303 -0.27793783] [ 0. 0. 0. 1. ]] SLAMing on 40.23313336499999 meters Centerline goodness : 0.109596 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.11, Z:-0.28 [[ 9.99857463e-01 3.43853583e-03 -1.65296497e-02 -7.18490426e-02] [-3.45549315e-03 9.99993532e-01 -9.97421019e-04 1.14276113e-01] [ 1.65261131e-02 1.05439694e-03 9.99862879e-01 -2.77928592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.263133364999995 meters Centerline goodness : 0.159087 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.11, Z:-0.28 [[ 9.99823649e-01 -5.15530776e-03 -1.80580842e-02 -9.27771119e-02] [ 5.16095113e-03 9.99986647e-01 2.65923970e-04 1.13995147e-01] [ 1.80564722e-02 -3.59073964e-04 9.99836904e-01 -2.78878564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.293133364999996 meters Centerline goodness : 0.144835 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.11, Z:-0.28 [[ 9.99824689e-01 -4.99610928e-03 -1.80452137e-02 -9.27634761e-02] [ 5.01054354e-03 9.99987162e-01 7.54770782e-04 1.11515988e-01] [ 1.80412111e-02 -8.45054791e-04 9.99836887e-01 -2.78887141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.323133365 meters Centerline goodness : 0.146810 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.11, Z:-0.28 [[ 0.99983078 -0.00486735 -0.01774011 -0.09357063] [ 0.00488936 0.99998733 0.00119748 0.10904286] [ 0.01773406 -0.00128401 0.99984191 -0.27868303] [ 0. 0. 0. 1. ]] SLAMing on 40.353133365 meters Centerline goodness : 0.152164 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.10, Z:-0.28 [[ 0.99984907 -0.0048604 -0.01667964 -0.09623131] [ 0.00489201 0.99998631 0.001855 0.1041678 ] [ 0.01667039 -0.00193631 0.99985916 -0.27829677] [ 0. 0. 0. 1. ]] SLAMing on 40.38313336499999 meters Centerline goodness : 0.156899 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.10, Z:-0.28 [[ 9.99873490e-01 3.05894080e-03 -1.56091884e-02 -7.78629451e-02] [-3.05122931e-03 9.99995211e-01 5.17826766e-04 9.84580347e-02] [ 1.56106976e-02 -4.70134043e-04 9.99878035e-01 -2.76392690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41313336499999 meters Centerline goodness : 0.111901 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99834587e-01 2.31405661e-03 -1.80400864e-02 -1.23266064e-01] [-2.30135083e-03 9.99997089e-01 7.25036120e-04 9.19944791e-02] [ 1.80417117e-02 -6.83399622e-04 9.99837002e-01 -2.76085120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.443133364999994 meters Centerline goodness : 0.145688 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99816289e-01 4.12335378e-04 -1.91629307e-02 -1.19226966e-01] [-4.23405001e-04 9.99999746e-01 -5.73604551e-04 8.55625508e-02] [ 1.91626893e-02 5.81612854e-04 9.99816210e-01 -2.77625098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.473133364999995 meters Centerline goodness : 0.131203 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99810105e-01 4.28474173e-04 -1.94825489e-02 -1.18268388e-01] [-4.31678383e-04 9.99999894e-01 -1.60260422e-04 8.24065933e-02] [ 1.94824782e-02 1.68640184e-04 9.99810184e-01 -2.77853852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.503133365 meters Centerline goodness : 0.138167 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99808122e-01 5.66047659e-04 -1.95805547e-02 -1.18030967e-01] [-5.58267989e-04 9.99999763e-01 4.02779967e-04 7.91049274e-02] [ 1.95807781e-02 -3.91771485e-04 9.99808201e-01 -2.77794227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.533133365 meters Centerline goodness : 0.135301 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 9.99815577e-01 1.00625672e-03 -1.91780828e-02 -1.19327955e-01] [-9.75112093e-04 9.99998191e-01 1.63325183e-03 7.29647083e-02] [ 1.91796915e-02 -1.61424984e-03 9.99814750e-01 -2.77190064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56313336499999 meters Centerline goodness : 0.137676 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981788 0.00120451 -0.019046 -0.11985524] [-0.00116476 0.99999712 0.00209815 0.07080024] [ 0.01904847 -0.00207559 0.99981641 -0.27678771] [ 0. 0. 0. 1. ]] SLAMing on 40.59313336499999 meters Centerline goodness : 0.135063 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981855 0.00131385 -0.01900386 -0.12007127] [-0.00126913 0.9999964 0.002365 0.0693823 ] [ 0.0190069 -0.00234045 0.99981661 -0.27659037] [ 0. 0. 0. 1. ]] SLAMing on 40.623133364999994 meters Centerline goodness : 0.139109 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.9998194 0.00137805 -0.01895453 -0.12036778] [-0.0013305 0.99999594 0.00252093 0.06813304] [ 0.01895793 -0.00249526 0.99981717 -0.27635425] [ 0. 0. 0. 1. ]] SLAMing on 40.653133364999995 meters Centerline goodness : 0.137974 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99982045 0.00144222 -0.0188942 -0.1205278 ] [-0.00139465 0.99999583 0.00253037 0.06839139] [ 0.01889777 -0.00250357 0.99981829 -0.2764003 ] [ 0. 0. 0. 1. ]] SLAMing on 40.683133364999996 meters Centerline goodness : 0.115288 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99982067 0.00154171 -0.01887487 -0.12042178] [-0.00149394 0.99999565 0.00254521 0.06889087] [ 0.01887871 -0.00251655 0.99981861 -0.27667797] [ 0. 0. 0. 1. ]] SLAMing on 40.713133365 meters Centerline goodness : 0.135881 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981596 0.00153928 -0.01912287 -0.11914677] [-0.00149572 0.99999625 0.00229205 0.07044724] [ 0.01912633 -0.00226302 0.99981451 -0.27783582] [ 0. 0. 0. 1. ]] SLAMing on 40.743133365 meters Centerline goodness : 0.134783 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981364 0.00144281 -0.01925132 -0.11852047] [-0.00140264 0.99999681 0.0021004 0.0710303 ] [ 0.01925428 -0.002073 0.99981247 -0.27836686] [ 0. 0. 0. 1. ]] SLAMing on 40.77313336499999 meters Centerline goodness : 0.139276 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981144 0.0013421 -0.01937245 -0.11794035] [-0.00130473 0.99999726 0.00194127 0.07156965] [ 0.019375 -0.00191562 0.99981045 -0.27883997] [ 0. 0. 0. 1. ]] SLAMing on 40.803133364999994 meters Centerline goodness : 0.134975 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981226 0.00134157 -0.01932965 -0.11806122] [-0.00130429 0.99999727 0.0019409 0.07162751] [ 0.0193322 -0.00191533 0.99981128 -0.27885841] [ 0. 0. 0. 1. ]] SLAMing on 40.833133364999995 meters Centerline goodness : 0.136010 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981402 0.00127116 -0.0192436 -0.11840926] [-0.00123444 0.99999739 0.00192017 0.07150581] [ 0.01924599 -0.00189606 0.99981298 -0.27863047] [ 0. 0. 0. 1. ]] SLAMing on 40.863133364999996 meters Centerline goodness : 0.139659 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981234 0.00117283 -0.01933649 -0.11798634] [-0.00113831 0.99999774 0.00179589 0.07174135] [ 0.01933855 -0.00177354 0.99981142 -0.27897662] [ 0. 0. 0. 1. ]] SLAMing on 40.893133365 meters Centerline goodness : 0.140693 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981225 0.00108159 -0.01934672 -0.11768152] [-0.0010492 0.99999803 0.00168425 0.07207534] [ 0.0193485 -0.00166364 0.99981142 -0.27942236] [ 0. 0. 0. 1. ]] SLAMing on 40.923133365 meters Centerline goodness : 0.141163 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981615 0.00106791 -0.01914507 -0.11815675] [-0.00103883 0.99999829 0.00152895 0.07357798] [ 0.01914667 -0.00150878 0.99981555 -0.27947029] [ 0. 0. 0. 1. ]] SLAMing on 40.95313336499999 meters Centerline goodness : 0.139843 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 9.99818899e-01 1.01135231e-03 -1.90038530e-02 -1.18656752e-01] [-9.84858145e-04 9.99998530e-01 1.40345401e-03 7.42750606e-02] [ 1.90052444e-02 -1.38448375e-03 9.99818425e-01 -2.79253111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98313336499999 meters Centerline goodness : 0.142542 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99819829e-01 9.36582474e-04 -1.89587205e-02 -1.18858088e-01] [-9.13321091e-04 9.99998820e-01 1.23557026e-03 7.50839166e-02] [ 1.89598553e-02 -1.21803224e-03 9.99819504e-01 -2.79123122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.013133364999995 meters Centerline goodness : 0.158926 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99817701e-01 8.55582467e-04 -1.90743998e-02 -1.18476135e-01] [-8.35376655e-04 9.99999082e-01 1.06725845e-03 7.58679452e-02] [ 1.90752954e-02 -1.05112958e-03 9.99817497e-01 -2.79285474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.043133364999996 meters Centerline goodness : 0.140482 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99809936e-01 6.92479417e-04 -1.94836283e-02 -1.17020628e-01] [-6.79467055e-04 9.99999542e-01 6.74473289e-04 7.77089444e-02] [ 1.94840864e-02 -6.61106613e-04 9.99809949e-01 -2.80113691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.073133365 meters Centerline goodness : 0.142265 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99806544e-01 6.41641162e-04 -1.96586760e-02 -1.16253004e-01] [-6.33062828e-04 9.99999702e-01 4.42583874e-04 7.91861753e-02] [ 1.96589542e-02 -4.30053077e-04 9.99806652e-01 -2.80720571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.103133365 meters Centerline goodness : 0.142979 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99806120e-01 8.51493646e-04 -1.96722357e-02 -1.16098690e-01] [-8.51012627e-04 9.99999637e-01 3.28231191e-05 8.31816191e-02] [ 1.96722565e-02 -1.60754343e-05 9.99806482e-01 -2.81084044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13313336499999 meters Centerline goodness : 0.142979 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99806120e-01 8.51493646e-04 -1.96722357e-02 -1.16098690e-01] [-8.51012627e-04 9.99999637e-01 3.28231191e-05 8.31816191e-02] [ 1.96722565e-02 -1.60754343e-05 9.99806482e-01 -2.81084044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16313336499999 meters Centerline goodness : 0.143491 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99812577e-01 8.04937554e-04 -1.93432993e-02 -1.17099549e-01] [-8.11999942e-04 9.99999607e-01 -3.57256397e-04 8.56341330e-02] [ 1.93430041e-02 3.72896197e-04 9.99812837e-01 -2.80841084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.193133364999994 meters Centerline goodness : 0.140311 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99819028e-01 7.47477133e-04 -1.90092775e-02 -1.18189706e-01] [-7.61417195e-04 9.99999447e-01 -7.26102314e-04 8.79952809e-02] [ 1.90087242e-02 7.40444901e-04 9.99819044e-01 -2.80462815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.223133364999995 meters Centerline goodness : 0.147234 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99826305e-01 5.72807957e-04 -1.86288073e-02 -1.19406866e-01] [-5.98574224e-04 9.99998872e-01 -1.37759456e-03 9.15361439e-02] [ 1.86279971e-02 1.38850601e-03 9.99825520e-01 -2.80129967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.253133365 meters Centerline goodness : 0.157533 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99825494e-01 4.27171703e-04 -1.86761639e-02 -1.19416081e-01] [-4.58297977e-04 9.99998513e-01 -1.66238279e-03 9.26219738e-02] [ 1.86754260e-02 1.67065194e-03 9.99824203e-01 -2.79974247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.283133365 meters Centerline goodness : 0.143192 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99825953e-01 3.36460363e-04 -1.86534450e-02 -1.19597814e-01] [-3.69871707e-04 9.99998334e-01 -1.78774103e-03 9.29847228e-02] [ 1.86528124e-02 1.79432926e-03 9.99824411e-01 -2.79814429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31313336499999 meters Centerline goodness : 0.149339 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99827357e-01 2.80862614e-04 -1.85789606e-02 -1.20113119e-01] [-3.10780551e-04 9.99998660e-01 -1.60744511e-03 9.19137784e-02] [ 1.85784842e-02 1.61294157e-03 9.99826104e-01 -2.79216714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34313336499999 meters Centerline goodness : 0.145657 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99828551e-01 3.41109937e-04 -1.85135860e-02 -1.20399440e-01] [-3.65608037e-04 9.99999062e-01 -1.31988134e-03 9.04161572e-02] [ 1.85131185e-02 1.32642376e-03 9.99827738e-01 -2.78994989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.373133364999994 meters Centerline goodness : 0.149770 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99831057e-01 3.89897327e-04 -1.83767883e-02 -1.20880004e-01] [-4.08173958e-04 9.99999426e-01 -9.90809476e-04 8.84880325e-02] [ 1.83763914e-02 9.98143012e-04 9.99830642e-01 -2.78653403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.403133364999995 meters Centerline goodness : 0.113957 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99833703e-01 3.96248685e-04 -1.82320932e-02 -1.21143094e-01] [-4.09323209e-04 9.99999662e-01 -7.13389808e-04 8.64115603e-02] [ 1.82318043e-02 7.20733992e-04 9.99833527e-01 -2.78693901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.433133364999996 meters Centerline goodness : 0.141473 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99837343e-01 5.06327750e-04 -1.80286209e-02 -1.21564459e-01] [-5.08326679e-04 9.99999865e-01 -1.06292883e-04 8.24503214e-02] [ 1.80285647e-02 1.15440023e-04 9.99837466e-01 -2.78680316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.463133365 meters Centerline goodness : 0.144501 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99836516e-01 6.26840078e-04 -1.80706667e-02 -1.21244813e-01] [-6.25051256e-04 9.99999799e-01 1.04638195e-04 8.16109154e-02] [ 1.80707287e-02 -9.33259950e-05 9.99836707e-01 -2.79000206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.493133365 meters Centerline goodness : 0.159742 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99819179e-01 9.18335017e-04 -1.89938283e-02 -1.18219848e-01] [-9.11478427e-04 9.99999516e-01 3.69644272e-04 8.08635775e-02] [ 1.89941586e-02 -3.52264968e-04 9.99819533e-01 -2.80361080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52313336499999 meters Centerline goodness : 0.141464 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99813919e-01 9.13161504e-04 -1.92689986e-02 -1.17167228e-01] [-9.06773249e-04 9.99999531e-01 3.40264717e-04 8.07526810e-02] [ 1.92693002e-02 -3.22728788e-04 9.99814278e-01 -2.80993873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.553133364999994 meters Centerline goodness : 0.140684 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99812018e-01 9.08403240e-04 -1.93675961e-02 -1.16725316e-01] [-9.03426259e-04 9.99999557e-01 2.65722476e-04 8.08987089e-02] [ 1.93678289e-02 -2.48175330e-04 9.99812395e-01 -2.81366054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.583133364999995 meters Centerline goodness : 0.143915 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99827259e-01 1.11585235e-03 -1.85527943e-02 -1.18718987e-01] [-1.11156890e-03 9.99999353e-01 2.41189672e-04 8.16775262e-02] [ 1.85530515e-02 -2.20525300e-04 9.99827853e-01 -2.81407896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.613133364999996 meters Centerline goodness : 0.139321 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99833730e-01 1.10182773e-03 -1.82016152e-02 -1.19681185e-01] [-1.10099326e-03 9.99999392e-01 5.58665180e-05 8.27544493e-02] [ 1.82016657e-02 -3.58173734e-05 9.99834335e-01 -2.81287646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.643133365 meters Centerline goodness : 0.136331 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99824660e-01 1.08721730e-03 -1.86940382e-02 -1.18000310e-01] [-1.09757420e-03 9.99999250e-01 -5.43770539e-04 8.68407602e-02] [ 1.86934330e-02 5.64193288e-04 9.99825103e-01 -2.82295052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.673133365 meters Centerline goodness : 0.160830 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99820979e-01 9.97239368e-04 -1.88948401e-02 -1.17013253e-01] [-1.01498801e-03 9.99999053e-01 -9.29771620e-04 8.92422145e-02] [ 1.88938950e-02 9.48783208e-04 9.99821044e-01 -2.83189232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70313336499999 meters Centerline goodness : 0.144447 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99821162e-01 9.16566970e-04 -1.88892477e-02 -1.16795162e-01] [-9.41076583e-04 9.99998727e-01 -1.28869506e-03 9.16342975e-02] [ 1.88880424e-02 1.30624082e-03 9.99820752e-01 -2.83601829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73313336499999 meters Centerline goodness : 0.149198 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99822254e-01 7.69027502e-04 -1.88379693e-02 -1.17072129e-01] [-8.00666956e-04 9.99998282e-01 -1.67207303e-03 9.36606151e-02] [ 1.88366510e-02 1.68685876e-03 9.99821152e-01 -2.83416881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.763133364999995 meters Centerline goodness : 0.147552 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99817564e-01 1.24119407e-04 -1.91003273e-02 -1.16930866e-01] [-1.71186847e-04 9.99996953e-01 -2.46260634e-03 9.59221033e-02] [ 1.90999635e-02 2.46542680e-03 9.99814539e-01 -2.82674347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.793133364999996 meters Centerline goodness : 0.145333 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99813632e-01 -9.62371648e-05 -1.93052529e-02 -1.16599091e-01] [ 4.42166253e-05 9.99996367e-01 -2.69504009e-03 9.64470977e-02] [ 1.93054421e-02 2.69368421e-03 9.99810004e-01 -2.82394623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.823133365 meters Centerline goodness : 0.148692 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99817700e-01 -2.66373391e-04 -1.90917473e-02 -1.17397786e-01] [ 2.15071596e-04 9.99996361e-01 -2.68912179e-03 9.66126743e-02] [ 1.90923941e-02 2.68452547e-03 9.99814120e-01 -2.81900978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.853133365 meters Centerline goodness : 0.151894 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99825732e-01 -2.11932224e-04 -1.86670886e-02 -1.18728661e-01] [ 1.65447499e-04 9.99996882e-01 -2.49170599e-03 9.60630797e-02] [ 1.86675585e-02 2.48818334e-03 9.99822650e-01 -2.81339300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88313336499999 meters Centerline goodness : 0.153933 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99833941e-01 -2.55176020e-04 -1.82215623e-02 -1.20132396e-01] [ 2.12318380e-04 9.99997207e-01 -2.35392466e-03 9.52430596e-02] [ 1.82221120e-02 2.34966499e-03 9.99831203e-01 -2.80752749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91313336499999 meters Centerline goodness : 0.161473 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99839904e-01 -4.25736679e-04 -1.78881362e-02 -1.21224787e-01] [ 3.83818198e-04 9.99997173e-01 -2.34673557e-03 9.44257654e-02] [ 1.78890847e-02 2.33949408e-03 9.99837240e-01 -2.80187256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.943133364999994 meters Centerline goodness : 0.156101 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99835644e-01 -4.31590018e-04 -1.81245125e-02 -1.20357082e-01] [ 3.88291921e-04 9.99997063e-01 -2.39237588e-03 9.47799781e-02] [ 1.81254918e-02 2.38494508e-03 9.99832875e-01 -2.80644285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.973133364999995 meters Centerline goodness : 0.159713 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99831577e-01 -4.47534453e-04 -1.83471460e-02 -1.19463707e-01] [ 4.01793352e-04 9.99996803e-01 -2.49670121e-03 9.54735360e-02] [ 1.83482047e-02 2.48890895e-03 9.99828560e-01 -2.81190654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.003133365 meters Centerline goodness : 0.090482 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99830379e-01 -4.57553367e-04 -1.84120841e-02 -1.19084433e-01] [ 4.10390038e-04 9.99996626e-01 -2.56523898e-03 9.58397903e-02] [ 1.84131957e-02 2.55724772e-03 9.99827192e-01 -2.81547750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.033133365 meters Centerline goodness : 0.164933 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99830975e-01 -4.79944962e-04 -1.83790769e-02 -1.19624277e-01] [ 4.31577559e-04 9.99996434e-01 -2.63553164e-03 9.60790619e-02] [ 1.83802763e-02 2.62715417e-03 9.99827617e-01 -2.80901323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06313336499999 meters Centerline goodness : 0.105844 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99830991e-01 -4.64849374e-04 -1.83786185e-02 -1.19783673e-01] [ 4.16448251e-04 9.99996436e-01 -2.63729562e-03 9.62274442e-02] [ 1.83797789e-02 2.62919615e-03 9.99827621e-01 -2.80651553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09313336499999 meters Centerline goodness : 0.161246 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99831571e-01 -4.13934932e-04 -1.83482269e-02 -1.19713779e-01] [ 3.66013065e-04 9.99996514e-01 -2.61507945e-03 9.64207955e-02] [ 1.83492454e-02 2.60792331e-03 9.99828237e-01 -2.80882451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.123133364999994 meters Centerline goodness : 0.105612 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99835119e-01 -4.26241198e-04 -1.81535797e-02 -1.19735943e-01] [ 3.75592356e-04 9.99996028e-01 -2.79333761e-03 9.73826562e-02] [ 1.81546982e-02 2.78605870e-03 9.99831308e-01 -2.81613864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.153133364999995 meters Centerline goodness : 0.168125 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99836313e-01 -4.72659547e-04 -1.80865520e-02 -1.19713528e-01] [ 4.18467738e-04 9.99995413e-01 -2.99991607e-03 9.83803249e-02] [ 1.80878869e-02 2.99185639e-03 9.99831924e-01 -2.81959289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.183133364999996 meters Centerline goodness : 0.163143 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.10, Z:-0.28 [[ 0.99977228 0.00879329 -0.01944413 -0.1400016 ] [-0.00886351 0.99995449 -0.0035281 0.09779563] [ 0.01941222 0.00369964 0.99980472 -0.28324996] [ 0. 0. 0. 1. ]] SLAMing on 42.213133365 meters Centerline goodness : 0.163564 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.11, Z:-0.28 [[ 0.99978412 0.00337336 -0.02050203 -0.11851394] [-0.00339872 0.9999935 -0.00120217 0.1051802 ] [ 0.02049784 0.00127159 0.99978909 -0.28252926] [ 0. 0. 0. 1. ]] SLAMing on 42.24313336499999 meters Centerline goodness : 0.143203 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.11, Z:-0.28 [[ 0.99978607 0.00326229 -0.02042487 -0.11863421] [-0.00329802 0.99999309 -0.00171604 0.10801225] [ 0.02041913 0.00178303 0.99978992 -0.28276206] [ 0. 0. 0. 1. ]] SLAMing on 42.27313336499999 meters Centerline goodness : 0.157411 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.11, Z:-0.28 [[ 0.99978765 0.00309064 -0.02037387 -0.11877391] [-0.0031368 0.99999258 -0.00223418 0.11052955] [ 0.02036681 0.00229762 0.99978993 -0.28285721] [ 0. 0. 0. 1. ]] SLAMing on 42.303133364999994 meters Centerline goodness : 0.126672 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.11, Z:-0.28 [[ 0.99978722 0.00288816 -0.02042471 -0.11865029] [-0.00294799 0.99999145 -0.00290003 0.11414843] [ 0.02041616 0.00295963 0.99978719 -0.28301283] [ 0. 0. 0. 1. ]] SLAMing on 42.333133364999995 meters Centerline goodness : 0.158606 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.28 [[ 0.99978622 0.00280027 -0.02048587 -0.11834058] [-0.00286532 0.99999094 -0.00314686 0.11550628] [ 0.02047688 0.00320489 0.99978519 -0.28329831] [ 0. 0. 0. 1. ]] SLAMing on 42.363133364999996 meters Centerline goodness : 0.151888 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.28 [[ 0.99978686 0.00257577 -0.02048417 -0.1184358 ] [-0.00264658 0.99999061 -0.0034304 0.11642515] [ 0.02047514 0.00348388 0.99978429 -0.28316884] [ 0. 0. 0. 1. ]] SLAMing on 42.393133365 meters Centerline goodness : 0.137913 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.28 [[ 0.99978949 0.00248506 -0.02036647 -0.1190687 ] [-0.00255572 0.9999908 -0.00344449 0.11615014] [ 0.02035772 0.00349582 0.99978665 -0.28257483] [ 0. 0. 0. 1. ]] SLAMing on 42.423133365 meters Centerline goodness : 0.151150 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.28 [[ 0.99979173 0.00241477 -0.02026478 -0.11956122] [-0.00248531 0.99999094 -0.00345669 0.11603075] [ 0.02025625 0.00350633 0.99978867 -0.2821531 ] [ 0. 0. 0. 1. ]] SLAMing on 42.45313336499999 meters Centerline goodness : 0.125619 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.28 [[ 0.99979031 0.00235959 -0.02034125 -0.11941401] [-0.00243123 0.99999093 -0.00349754 0.11612298] [ 0.02033281 0.00354626 0.99978698 -0.28204408] [ 0. 0. 0. 1. ]] SLAMing on 42.48313336499999 meters Centerline goodness : 0.158190 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.28 [[ 0.9997796 0.00217838 -0.02088064 -0.11746509] [-0.0022576 0.99999034 -0.00377117 0.11733603] [ 0.02087222 0.00381748 0.99977486 -0.28301446] [ 0. 0. 0. 1. ]] SLAMing on 42.513133364999995 meters Centerline goodness : 0.141906 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.28 [[ 0.99977389 0.0020903 -0.02116128 -0.11632038] [-0.00217516 0.99998968 -0.00398782 0.11841095] [ 0.02115272 0.00403295 0.99976812 -0.28376875] [ 0. 0. 0. 1. ]] SLAMing on 42.543133364999996 meters Centerline goodness : 0.117600 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.12, Z:-0.28 [[ 0.99974496 -0.00380098 -0.02226148 -0.09397732] [ 0.00376664 0.99999165 -0.00158431 0.12392781] [ 0.02226732 0.00150006 0.99975093 -0.28344075] [ 0. 0. 0. 1. ]] SLAMing on 42.573133365 meters Centerline goodness : 0.163197 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.13, Z:-0.28 [[ 0.99974442 -0.00390483 -0.02226747 -0.09431653] [ 0.00385685 0.99999015 -0.00219722 0.12784322] [ 0.02227584 0.00211078 0.99974963 -0.28301772] [ 0. 0. 0. 1. ]] SLAMing on 42.603133365 meters Centerline goodness : 0.179634 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.13, Z:-0.28 [[ 0.9997497 -0.00395585 -0.02202013 -0.0953689 ] [ 0.00390006 0.99998908 -0.00257602 0.13042747] [ 0.02203007 0.00248949 0.99975421 -0.28246067] [ 0. 0. 0. 1. ]] SLAMing on 42.63313336499999 meters Centerline goodness : 0.125682 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.14, Z:-0.28 [[ 0.99976217 -0.00381529 -0.0214719 -0.09715605] [ 0.00374965 0.99998817 -0.00309678 0.13562983] [ 0.02148346 0.00301554 0.99976466 -0.28191585] [ 0. 0. 0. 1. ]] SLAMing on 42.66313336499999 meters Centerline goodness : 0.166047 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.28 [[ 0.99976465 0.00419312 -0.02128514 -0.11715202] [-0.00428886 0.99998088 -0.00445449 0.13211417] [ 0.02126606 0.00454473 0.99976352 -0.28354103] [ 0. 0. 0. 1. ]] SLAMing on 42.693133364999994 meters Centerline goodness : 0.170110 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.28 [[ 0.99976647 0.00406958 -0.02122375 -0.11748431] [-0.00417071 0.99998015 -0.00472306 0.13333247] [ 0.0212041 0.00481048 0.99976359 -0.28330229] [ 0. 0. 0. 1. ]] SLAMing on 42.723133364999995 meters Centerline goodness : 0.092021 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.14, Z:-0.28 [[ 0.99978463 -0.00363033 -0.02043307 -0.09883491] [ 0.00356047 0.9999877 -0.00345398 0.13968478] [ 0.02044536 0.00338049 0.99978526 -0.28162654] [ 0. 0. 0. 1. ]] SLAMing on 42.753133365 meters Centerline goodness : 0.138593 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.14, Z:-0.28 [[ 0.99977075 -0.00388957 -0.02105504 -0.14710976] [ 0.00382314 0.99998759 -0.00319426 0.13675975] [ 0.02106721 0.00311304 0.99977322 -0.28082725] [ 0. 0. 0. 1. ]] SLAMing on 42.783133365 meters Centerline goodness : 0.139941 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.14, Z:-0.28 [[ 0.99977651 -0.00386071 -0.02078516 -0.14805833] [ 0.00379759 0.99998806 -0.00307544 0.13613386] [ 0.02079679 0.00299582 0.99977923 -0.28028874] [ 0. 0. 0. 1. ]] SLAMing on 42.81313336499999 meters Centerline goodness : 0.118899 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.13, Z:-0.28 [[ 0.99979462 0.00337935 -0.01998263 -0.12925232] [-0.0034808 0.99998122 -0.00504444 0.13251573] [ 0.01996521 0.00511296 0.9997876 -0.27822046] [ 0. 0. 0. 1. ]] SLAMing on 42.84313336499999 meters Centerline goodness : 0.100405 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.13, Z:-0.28 [[ 0.99978984 0.00337055 -0.02022165 -0.12838964] [-0.00347432 0.99998097 -0.00509888 0.13281401] [ 0.02020408 0.00516807 0.99978252 -0.27866291] [ 0. 0. 0. 1. ]] SLAMing on 42.873133364999994 meters Centerline goodness : 0.165404 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.13, Z:-0.28 [[ 0.9997864 0.0033904 -0.02038785 -0.12774087] [-0.00349592 0.99998067 -0.00514216 0.13329712] [ 0.02037002 0.00521233 0.99977892 -0.27907338] [ 0. 0. 0. 1. ]] SLAMing on 42.903133364999995 meters Centerline goodness : 0.165551 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.13, Z:-0.28 [[ 0.99978817 0.00340441 -0.0202982 -0.12786884] [-0.00351118 0.99998018 -0.00522662 0.13393305] [ 0.02028 0.00529678 0.99978031 -0.27924447] [ 0. 0. 0. 1. ]] SLAMing on 42.933133364999996 meters Centerline goodness : 0.163529 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.13, Z:-0.28 [[ 0.9997899 0.00335513 -0.02022112 -0.128098 ] [-0.00346384 0.99997973 -0.0053431 0.13434555] [ 0.02020278 0.00541202 0.99978125 -0.27919138] [ 0. 0. 0. 1. ]] SLAMing on 42.963133365 meters Centerline goodness : 0.159816 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.13, Z:-0.28 [[ 0.99979107 0.00335426 -0.02016341 -0.12830908] [-0.00346379 0.99997942 -0.00539955 0.13474748] [ 0.02014489 0.00546827 0.99978212 -0.27911262] [ 0. 0. 0. 1. ]] SLAMing on 42.99313336499999 meters Centerline goodness : 0.164772 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.14, Z:-0.28 [[ 0.99979137 0.00343375 -0.02013509 -0.1283484 ] [-0.00354313 0.99997915 -0.00539909 0.13513281] [ 0.02011613 0.00546931 0.99978269 -0.27924688] [ 0. 0. 0. 1. ]] SLAMing on 43.02313336499999 meters Centerline goodness : 0.164294 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.14, Z:-0.28 [[ 0.99978997 0.00339755 -0.02021094 -0.12806855] [-0.00350865 0.99997892 -0.005464 0.13521482] [ 0.02019195 0.00553377 0.99978081 -0.27942184] [ 0. 0. 0. 1. ]] SLAMing on 43.053133364999994 meters Centerline goodness : 0.164294 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.14, Z:-0.28 [[ 0.99978997 0.00339755 -0.02021094 -0.12806855] [-0.00350865 0.99997892 -0.005464 0.13521482] [ 0.02019195 0.00553377 0.99978081 -0.27942184] [ 0. 0. 0. 1. ]] SLAMing on 43.083133364999995 meters Centerline goodness : 0.138895 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.14, Z:-0.28 [[ 0.99977712 -0.00434855 -0.02065891 -0.10919525] [ 0.00425592 0.9999807 -0.00452565 0.14049818] [ 0.02067819 0.00443671 0.99977634 -0.27784407] [ 0. 0. 0. 1. ]] SLAMing on 43.113133364999996 meters Centerline goodness : 0.166201 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.14, Z:-0.28 [[ 0.9997752 -0.00435511 -0.02075037 -0.10878262] [ 0.00426213 0.99998069 -0.00452302 0.14028762] [ 0.02076966 0.00443356 0.99977446 -0.27813952] [ 0. 0. 0. 1. ]] SLAMing on 43.143133365 meters Centerline goodness : 0.165685 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.14, Z:-0.28 [[ 0.99977603 -0.00424078 -0.02073412 -0.10875489] [ 0.00415055 0.99998174 -0.00439281 0.1401991 ] [ 0.02075237 0.00430576 0.99977537 -0.27824749] [ 0. 0. 0. 1. ]] SLAMing on 43.173133365 meters Centerline goodness : 0.125265 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.14, Z:-0.28 [[ 0.99977922 -0.00416314 -0.02059566 -0.10910289] [ 0.00407604 0.99998258 -0.00426908 0.13981623] [ 0.02061307 0.00418419 0.99977877 -0.27822618] [ 0. 0. 0. 1. ]] SLAMing on 43.20313336499999 meters Centerline goodness : 0.119495 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.14, Z:-0.28 [[ 0.99978021 -0.00417963 -0.02054432 -0.10918848] [ 0.00409732 0.99998342 -0.00404702 0.13785526] [ 0.02056089 0.00396196 0.99978075 -0.27820968] [ 0. 0. 0. 1. ]] SLAMing on 43.23313336499999 meters Centerline goodness : 0.117154 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.14, Z:-0.28 [[ 0.99977747 -0.00412991 -0.02068704 -0.10877109] [ 0.00405247 0.99998463 -0.0037841 0.1361199 ] [ 0.02070236 0.00369943 0.99977884 -0.27828605] [ 0. 0. 0. 1. ]] SLAMing on 43.263133364999995 meters Centerline goodness : 0.161857 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.13, Z:-0.28 [[ 0.99977123 -0.00404718 -0.02100255 -0.10769762] [ 0.00397637 0.99998627 -0.00341216 0.13397498] [ 0.02101607 0.00332787 0.9997736 -0.27868874] [ 0. 0. 0. 1. ]] SLAMing on 43.293133364999996 meters Centerline goodness : 0.174349 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.12, Z:-0.28 [[ 0.99968252 -0.00536729 -0.0246183 -0.14835862] [ 0.00527902 0.99997941 -0.0036491 0.12472057] [ 0.02463738 0.00351798 0.99969026 -0.28045633] [ 0. 0. 0. 1. ]] SLAMing on 43.323133365 meters Centerline goodness : 0.169251 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.12, Z:-0.28 [[ 0.9996786 -0.00525575 -0.02480085 -0.14785589] [ 0.00518003 0.99998173 -0.0031163 0.12156329] [ 0.02481678 0.00298683 0.99968755 -0.28043211] [ 0. 0. 0. 1. ]] SLAMing on 43.353133365 meters Centerline goodness : 0.169660 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.11, Z:-0.28 [[ 0.99967486 0.00174915 -0.02543838 -0.12987689] [-0.00186098 0.99998871 -0.00437311 0.11444996] [ 0.02543045 0.00441903 0.99966683 -0.27761981] [ 0. 0. 0. 1. ]] SLAMing on 43.38313336499999 meters Centerline goodness : 0.176222 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.10, Z:-0.28 [[ 0.99963679 0.00131121 -0.026918 -0.1778002 ] [-0.0014009 0.99999353 -0.00331336 0.10439216] [ 0.02691348 0.00334987 0.99963215 -0.27613776] [ 0. 0. 0. 1. ]] SLAMing on 43.41313336499999 meters Centerline goodness : 0.168829 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.10, Z:-0.28 [[ 0.99963515 0.00149491 -0.02696898 -0.17752847] [-0.00157234 0.9999947 -0.00285 0.10206805] [ 0.02696458 0.00289136 0.99963221 -0.27630267] [ 0. 0. 0. 1. ]] SLAMing on 43.443133364999994 meters Centerline goodness : 0.170178 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.10, Z:-0.28 [[ 0.9996328 0.00161347 -0.02704912 -0.17704562] [-0.00168118 0.99999551 -0.00248065 0.0997896 ] [ 0.027045 0.00252522 0.99963103 -0.27670144] [ 0. 0. 0. 1. ]] SLAMing on 43.473133364999995 meters Centerline goodness : 0.166859 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.10, Z:-0.28 [[ 0.99962254 0.00177624 -0.02741591 -0.17548426] [-0.00183037 0.99999642 -0.00194969 0.09631496] [ 0.02741235 0.00199914 0.99962221 -0.27770271] [ 0. 0. 0. 1. ]] SLAMing on 43.503133365 meters Centerline goodness : 0.169252 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.10, Z:-0.28 [[ 0.99961846 0.00193686 -0.02755319 -0.17482198] [-0.00198304 0.99999667 -0.00164876 0.09504512] [ 0.02754991 0.00170277 0.99961898 -0.27818958] [ 0. 0. 0. 1. ]] SLAMing on 43.533133365 meters Centerline goodness : 0.106217 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.09, Z:-0.28 [[ 0.99961976 0.00211325 -0.02749319 -0.17493754] [-0.00214873 0.9999969 -0.00126079 0.09330006] [ 0.02749044 0.00131938 0.9996212 -0.27822193] [ 0. 0. 0. 1. ]] SLAMing on 43.56313336499999 meters Centerline goodness : 0.167187 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.09, Z:-0.28 [[ 9.99622808e-01 2.26383202e-03 -2.73700073e-02 -1.75416321e-01] [-2.28806664e-03 9.99997018e-01 -8.54158666e-04 9.11797348e-02] [ 2.73679920e-02 9.16460884e-04 9.99625006e-01 -2.77907655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59313336499999 meters Centerline goodness : 0.165398 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.09, Z:-0.28 [[ 9.99655326e-01 -1.31633256e-04 -2.62528582e-02 -1.80039211e-01] [ 6.39391284e-05 9.99996671e-01 -2.57936593e-03 8.54477591e-02] [ 2.62531104e-02 2.57679830e-03 9.99652007e-01 -2.75685125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.623133364999994 meters Centerline goodness : 0.164765 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99653918e-01 1.88564063e-05 -2.63067355e-02 -1.79894984e-01] [-7.35220893e-05 9.99997840e-01 -2.07704521e-03 8.25924227e-02] [ 2.63066395e-02 2.07826051e-03 9.99651760e-01 -2.75616758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.653133364999995 meters Centerline goodness : 0.163794 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99646847e-01 2.77605864e-04 -2.65726365e-02 -1.79074655e-01] [-3.06749382e-04 9.99999356e-01 -1.09267920e-03 7.69162073e-02] [ 2.65723161e-02 1.10044446e-03 9.99646288e-01 -2.75733524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.683133364999996 meters Centerline goodness : 0.152430 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99646235e-01 4.76174430e-04 -2.65928258e-02 -1.78920190e-01] [-4.91389236e-04 9.99999719e-01 -5.65607554e-04 7.42979880e-02] [ 2.65925490e-02 5.78474890e-04 9.99646188e-01 -2.75846046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.713133365 meters Centerline goodness : 0.164690 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99645069e-01 6.43643539e-04 -2.66331046e-02 -1.78672900e-01] [-6.46885827e-04 9.99999784e-01 -1.13123394e-04 7.18711731e-02] [ 2.66330260e-02 1.30311821e-04 9.99645270e-01 -2.76015340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74313336499999 meters Centerline goodness : 0.155489 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99644716e-01 8.77667761e-04 -2.66396482e-02 -1.78363545e-01] [-8.64827632e-04 9.99999504e-01 4.93510775e-04 6.84057818e-02] [ 2.66400681e-02 -4.70296735e-04 9.99644980e-01 -2.76347270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77313336499999 meters Centerline goodness : 0.119931 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99646971e-01 9.59145133e-04 -2.65520713e-02 -1.78537046e-01] [-9.43744993e-04 9.99999379e-01 5.92523015e-04 6.79510443e-02] [ 2.65526231e-02 -5.67255453e-04 9.99647256e-01 -2.76441199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.803133364999994 meters Centerline goodness : 0.125793 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99648352e-01 1.04807468e-03 -2.64966707e-02 -1.78505051e-01] [-1.03380303e-03 9.99999313e-01 5.52313420e-04 6.84773381e-02] [ 2.64972314e-02 -5.24726862e-04 9.99648749e-01 -2.76750837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.833133364999995 meters Centerline goodness : 0.165563 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99642573e-01 1.16492010e-03 -2.67089886e-02 -1.77651845e-01] [-1.15484571e-03 9.99999256e-01 3.92613067e-04 6.98986507e-02] [ 2.67094261e-02 -3.61627976e-04 9.99643174e-01 -2.77448107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.863133364999996 meters Centerline goodness : 0.163509 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99632422e-01 1.81513940e-03 -2.70504279e-02 -1.76232766e-01] [-1.80830622e-03 9.99998327e-01 2.77068865e-04 7.33829925e-02] [ 2.70508855e-02 -2.28051564e-04 9.99634032e-01 -2.78698943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.893133365 meters Centerline goodness : 0.160950 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99639080e-01 1.72893975e-03 -2.68089530e-02 -1.76901586e-01] [-1.73098962e-03 9.99998500e-01 -5.32551134e-05 7.51357103e-02] [ 2.68088207e-02 9.96419120e-05 9.99640574e-01 -2.78684691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.923133365 meters Centerline goodness : 0.161227 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99646948e-01 1.55221034e-03 -2.65248905e-02 -1.77702193e-01] [-1.56565148e-03 9.99998656e-01 -4.85976574e-04 7.73153740e-02] [ 2.65241005e-02 5.27333733e-04 9.99648035e-01 -2.78633021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95313336499999 meters Centerline goodness : 0.152314 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99647266e-01 1.49547611e-03 -2.65161798e-02 -1.77894679e-01] [-1.51126026e-03 9.99998693e-01 -5.75234681e-04 7.77417296e-02] [ 2.65152849e-02 6.15104625e-04 9.99648219e-01 -2.78432863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98313336499999 meters Centerline goodness : 0.161150 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99643968e-01 1.43265119e-03 -2.66436645e-02 -1.77605579e-01] [-1.44890274e-03 9.99998776e-01 -5.90663797e-04 7.75928860e-02] [ 2.66427856e-02 6.29057581e-04 9.99644820e-01 -2.78375272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.013133364999995 meters Centerline goodness : 0.159056 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99636370e-01 1.05765020e-03 -2.69445455e-02 -1.76939466e-01] [-1.07779912e-03 9.99999150e-01 -7.33280194e-04 7.72506462e-02] [ 2.69437471e-02 7.62054359e-04 9.99636661e-01 -2.78220802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.043133364999996 meters Centerline goodness : 0.167862 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99634399e-01 1.03274793e-03 -2.70185361e-02 -1.76779370e-01] [-1.05091602e-03 9.99999231e-01 -6.58239875e-04 7.67888351e-02] [ 2.70178355e-02 6.86393434e-04 9.99634716e-01 -2.78138086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.073133365 meters Centerline goodness : 0.164081 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.08, Z:-0.28 [[ 9.99623202e-01 -7.13972077e-03 -2.65043005e-02 -1.56435421e-01] [ 7.14769043e-03 9.99974434e-01 2.05965183e-04 8.17461969e-02] [ 2.65021524e-02 -3.95332111e-04 9.99648678e-01 -2.76576885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.103133365 meters Centerline goodness : 0.162537 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.08, Z:-0.28 [[ 9.99621125e-01 -7.14767765e-03 -2.65803777e-02 -1.56224696e-01] [ 7.15678090e-03 9.99974359e-01 2.47362840e-04 8.14342626e-02] [ 2.65779281e-02 -4.37499060e-04 9.99646649e-01 -2.76589378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13313336499999 meters Centerline goodness : 0.156960 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99655898e-01 5.39158291e-04 -2.62258599e-02 -1.75420705e-01] [-5.60456978e-04 9.99999519e-01 -8.04781682e-04 7.56541165e-02] [ 2.62254134e-02 8.19203221e-04 9.99655719e-01 -2.78447657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16313336499999 meters Centerline goodness : 0.169556 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99654981e-01 5.67974190e-04 -2.62601616e-02 -1.75343817e-01] [-5.88748628e-04 9.99999520e-01 -7.83376042e-04 7.58686157e-02] [ 2.62597041e-02 7.98566397e-04 9.99654836e-01 -2.78479624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.193133364999994 meters Centerline goodness : 0.167510 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.08, Z:-0.28 [[ 9.99650327e-01 5.25489087e-04 -2.64376101e-02 -1.74622658e-01] [-5.46841483e-04 9.99999530e-01 -8.00428907e-04 7.58562251e-02] [ 2.64371771e-02 8.14606201e-04 9.99650145e-01 -2.78934503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.223133364999995 meters Centerline goodness : 0.165490 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.08, Z:-0.28 [[ 9.99650383e-01 4.59033467e-04 -2.64367241e-02 -1.74627549e-01] [-4.79211941e-04 9.99999599e-01 -7.56943927e-04 7.50187995e-02] [ 2.64363661e-02 7.69348081e-04 9.99650202e-01 -2.78885607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.253133365 meters Centerline goodness : 0.161172 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99656543e-01 4.05052766e-04 -2.62036557e-02 -1.75504629e-01] [-4.18615251e-04 9.99999781e-01 -5.12096399e-04 7.32259660e-02] [ 2.62034425e-02 5.22889766e-04 9.99656494e-01 -2.78330772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.283133365 meters Centerline goodness : 0.162490 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99658833e-01 5.24594373e-04 -2.61140395e-02 -1.75755242e-01] [-5.31999893e-04 9.99999820e-01 -2.76637148e-04 7.24498821e-02] [ 2.61138896e-02 2.90435435e-04 9.99658932e-01 -2.78275169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31313336499999 meters Centerline goodness : 0.158264 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99657911e-01 6.10790795e-04 -2.61474293e-02 -1.75643032e-01] [-6.13796115e-04 9.99999806e-01 -1.06911686e-04 7.18680901e-02] [ 2.61473590e-02 1.22924304e-04 9.99658092e-01 -2.78327516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34313336499999 meters Centerline goodness : 0.165056 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99655822e-01 6.09339988e-04 -2.62271893e-02 -1.75305764e-01] [-6.11412600e-04 9.99999811e-01 -7.10062160e-05 7.14842527e-02] [ 2.62271411e-02 8.70174113e-05 9.99656006e-01 -2.78519780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.373133364999994 meters Centerline goodness : 0.120803 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.07, Z:-0.28 [[ 9.99654611e-01 5.71788106e-04 -2.62741564e-02 -1.74967386e-01] [-5.74874560e-04 9.99999829e-01 -1.09917745e-04 7.12422146e-02] [ 2.62740891e-02 1.24984124e-04 9.99654769e-01 -2.78905532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.403133364999995 meters Centerline goodness : 0.161164 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99655219e-01 6.15242418e-04 -2.62500234e-02 -1.75079271e-01] [-6.16966457e-04 9.99999808e-01 -5.75785640e-05 7.11767574e-02] [ 2.62499829e-02 7.37540960e-05 9.99655407e-01 -2.78864032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.433133364999996 meters Centerline goodness : 0.156691 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99658391e-01 6.89042714e-04 -2.61271197e-02 -1.75449842e-01] [-6.86976010e-04 9.99999760e-01 8.80776699e-05 7.06880934e-02] [ 2.61271741e-02 -7.00988773e-05 9.99658625e-01 -2.78789267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.463133365 meters Centerline goodness : 0.120987 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99667989e-01 5.52870764e-04 -2.57605535e-02 -1.76683937e-01] [-5.42044006e-04 9.99999762e-01 4.27265293e-04 6.78267160e-02] [ 2.57607836e-02 -4.13160082e-04 9.99668051e-01 -2.78116115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49313336499999 meters Centerline goodness : 0.128016 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99666853e-01 4.45536075e-04 -2.58066937e-02 -1.76704095e-01] [-4.28090248e-04 9.99999676e-01 6.81540243e-04 6.55072309e-02] [ 2.58069889e-02 -6.70265596e-04 9.99666719e-01 -2.77863676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52313336499999 meters Centerline goodness : 0.155124 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.06, Z:-0.28 [[ 9.99668863e-01 2.78344373e-04 -2.57310378e-02 -1.76982152e-01] [-2.53237808e-04 9.99999489e-01 9.78984161e-04 6.29326104e-02] [ 2.57312971e-02 -9.72143912e-04 9.99668423e-01 -2.77657374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.553133364999994 meters Centerline goodness : 0.162298 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.06, Z:-0.28 [[ 9.99682489e-01 -1.42079437e-03 -2.51575439e-02 -1.78780296e-01] [ 1.43010596e-03 9.99998915e-01 3.52143319e-04 5.55801630e-02] [ 2.51570162e-02 -3.88009463e-04 9.99683437e-01 -2.76901413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.583133364999995 meters Centerline goodness : 0.162566 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.05, Z:-0.28 [[ 9.99688900e-01 -1.51265061e-03 -2.48960670e-02 -1.79528285e-01] [ 1.53228450e-03 9.99998530e-01 7.69576316e-04 5.26594418e-02] [ 2.48948663e-02 -8.07484759e-04 9.99689749e-01 -2.76585751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.613133364999996 meters Centerline goodness : 0.162162 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.05, Z:-0.28 [[ 0.99968096 -0.00534616 -0.0246859 -0.18043792] [ 0.00529107 0.99998337 -0.00229639 0.04801406] [ 0.02469776 0.00216504 0.99969262 -0.27586523] [ 0. 0. 0. 1. ]] SLAMing on 44.643133365 meters Centerline goodness : 0.166721 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.04, Z:-0.28 [[ 0.99967585 -0.00529219 -0.02490375 -0.17989557] [ 0.00524885 0.9999846 -0.00180535 0.04486058] [ 0.02491292 0.00167405 0.99968822 -0.27587272] [ 0. 0. 0. 1. ]] SLAMing on 44.673133365 meters Centerline goodness : 0.117787 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.04, Z:-0.28 [[ 0.99966395 -0.00518152 -0.02539969 -0.17843978] [ 0.00514999 0.99998589 -0.00130657 0.04202545] [ 0.0254061 0.00117533 0.99967652 -0.27623423] [ 0. 0. 0. 1. ]] SLAMing on 44.70313336499999 meters Centerline goodness : 0.162039 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.04, Z:-0.28 [[ 9.99654255e-01 -4.89371318e-03 -2.58345249e-02 -1.76827153e-01] [ 4.88302723e-03 9.99987964e-01 -4.76700780e-04 3.77853471e-02] [ 2.58365468e-02 3.50385274e-04 9.99666119e-01 -2.77050828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73313336499999 meters Centerline goodness : 0.165617 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.04, Z:-0.28 [[ 9.99653224e-01 -4.78937808e-03 -2.58938887e-02 -1.76703894e-01] [ 4.78547910e-03 9.99988527e-01 -2.12541285e-04 3.63137676e-02] [ 2.58946095e-02 8.85529180e-05 9.99664674e-01 -2.76993511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.763133364999995 meters Centerline goodness : 0.121770 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.04, Z:-0.28 [[ 9.99654484e-01 -4.71807353e-03 -2.58583271e-02 -1.76808292e-01] [ 4.71907784e-03 9.99988865e-01 -2.21851571e-05 3.51092043e-02] [ 2.58581439e-02 -9.98499668e-05 9.99665617e-01 -2.76965913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.793133364999996 meters Centerline goodness : 0.157779 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 9.99657594e-01 -4.65403869e-03 -2.57494777e-02 -1.77218003e-01] [ 4.65796585e-03 9.99989147e-01 9.25359445e-05 3.44193937e-02] [ 2.57487676e-02 -2.12444447e-04 9.99668423e-01 -2.76749322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.823133365 meters Centerline goodness : 0.149011 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 9.99658772e-01 -4.57915617e-03 -2.57171332e-02 -1.77352299e-01] [ 4.58482319e-03 9.99989477e-01 1.61399894e-04 3.42546460e-02] [ 2.57161235e-02 -2.79253329e-04 9.99669247e-01 -2.76721736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.853133365 meters Centerline goodness : 0.123783 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.03, Z:-0.28 [[ 0.99967267 0.00361897 -0.02532691 -0.15810667] [-0.00364652 0.99999281 -0.00104172 0.03063343] [ 0.02532296 0.00113374 0.99967868 -0.27514446] [ 0. 0. 0. 1. ]] SLAMing on 44.88313336499999 meters Centerline goodness : 0.162818 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 9.99645663e-01 -5.10713612e-03 -2.61240360e-02 -1.79359584e-01] [ 5.11401368e-03 9.99986904e-01 1.96460953e-04 3.21432824e-02] [ 2.61226905e-02 -3.29990017e-04 9.99658690e-01 -2.76107235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91313336499999 meters Centerline goodness : 0.110119 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 9.99644467e-01 -5.03395463e-03 -2.61839285e-02 -1.79188779e-01] [ 5.04798231e-03 9.99987149e-01 4.69663933e-04 3.06962366e-02] [ 2.61812278e-02 -6.01672960e-04 9.99657032e-01 -2.76156621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.943133364999994 meters Centerline goodness : 0.110119 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 9.99644467e-01 -5.03395463e-03 -2.61839285e-02 -1.79188779e-01] [ 5.04798231e-03 9.99987149e-01 4.69663933e-04 3.06962366e-02] [ 2.61812278e-02 -6.01672960e-04 9.99657032e-01 -2.76156621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.973133364999995 meters Centerline goodness : 0.160542 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 9.99637505e-01 -5.02401164e-03 -2.64502854e-02 -1.78441143e-01] [ 5.04528031e-03 9.99987001e-01 7.37424397e-04 2.89746259e-02] [ 2.64462367e-02 -8.70606188e-04 9.99649858e-01 -2.76358306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.003133365 meters Centerline goodness : 0.120559 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.02, Z:-0.28 [[ 0.99960534 -0.00791085 -0.02695537 -0.17624976] [ 0.00787687 0.99996804 -0.00136658 0.02405178] [ 0.02696531 0.00115372 0.9996357 -0.27775851] [ 0. 0. 0. 1. ]] SLAMing on 45.033133365 meters Centerline goodness : 0.108503 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.02, Z:-0.28 [[ 0.99962302 -0.00203398 -0.02738029 -0.15433214] [ 0.00192758 0.99999049 -0.00391189 0.01915001] [ 0.02738799 0.00385763 0.99961744 -0.27737977] [ 0. 0. 0. 1. ]] SLAMing on 45.06313336499999 meters Centerline goodness : 0.126155 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.02, Z:-0.28 [[ 0.99961502 -0.00223412 -0.02765531 -0.15373299] [ 0.00213473 0.99999116 -0.00362293 0.0166992 ] [ 0.02766316 0.0035625 0.99961095 -0.27746199] [ 0. 0. 0. 1. ]] SLAMing on 45.09313336499999 meters Centerline goodness : 0.127079 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.01, Z:-0.28 [[ 0.99961826 -0.00303592 -0.02746135 -0.15451754] [ 0.00293936 0.99998936 -0.00355593 0.01220181] [ 0.02747185 0.00347385 0.99961654 -0.27696364] [ 0. 0. 0. 1. ]] SLAMing on 45.123133364999994 meters Centerline goodness : 0.126528 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.01, Z:-0.28 [[ 0.99962555 -0.00306461 -0.02719144 -0.15548644] [ 0.0029772 0.99999027 -0.00325447 0.01010505] [ 0.02720115 0.0031723 0.99962495 -0.27645809] [ 0. 0. 0. 1. ]] SLAMing on 45.153133364999995 meters Centerline goodness : 0.161626 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.01, Z:-0.28 [[ 0.99963394 -0.00298597 -0.02688993 -0.15665679] [ 0.00290846 0.9999915 -0.00292121 0.00833368] [ 0.02689842 0.00284194 0.99963413 -0.27579347] [ 0. 0. 0. 1. ]] SLAMing on 45.183133364999996 meters Centerline goodness : 0.213061 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.00, Z:-0.28 [[ 0.99965701 0.00398434 -0.02588426 -0.13511594] [-0.0041167 0.99997871 -0.00506216 0.0039085 ] [ 0.02586354 0.00516698 0.99965213 -0.27583702] [ 0. 0. 0. 1. ]] SLAMing on 45.213133365 meters Centerline goodness : 0.122613 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.00, Z:-0.28 [[ 0.99965277 0.00403005 -0.0260402 -0.13446326] [-0.00416214 0.99997874 -0.00502008 0.00388271] [ 0.02601942 0.00512672 0.99964829 -0.27624147] [ 0. 0. 0. 1. ]] SLAMing on 45.24313336499999 meters Centerline goodness : 0.126864 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.01, Z:-0.28 [[ 0.99964861 0.00402984 -0.02619971 -0.13390519] [-0.00416789 0.99997771 -0.00521674 0.0051507 ] [ 0.0261781 0.0053241 0.99964312 -0.27655608] [ 0. 0. 0. 1. ]] SLAMing on 45.27313336499999 meters Centerline goodness : 0.127537 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.01, Z:-0.27 [[ 0.99964241 -0.00354055 -0.02650506 -0.11508892] [ 0.00342842 0.99998499 -0.00427499 0.00992581] [ 0.02651979 0.00418259 0.99963954 -0.27423356] [ 0. 0. 0. 1. ]] SLAMing on 45.303133364999994 meters Centerline goodness : 0.143935 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.01, Z:-0.27 [[ 0.99964592 -0.00358542 -0.02636609 -0.11558113] [ 0.00347198 0.99998452 -0.00434704 0.01021936] [ 0.02638127 0.00425396 0.9996429 -0.27403166] [ 0. 0. 0. 1. ]] SLAMing on 45.333133364999995 meters Centerline goodness : 0.148330 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.01, Z:-0.27 [[ 0.99964063 -0.00362666 -0.02656046 -0.11525874] [ 0.00351657 0.99998504 -0.0041905 0.00926126] [ 0.02657526 0.00409559 0.99963843 -0.27392264] [ 0. 0. 0. 1. ]] SLAMing on 45.363133364999996 meters Centerline goodness : 0.127010 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.01, Z:-0.27 [[ 0.99963669 -0.00355999 -0.02671739 -0.11486658] [ 0.00345688 0.9999864 -0.00390416 0.0079773 ] [ 0.02673092 0.00381039 0.9996354 -0.27400966] [ 0. 0. 0. 1. ]] SLAMing on 45.393133365 meters Centerline goodness : 0.164272 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.01, Z:-0.27 [[ 0.99962719 -0.00364998 -0.02705858 -0.11407127] [ 0.00355202 0.99998697 -0.00366744 0.00640653] [ 0.02707161 0.00356996 0.99962712 -0.27403138] [ 0. 0. 0. 1. ]] SLAMing on 45.423133365 meters Centerline goodness : 0.086920 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.00, Z:-0.27 [[ 0.99962532 -0.00368152 -0.02712323 -0.11397779] [ 0.00359183 0.99998792 -0.0033547 0.004484 ] [ 0.02713525 0.00325602 0.99962647 -0.27402529] [ 0. 0. 0. 1. ]] SLAMing on 45.45313336499999 meters Centerline goodness : 0.086423 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.00, Z:-0.27 [[ 0.9996347 -0.00406632 -0.02671944 -0.11518318] [ 0.00398576 0.99998735 -0.0030677 0.00129136] [ 0.02673158 0.00296008 0.99963826 -0.2736535 ] [ 0. 0. 0. 1. ]] SLAMing on 45.48313336499999 meters Centerline goodness : 0.159229 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 9.99636682e-01 -3.98503977e-03 -2.66575054e-02 -1.15620746e-01] [ 3.91435519e-03 9.99988685e-01 -2.70324029e-03 -7.41842181e-04] [ 2.66679763e-02 2.59791121e-03 9.99640970e-01 -2.73290895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.513133364999995 meters Centerline goodness : 0.163839 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 0.99963898 -0.00393748 -0.02657815 -0.11619953] [ 0.0038781 0.99998987 -0.00228533 -0.0033412 ] [ 0.02658688 0.00218143 0.99964413 -0.27279861] [ 0. 0. 0. 1. ]] SLAMing on 45.543133364999996 meters Centerline goodness : 0.177565 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 0.99964001 -0.00384448 -0.02655316 -0.11629922] [ 0.00379111 0.99999069 -0.00206027 -0.0043522 ] [ 0.02656083 0.00195887 0.99964528 -0.27276672] [ 0. 0. 0. 1. ]] SLAMing on 45.573133365 meters Centerline goodness : 0.093259 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 0.99964358 -0.00371895 -0.02643626 -0.11672462] [ 0.00367047 0.99999149 -0.00188216 -0.00483788] [ 0.02644303 0.00178445 0.99964873 -0.27256081] [ 0. 0. 0. 1. ]] SLAMing on 45.603133365 meters Centerline goodness : 0.093636 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 0.99965792 -0.00354938 -0.02591234 -0.11861086] [ 0.00350169 0.99999209 -0.00188556 -0.00421172] [ 0.02591883 0.00179418 0.99966244 -0.27155264] [ 0. 0. 0. 1. ]] SLAMing on 45.63313336499999 meters Centerline goodness : 0.094980 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 0.99966004 -0.00355528 -0.02582967 -0.11900167] [ 0.00350327 0.99999175 -0.00205828 -0.0030814 ] [ 0.02583678 0.0019671 0.99966424 -0.27127764] [ 0. 0. 0. 1. ]] SLAMing on 45.66313336499999 meters Centerline goodness : 0.098567 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 0.99965647 -0.00355579 -0.02596737 -0.11870853] [ 0.00350017 0.99999148 -0.0021872 -0.00203802] [ 0.02597492 0.00209556 0.9996604 -0.27124578] [ 0. 0. 0. 1. ]] SLAMing on 45.693133364999994 meters Centerline goodness : 0.090223 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 0.99965377 -0.00347653 -0.02608152 -0.11827883] [ 0.00342005 0.99999171 -0.00220976 -0.00106279] [ 0.02608899 0.0021198 0.99965738 -0.27156812] [ 0. 0. 0. 1. ]] SLAMing on 45.723133364999995 meters Centerline goodness : 0.162442 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.00, Z:-0.27 [[ 9.99646616e-01 -8.33284090e-04 -2.65696965e-02 -1.16075319e-01] [ 8.42965111e-04 9.99999582e-01 3.53164690e-04 8.07407990e-04] [ 2.65693911e-02 -3.75437214e-04 9.99646901e-01 -2.72721869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.753133365 meters Centerline goodness : 0.089447 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.00, Z:-0.27 [[ 9.99646911e-01 -8.92092981e-04 -2.65566892e-02 -1.16101376e-01] [ 8.98489505e-04 9.99999570e-01 2.28931442e-04 1.46012797e-03] [ 2.65564735e-02 -2.52711515e-04 9.99647283e-01 -2.72810249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.783133365 meters Centerline goodness : 0.233966 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.00, Z:-0.27 [[ 9.99652977e-01 -1.03873478e-03 -2.63219742e-02 -1.16960330e-01] [ 1.03877206e-03 9.99999460e-01 -1.22575958e-05 2.38145228e-03] [ 2.63219727e-02 -1.50891891e-05 9.99653517e-01 -2.72404246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81313336499999 meters Centerline goodness : 0.142329 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.00, Z:-0.27 [[ 9.99656171e-01 -1.04318085e-03 -2.62002212e-02 -1.17340928e-01] [ 1.04061833e-03 9.99999452e-01 -1.11439496e-04 3.26424916e-03] [ 2.62003231e-02 8.41367498e-05 9.99656709e-01 -2.72293914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84313336499999 meters Centerline goodness : 0.225235 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.01, Z:-0.27 [[ 9.99643798e-01 -1.23043153e-03 -2.66601292e-02 -1.15652238e-01] [ 1.21357737e-03 9.99999053e-01 -6.48356940e-04 6.29187974e-03] [ 2.66609018e-02 6.15771865e-04 9.99644345e-01 -2.73166287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.873133364999994 meters Centerline goodness : 0.089575 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.01, Z:-0.27 [[ 0.99963163 -0.00140866 -0.02710403 -0.11411315] [ 0.00137971 0.99999846 -0.00108679 0.00836391] [ 0.02710552 0.00104899 0.99963203 -0.2738512 ] [ 0. 0. 0. 1. ]] SLAMing on 45.903133364999995 meters Centerline goodness : 0.086783 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.01, Z:-0.27 [[ 9.99538295e-01 -1.22884427e-03 -3.03592827e-02 -1.58080422e-01] [ 1.21072956e-03 9.99999078e-01 -6.15053073e-04 1.20341992e-02] [ 3.03600105e-02 5.78012219e-04 9.99538862e-01 -2.74087636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.933133364999996 meters Centerline goodness : 0.134916 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.02, Z:-0.27 [[ 0.99953134 0.002334 -0.03052315 -0.15734242] [-0.00226233 0.9999946 0.00238244 0.01592151] [ 0.03052854 -0.00231227 0.99953122 -0.27458558] [ 0. 0. 0. 1. ]] SLAMing on 45.963133365 meters Centerline goodness : 0.150491 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.02, Z:-0.28 [[ 0.99951998 -0.00564904 -0.03046144 -0.17593143] [ 0.00575862 0.99997726 0.00351087 0.02393499] [ 0.03044092 -0.0036846 0.99952978 -0.27694079] [ 0. 0. 0. 1. ]] SLAMing on 45.99313336499999 meters Centerline goodness : 0.092782 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 0.99951684 -0.00585234 -0.03052595 -0.17562709] [ 0.00594753 0.99997773 0.00302841 0.02627436] [ 0.03050754 -0.0032085 0.99952939 -0.27722226] [ 0. 0. 0. 1. ]] SLAMing on 46.02313336499999 meters Centerline goodness : 0.091953 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 0.999513 -0.00601935 -0.03061923 -0.17515855] [ 0.00610306 0.99997789 0.00264111 0.02819062] [ 0.03060266 -0.00282669 0.99952763 -0.277669 ] [ 0. 0. 0. 1. ]] SLAMing on 46.053133364999994 meters Centerline goodness : 0.235013 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.03, Z:-0.28 [[ 0.9995014 -0.00623038 -0.03095367 -0.17418326] [ 0.00629952 0.99997788 0.00213668 0.03118739] [ 0.03093967 -0.00233061 0.99951854 -0.27796579] [ 0. 0. 0. 1. ]] SLAMing on 46.083133364999995 meters Centerline goodness : 0.092378 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.03, Z:-0.28 [[ 0.99949917 -0.00632502 -0.03100665 -0.1739542 ] [ 0.00638753 0.99997776 0.00191735 0.03252752] [ 0.03099384 -0.00211444 0.99951734 -0.27814823] [ 0. 0. 0. 1. ]] SLAMing on 46.113133364999996 meters Centerline goodness : 0.093760 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.03, Z:-0.28 [[ 0.99950188 -0.00655574 -0.03087107 -0.1744634 ] [ 0.00660537 0.99997705 0.00150601 0.03448691] [ 0.03086049 -0.00170918 0.99952224 -0.27788078] [ 0. 0. 0. 1. ]] SLAMing on 46.143133365 meters Centerline goodness : 0.132187 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.04, Z:-0.28 [[ 0.9994319 -0.0070966 -0.03294726 -0.22107583] [ 0.00714525 0.99997355 0.00135908 0.03648351] [ 0.03293675 -0.00159372 0.99945617 -0.27754423] [ 0. 0. 0. 1. ]] SLAMing on 46.173133365 meters Centerline goodness : 0.122388 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.04, Z:-0.28 [[ 0.999432 -0.00720762 -0.03292005 -0.22124962] [ 0.00724813 0.99997311 0.00111161 0.03776607] [ 0.03291115 -0.00134959 0.99945737 -0.27737966] [ 0. 0. 0. 1. ]] SLAMing on 46.20313336499999 meters Centerline goodness : 0.052610 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.04, Z:-0.28 [[ 9.99476478e-01 1.08847721e-03 -3.23355160e-02 -2.01443575e-01] [-1.08718505e-03 9.99999407e-01 5.75428926e-05 3.69350046e-02] [ 3.23355594e-02 -2.23580782e-05 9.99477069e-01 -2.76504932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23313336499999 meters Centerline goodness : 0.122688 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.28 [[ 9.99400946e-01 8.66366136e-04 -3.45976596e-02 -2.47520581e-01] [-8.65444639e-04 9.99999625e-01 4.16103257e-05 4.02654311e-02] [ 3.45976827e-02 -1.16430398e-05 9.99401321e-01 -2.76447407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.263133364999995 meters Centerline goodness : 0.121611 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.28 [[ 9.99406571e-01 7.57124079e-04 -3.44373764e-02 -2.48106801e-01] [-7.64538035e-04 9.99999687e-01 -2.02120339e-04 4.14934677e-02] [ 3.44372126e-02 2.28329079e-04 9.99406837e-01 -2.76178419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.293133364999996 meters SLAMing on 46.323133365 meters Centerline goodness : 0.067790 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.28 [[ 9.99422778e-01 6.87840665e-04 -3.39652408e-02 -2.49910267e-01] [-7.06613274e-04 9.99999604e-01 -5.40700086e-04 4.41075580e-02] [ 3.39648554e-02 5.64388272e-04 9.99422868e-01 -2.75186976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.353133365 meters Centerline goodness : 0.201704 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.27 [[ 9.99423319e-01 6.56281928e-04 -3.39499381e-02 -2.50078714e-01] [-6.76520520e-04 9.99999600e-01 -5.84646674e-04 4.43362186e-02] [ 3.39495408e-02 6.07277350e-04 9.99423364e-01 -2.74998081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38313336499999 meters SLAMing on 46.41313336499999 meters Centerline goodness : 0.091857 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.28 [[ 9.99417721e-01 1.69901494e-04 -3.41202361e-02 -2.49557242e-01] [-2.02112993e-04 9.99999537e-01 -9.40611661e-04 4.46185905e-02] [ 3.41200605e-02 9.46960106e-04 9.99417293e-01 -2.75231791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.443133364999994 meters SLAMing on 46.473133364999995 meters Centerline goodness : 0.124875 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.28 [[ 9.99419018e-01 1.02958652e-04 -3.40824785e-02 -2.49830360e-01] [-1.31932896e-04 9.99999632e-01 -8.47873527e-04 4.38684245e-02] [ 3.40823787e-02 8.51877528e-04 9.99418664e-01 -2.75014547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.503133365 meters Centerline goodness : 0.040203 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.28 [[ 9.99417372e-01 1.21725789e-04 -3.41306527e-02 -2.49644442e-01] [-1.50441222e-04 9.99999637e-01 -8.38771692e-04 4.39971252e-02] [ 3.41305382e-02 8.43417657e-04 9.99417028e-01 -2.75152162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.533133365 meters Centerline goodness : 0.094200 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.28 [[ 9.99416011e-01 1.33272065e-04 -3.41704353e-02 -2.49447891e-01] [-1.63555786e-04 9.99999596e-01 -8.83461398e-04 4.44118872e-02] [ 3.41703038e-02 8.88534239e-04 9.99415630e-01 -2.75314690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56313336499999 meters Centerline goodness : 0.091891 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.04, Z:-0.27 [[ 9.99484460e-01 1.28158849e-03 -3.20807120e-02 -2.06709385e-01] [-1.29797371e-03 9.99999038e-01 -4.89929605e-04 4.41470282e-02] [ 3.20800533e-02 5.31316947e-04 9.99485161e-01 -2.74044455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59313336499999 meters SLAMing on 46.623133364999994 meters SLAMing on 46.653133364999995 meters Centerline goodness : 0.156425 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.05, Z:-0.27 [[ 0.99946479 0.00495298 -0.03233565 -0.20686664] [-0.00488021 0.99998538 0.00232891 0.04907207] [ 0.03234671 -0.00216986 0.99947435 -0.27306906] [ 0. 0. 0. 1. ]] SLAMing on 46.683133364999996 meters Centerline goodness : 0.106936 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.05, Z:-0.27 [[ 0.99946449 0.00492482 -0.03234919 -0.20673873] [-0.00485669 0.99998582 0.00218434 0.05011529] [ 0.03235948 -0.00202606 0.99947424 -0.27323196] [ 0. 0. 0. 1. ]] SLAMing on 46.713133365 meters Centerline goodness : 0.113476 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.05, Z:-0.27 [[ 0.99946508 0.00484973 -0.0323424 -0.20664707] [-0.00478617 0.99998646 0.00204218 0.05078396] [ 0.03235186 -0.0018863 0.99947476 -0.27344258] [ 0. 0. 0. 1. ]] SLAMing on 46.74313336499999 meters Centerline goodness : 0.113008 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.05, Z:-0.27 [[ 0.9994663 0.00472639 -0.03232296 -0.20681185] [-0.004668 0.99998733 0.00188167 0.05111722] [ 0.03233144 -0.00172979 0.99947571 -0.27329557] [ 0. 0. 0. 1. ]] SLAMing on 46.77313336499999 meters Centerline goodness : 0.085264 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.05, Z:-0.27 [[ 0.99946602 0.00461718 -0.03234736 -0.2068245 ] [-0.00456507 0.99998816 0.00168453 0.05196183] [ 0.03235476 -0.00153596 0.99947527 -0.27324719] [ 0. 0. 0. 1. ]] SLAMing on 46.803133364999994 meters Centerline goodness : 0.041162 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.06, Z:-0.27 [[ 0.99946253 0.00456696 -0.03246219 -0.20666073] [-0.0045281 0.99998894 0.00127061 0.05522228] [ 0.03246764 -0.00112293 0.99947216 -0.27303616] [ 0. 0. 0. 1. ]] SLAMing on 46.833133364999995 meters Centerline goodness : 0.098791 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.06, Z:-0.27 [[ 9.99463018e-01 4.43892156e-03 -3.24649169e-02 -2.06493002e-01] [-4.41344832e-03 9.99989894e-01 8.56257072e-04 5.75639419e-02] [ 3.24683897e-02 -7.12515045e-04 9.99472509e-01 -2.73226512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.863133364999996 meters Centerline goodness : 0.098791 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.06, Z:-0.27 [[ 9.99463018e-01 4.43892156e-03 -3.24649169e-02 -2.06493002e-01] [-4.41344832e-03 9.99989894e-01 8.56257072e-04 5.75639419e-02] [ 3.24683897e-02 -7.12515045e-04 9.99472509e-01 -2.73226512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.893133365 meters Centerline goodness : 0.084746 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.06, Z:-0.27 [[ 9.99465205e-01 4.23007677e-03 -3.24254616e-02 -2.06539135e-01] [-4.22111405e-03 9.99991032e-01 3.44858824e-04 5.99946976e-02] [ 3.24266296e-02 -2.07802824e-04 9.99474097e-01 -2.73295638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.923133365 meters SLAMing on 46.95313336499999 meters Centerline goodness : 0.105348 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.07, Z:-0.27 [[ 9.99477174e-01 3.76618411e-03 -3.21122210e-02 -2.07981134e-01] [-3.79307770e-03 9.99992505e-01 -7.76611117e-04 6.71237342e-02] [ 3.21090554e-02 8.98009233e-04 9.99483968e-01 -2.72363956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98313336499999 meters Centerline goodness : 0.169206 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.07, Z:-0.27 [[ 0.9994939 0.00336145 -0.03163307 -0.2096352 ] [-0.00340842 0.99999317 -0.00143101 0.07006342] [ 0.03162804 0.00153811 0.99949852 -0.27158246] [ 0. 0. 0. 1. ]] SLAMing on 47.013133364999995 meters Centerline goodness : 0.106395 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.07, Z:-0.27 [[ 0.99949906 0.00317049 -0.03148947 -0.21016894] [-0.00322781 0.99999322 -0.00176969 0.07150978] [ 0.03148365 0.00187045 0.99950252 -0.27129503] [ 0. 0. 0. 1. ]] SLAMing on 47.043133364999996 meters Centerline goodness : 0.134823 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.07, Z:-0.27 [[ 0.99949797 0.00299826 -0.0315406 -0.21007463] [-0.00306684 0.99999304 -0.00212606 0.07320727] [ 0.03153401 0.00222172 0.99950021 -0.27127053] [ 0. 0. 0. 1. ]] SLAMing on 47.073133365 meters Centerline goodness : 0.171221 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.08, Z:-0.27 [[ 0.99948885 0.00272431 -0.0318532 -0.20868904] [-0.00281813 0.99999182 -0.00290077 0.07760542] [ 0.03184504 0.00298905 0.99948835 -0.2721408 ] [ 0. 0. 0. 1. ]] SLAMing on 47.103133365 meters Centerline goodness : 0.123453 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.09, Z:-0.27 [[ 0.9993927 -0.00360036 -0.03465931 -0.19058738] [ 0.00352505 0.99999129 -0.00223369 0.08501393] [ 0.03466705 0.00211016 0.99939669 -0.26937724] [ 0. 0. 0. 1. ]] SLAMing on 47.13313336499999 meters Centerline goodness : 0.131975 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.09, Z:-0.27 [[ 0.99938749 -0.0038307 -0.03478451 -0.19015632] [ 0.00373359 0.99998895 -0.00285635 0.08827358] [ 0.03479507 0.00272473 0.99939075 -0.2695316 ] [ 0. 0. 0. 1. ]] SLAMing on 47.16313336499999 meters Centerline goodness : 0.125218 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.09, Z:-0.27 [[ 9.99397167e-01 -2.87992084e-04 -3.47162598e-02 -1.90346736e-01] [ 2.83025620e-04 9.99999949e-01 -1.47972936e-04 9.38149112e-02] [ 3.47163007e-02 1.38058142e-04 9.99397198e-01 -2.69489322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.193133364999994 meters Centerline goodness : 0.133002 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.09, Z:-0.27 [[ 0.9994131 0.00818733 -0.03326291 -0.16972068] [-0.00822948 0.9999655 -0.00113036 0.09424369] [ 0.03325251 0.00140343 0.999446 -0.26867581] [ 0. 0. 0. 1. ]] SLAMing on 47.223133364999995 meters Centerline goodness : 0.129708 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.10, Z:-0.27 [[ 9.99493050e-01 2.29950222e-03 -3.17546233e-02 -1.92233274e-01] [-2.27309001e-03 9.99997040e-01 8.67834190e-04 1.03787909e-01] [ 3.17565249e-02 -7.95213123e-04 9.99495318e-01 -2.69941651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.253133365 meters Centerline goodness : 0.127939 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.11, Z:-0.27 [[ 0.99948652 0.00566877 -0.03153665 -0.19225741] [-0.00556838 0.99997915 0.00327024 0.11058889] [ 0.03155453 -0.00309295 0.99949725 -0.27053126] [ 0. 0. 0. 1. ]] SLAMing on 47.283133365 meters Centerline goodness : 0.124453 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.12, Z:-0.27 [[ 0.99948362 -0.00202253 -0.03206865 -0.20992535] [ 0.00215775 0.99998892 0.00418268 0.12030369] [ 0.03205983 -0.00424972 0.99947692 -0.27326424] [ 0. 0. 0. 1. ]] SLAMing on 47.31313336499999 meters Centerline goodness : 0.141181 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99946313 -0.00245288 -0.03267172 -0.20781497] [ 0.00255659 0.99999182 0.00313292 0.12587477] [ 0.03266377 -0.00321477 0.99946123 -0.27432177] [ 0. 0. 0. 1. ]] SLAMing on 47.34313336499999 meters Centerline goodness : 0.170322 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99945926 -0.00258321 -0.0327798 -0.20748523] [ 0.00267935 0.99999224 0.00288917 0.1271497 ] [ 0.03277209 -0.00297543 0.99945842 -0.27443523] [ 0. 0. 0. 1. ]] SLAMing on 47.373133364999994 meters Centerline goodness : 0.164961 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99946535 -0.00272614 -0.03258199 -0.20810202] [ 0.00281621 0.99999234 0.00271901 0.12783706] [ 0.03257433 -0.00280931 0.99946537 -0.27425399] [ 0. 0. 0. 1. ]] SLAMing on 47.403133364999995 meters Centerline goodness : 0.166397 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99949225 -0.00351826 -0.03166805 -0.21061595] [ 0.00358138 0.99999171 0.00193678 0.12942408] [ 0.03166097 -0.00204921 0.99949657 -0.27374058] [ 0. 0. 0. 1. ]] SLAMing on 47.433133364999996 meters Centerline goodness : 0.111858 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99949064 -0.00364345 -0.03170468 -0.21035743] [ 0.00370348 0.99999146 0.00183513 0.12953999] [ 0.03169772 -0.00195162 0.9994956 -0.27403514] [ 0. 0. 0. 1. ]] SLAMing on 47.463133365 meters Centerline goodness : 0.158381 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99948129 -0.00372116 -0.03198916 -0.20923802] [ 0.00377982 0.99999128 0.00177341 0.1296985 ] [ 0.03198228 -0.0018934 0.99948664 -0.27470698] [ 0. 0. 0. 1. ]] SLAMing on 47.49313336499999 meters Centerline goodness : 0.161085 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.28 [[ 0.99948139 -0.00383325 -0.0319728 -0.20903322] [ 0.00388592 0.99999119 0.0015853 0.13059279] [ 0.03196644 -0.00170872 0.99948748 -0.27511904] [ 0. 0. 0. 1. ]] SLAMing on 47.52313336499999 meters Centerline goodness : 0.144830 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99948663 -0.00387395 -0.03180361 -0.20980489] [ 0.00392242 0.99999124 0.00146181 0.13134694] [ 0.03179766 -0.00158581 0.99949307 -0.27455566] [ 0. 0. 0. 1. ]] SLAMing on 47.553133364999994 meters Centerline goodness : 0.162949 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99948986 -0.00391003 -0.03169763 -0.21044122] [ 0.00395289 0.99999136 0.00128976 0.13242426] [ 0.03169231 -0.00141439 0.99949667 -0.27391528] [ 0. 0. 0. 1. ]] SLAMing on 47.583133364999995 meters Centerline goodness : 0.164206 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 9.99492848e-01 -4.06879449e-03 -3.15830920e-02 -2.11209106e-01] [ 4.09623470e-03 9.99991287e-01 8.04172278e-04 1.34890545e-01] [ 3.15795448e-02 -9.33136198e-04 9.99500806e-01 -2.73139410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.613133364999996 meters Centerline goodness : 0.164828 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.14, Z:-0.27 [[ 9.99488608e-01 -4.10752431e-03 -3.17119877e-02 -2.10694395e-01] [ 4.12962159e-03 9.99991274e-01 6.31346899e-04 1.35901999e-01] [ 3.17091177e-02 -7.61982543e-04 9.99496849e-01 -2.73474911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.643133365 meters Centerline goodness : 0.161224 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.14, Z:-0.27 [[ 9.99483450e-01 -4.10529511e-03 -3.18744484e-02 -2.10167382e-01] [ 4.12392137e-03 9.99991362e-01 5.18644625e-04 1.36898067e-01] [ 3.18720439e-02 -6.49824438e-04 9.99491746e-01 -2.73668456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.673133365 meters Centerline goodness : 0.163156 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.14, Z:-0.27 [[ 9.99497870e-01 -3.98857589e-04 -3.16835608e-02 -2.10526092e-01] [ 5.24993812e-04 9.99991970e-01 3.97290606e-03 1.38508500e-01] [ 3.16817218e-02 -3.98754482e-03 9.99490054e-01 -2.73838431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70313336499999 meters Centerline goodness : 0.111597 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.14, Z:-0.27 [[ 9.99503564e-01 -5.27420355e-04 -3.15015545e-02 -2.11281550e-01] [ 6.40382415e-04 9.99993401e-01 3.57593882e-03 1.40591419e-01] [ 3.14994606e-02 -3.59433663e-03 9.99497306e-01 -2.73334409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73313336499999 meters Centerline goodness : 0.165727 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.14, Z:-0.27 [[ 9.99508794e-01 -7.08485087e-04 -3.13315979e-02 -2.11966143e-01] [ 8.06416978e-04 9.99994829e-01 3.11313319e-03 1.42884214e-01] [ 3.13292303e-02 -3.13687034e-03 9.99504197e-01 -2.72889960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.763133364999995 meters Centerline goodness : 0.166267 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.15, Z:-0.27 [[ 9.99524654e-01 -8.78458998e-04 -3.08171211e-02 -2.14042685e-01] [ 9.50096302e-04 9.99996881e-01 2.31002824e-03 1.48745354e-01] [ 3.08149957e-02 -2.33820941e-03 9.99522370e-01 -2.71680126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.793133364999996 meters Centerline goodness : 0.142642 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.15, Z:-0.27 [[ 0.99952722 -0.00103566 -0.03072882 -0.21438021] [ 0.00109221 0.99999774 0.00182375 0.15152425] [ 0.03072686 -0.00185645 0.99952609 -0.27148141] [ 0. 0. 0. 1. ]] SLAMing on 47.823133365 meters Centerline goodness : 0.160478 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.15, Z:-0.27 [[ 0.99952511 -0.00124779 -0.03078951 -0.21415134] [ 0.00128562 0.99999844 0.00120892 0.15480448] [ 0.03078795 -0.00124793 0.99952516 -0.27155614] [ 0. 0. 0. 1. ]] SLAMing on 47.853133365 meters Centerline goodness : 0.151528 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.16, Z:-0.27 [[ 9.99523512e-01 -1.80010483e-03 -3.08141132e-02 -2.13998235e-01] [ 1.79715661e-03 9.99998378e-01 -1.23372817e-04 1.61798565e-01] [ 3.08142853e-02 6.79362438e-05 9.99525125e-01 -2.71651993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88313336499999 meters Centerline goodness : 0.127591 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.16, Z:-0.27 [[ 0.99952008 0.00551385 -0.03048289 -0.19530046] [-0.00557369 0.9999827 -0.00187841 0.16102037] [ 0.030472 0.00204742 0.99953352 -0.26963631] [ 0. 0. 0. 1. ]] SLAMing on 47.91313336499999 meters Centerline goodness : 0.157272 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.16, Z:-0.27 [[ 0.99952097 0.0052557 -0.03049946 -0.19516033] [-0.00533309 0.99998276 -0.0024566 0.16394034] [ 0.03048602 0.00261808 0.99953176 -0.269759 ] [ 0. 0. 0. 1. ]] SLAMing on 47.943133364999994 meters Centerline goodness : 0.160169 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.17, Z:-0.27 [[ 0.999512 0.00487191 -0.03085481 -0.19361698] [-0.00497347 0.99998246 -0.00321544 0.16809936] [ 0.0308386 0.00336732 0.99951871 -0.27069673] [ 0. 0. 0. 1. ]] SLAMing on 47.973133364999995 meters Centerline goodness : 0.158528 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.17, Z:-0.27 [[ 0.99950881 0.00468765 -0.03098637 -0.19298096] [-0.00479851 0.99998235 -0.00350444 0.16929869] [ 0.03096939 0.00365141 0.99951366 -0.27119722] [ 0. 0. 0. 1. ]] SLAMing on 48.003133365 meters Centerline goodness : 0.146275 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.17, Z:-0.27 [[ 0.99949511 -0.00505438 -0.03136844 -0.17071489] [ 0.00494326 0.99998123 -0.00361883 0.17407917] [ 0.03138614 0.00346194 0.99950134 -0.27026636] [ 0. 0. 0. 1. ]] SLAMing on 48.033133365 meters Centerline goodness : 0.144806 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.17, Z:-0.27 [[ 0.99949721 -0.00511891 -0.0312911 -0.17062833] [ 0.0050052 0.99998059 -0.00371113 0.17451678] [ 0.03130949 0.00355264 0.99950342 -0.27067403] [ 0. 0. 0. 1. ]] SLAMing on 48.06313336499999 meters Centerline goodness : 0.117411 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.17, Z:-0.27 [[ 0.99949547 0.00363884 -0.03155258 -0.19086281] [-0.0037934 0.99998109 -0.00484003 0.17242643] [ 0.03153437 0.00495728 0.99949037 -0.27271494] [ 0. 0. 0. 1. ]] SLAMing on 48.09313336499999 meters Centerline goodness : 0.141145 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.17, Z:-0.27 [[ 0.99949043 0.00352691 -0.03172443 -0.19011066] [-0.00368222 0.99998151 -0.00483852 0.17200121] [ 0.03170678 0.00495287 0.99948494 -0.27331428] [ 0. 0. 0. 1. ]] SLAMing on 48.123133364999994 meters Centerline goodness : 0.143085 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.17, Z:-0.27 [[ 0.99948792 0.00355692 -0.03180007 -0.18970737] [-0.00370809 0.9999821 -0.00469619 0.17124061] [ 0.0317828 0.0048117 0.99948322 -0.27371119] [ 0. 0. 0. 1. ]] SLAMing on 48.153133364999995 meters Centerline goodness : 0.129278 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.17, Z:-0.27 [[ 0.99947072 -0.00473438 -0.03218472 -0.16797223] [ 0.00463413 0.99998418 -0.0031886 0.1723049 ] [ 0.03219931 0.00303777 0.99947685 -0.27250284] [ 0. 0. 0. 1. ]] SLAMing on 48.183133364999996 meters Centerline goodness : 0.144761 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.17, Z:-0.27 [[ 0.9994535 0.00395139 -0.03281916 -0.18806186] [-0.00409388 0.99998248 -0.00427564 0.16829714] [ 0.03280169 0.00440766 0.99945216 -0.27457865] [ 0. 0. 0. 1. ]] SLAMing on 48.213133365 meters Centerline goodness : 0.144258 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.17, Z:-0.27 [[ 0.9994561 0.00398866 -0.03273536 -0.18812393] [-0.00412419 0.9999832 -0.00407372 0.16681059] [ 0.03271856 0.00420651 0.99945575 -0.27483825] [ 0. 0. 0. 1. ]] SLAMing on 48.24313336499999 meters Centerline goodness : 0.141255 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.16, Z:-0.27 [[ 0.99946206 0.00417407 -0.03252947 -0.18913136] [-0.00429644 0.99998395 -0.00369288 0.16483006] [ 0.03251354 0.00383066 0.99946395 -0.27414772] [ 0. 0. 0. 1. ]] SLAMing on 48.27313336499999 meters Centerline goodness : 0.144322 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.16, Z:-0.27 [[ 0.99946035 0.00430667 -0.0325648 -0.18924111] [-0.00442431 0.99998394 -0.00354142 0.16444944] [ 0.03254903 0.00368359 0.99946335 -0.27383386] [ 0. 0. 0. 1. ]] SLAMing on 48.303133364999994 meters Centerline goodness : 0.147445 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.16, Z:-0.27 [[ 0.99945473 0.00444123 -0.03271885 -0.18896854] [-0.00455396 0.99998395 -0.00337153 0.16388694] [ 0.03270335 0.0035187 0.99945891 -0.27371805] [ 0. 0. 0. 1. ]] SLAMing on 48.333133364999995 meters Centerline goodness : 0.147748 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.16, Z:-0.27 [[ 0.99943644 0.00473889 -0.03323163 -0.18779617] [-0.00484003 0.9999839 -0.00296368 0.16236989] [ 0.03321705 0.00312285 0.99944328 -0.27366119] [ 0. 0. 0. 1. ]] SLAMing on 48.363133364999996 meters Centerline goodness : 0.151486 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99947657 -0.00347404 -0.03216402 -0.16827117] [ 0.00342467 0.99999287 -0.00159008 0.16401376] [ 0.03216931 0.0014791 0.99948134 -0.27224499] [ 0. 0. 0. 1. ]] SLAMing on 48.393133365 meters Centerline goodness : 0.151343 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99949768 -0.00338226 -0.03151093 -0.17068068] [ 0.00333634 0.99999329 -0.00150978 0.16350313] [ 0.03151582 0.00140389 0.99950227 -0.2709972 ] [ 0. 0. 0. 1. ]] SLAMing on 48.423133365 meters Centerline goodness : 0.116728 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99950968 -0.00334663 -0.03113187 -0.17197841] [ 0.00329886 0.9999933 -0.00158587 0.16428186] [ 0.03113697 0.0014824 0.99951403 -0.27039875] [ 0. 0. 0. 1. ]] SLAMing on 48.45313336499999 meters Centerline goodness : 0.119119 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99951766 -0.00331511 -0.03087794 -0.17279088] [ 0.0032663 0.99999334 -0.00163107 0.1649432 ] [ 0.03088315 0.00152943 0.99952183 -0.27014252] [ 0. 0. 0. 1. ]] SLAMing on 48.48313336499999 meters Centerline goodness : 0.144647 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99952369 -0.00341529 -0.03067116 -0.17336837] [ 0.00336451 0.99999288 -0.00170702 0.16474367] [ 0.03067678 0.00160301 0.99952807 -0.27007786] [ 0. 0. 0. 1. ]] SLAMing on 48.513133364999995 meters Centerline goodness : 0.118895 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99951912 -0.00346345 -0.0308145 -0.17287443] [ 0.00341239 0.99999272 -0.00170943 0.16444644] [ 0.03082019 0.00160345 0.99952366 -0.27033978] [ 0. 0. 0. 1. ]] SLAMing on 48.543133364999996 meters Centerline goodness : 0.140692 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99951227 -0.00348717 -0.03103316 -0.17217249] [ 0.00343566 0.99999263 -0.00171325 0.16440105] [ 0.03103891 0.0016058 0.99951689 -0.27063736] [ 0. 0. 0. 1. ]] SLAMing on 48.573133365 meters Centerline goodness : 0.142522 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.17, Z:-0.27 [[ 0.99951045 -0.00361564 -0.03107706 -0.17214362] [ 0.00355348 0.99999157 -0.00205513 0.16630532] [ 0.03108423 0.00194369 0.99951488 -0.27049912] [ 0. 0. 0. 1. ]] SLAMing on 48.603133365 meters Centerline goodness : 0.112057 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.17, Z:-0.27 [[ 0.99951151 -0.00371471 -0.03103144 -0.17250606] [ 0.0036431 0.99999057 -0.00236363 0.16792667] [ 0.03103993 0.00224943 0.99951561 -0.2700611 ] [ 0. 0. 0. 1. ]] SLAMing on 48.63313336499999 meters Centerline goodness : 0.137248 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.17, Z:-0.27 [[ 9.99554293e-01 -1.47855899e-03 -2.98165951e-02 -1.77701759e-01] [ 1.45567708e-03 9.99998629e-01 -7.89114000e-04 1.73248400e-01] [ 2.98177209e-02 7.45358953e-04 9.99555075e-01 -2.67433342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66313336499999 meters Centerline goodness : 0.106490 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.17, Z:-0.27 [[ 0.99957906 0.00665547 -0.02823853 -0.15771571] [-0.00670659 0.99997604 -0.00171602 0.17211529] [ 0.02822643 0.00190468 0.99959974 -0.26658696] [ 0. 0. 0. 1. ]] SLAMing on 48.693133364999994 meters Centerline goodness : 0.142700 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.18, Z:-0.27 [[ 0.99958469 0.00648751 -0.02807769 -0.15804408] [-0.00655358 0.99997597 -0.00226194 0.17521127] [ 0.02806234 0.00244501 0.99960318 -0.26661226] [ 0. 0. 0. 1. ]] SLAMing on 48.723133364999995 meters Centerline goodness : 0.160668 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.18, Z:-0.27 [[ 0.99958495 0.00626847 -0.02811838 -0.15767119] [-0.00634992 0.99997589 -0.00280865 0.17794511] [ 0.0281001 0.00298603 0.99960065 -0.26695651] [ 0. 0. 0. 1. ]] SLAMing on 48.753133365 meters Centerline goodness : 0.160668 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.18, Z:-0.27 [[ 0.99958495 0.00626847 -0.02811838 -0.15767119] [-0.00634992 0.99997589 -0.00280865 0.17794511] [ 0.0281001 0.00298603 0.99960065 -0.26695651] [ 0. 0. 0. 1. ]] SLAMing on 48.783133365 meters Centerline goodness : 0.142300 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.18, Z:-0.27 [[ 0.99957519 0.00600476 -0.02851991 -0.15572703] [-0.00610399 0.99997561 -0.0033936 0.18092493] [ 0.02849884 0.00356624 0.99958746 -0.26844186] [ 0. 0. 0. 1. ]] SLAMing on 48.81313336499999 meters Centerline goodness : 0.163045 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.99956645 0.00595734 -0.02883436 -0.1547283 ] [-0.00605979 0.99997563 -0.00346704 0.18150481] [ 0.02881301 0.00364026 0.99957819 -0.2688373 ] [ 0. 0. 0. 1. ]] SLAMing on 48.84313336499999 meters Centerline goodness : 0.136580 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.19, Z:-0.27 [[ 0.99954911 -0.00172969 -0.02997648 -0.17334277] [ 0.00166324 0.9999961 -0.00224155 0.1877802 ] [ 0.02998024 0.00219068 0.99954809 -0.27074933] [ 0. 0. 0. 1. ]] SLAMing on 48.873133364999994 meters Centerline goodness : 0.162858 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.19, Z:-0.27 [[ 0.99952245 -0.00198705 -0.0308371 -0.17060664] [ 0.00191242 0.99999517 -0.0024492 0.18832939] [ 0.03084182 0.00238905 0.99952142 -0.27183503] [ 0. 0. 0. 1. ]] SLAMing on 48.903133364999995 meters Centerline goodness : 0.117639 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.19, Z:-0.27 [[ 0.99951391 -0.0020586 -0.03110801 -0.16961394] [ 0.0019809 0.99999484 -0.00252817 0.1884783 ] [ 0.03111305 0.00246532 0.99951283 -0.27235731] [ 0. 0. 0. 1. ]] SLAMing on 48.933133364999996 meters Centerline goodness : 0.093162 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.19, Z:-0.27 [[ 9.99550288e-01 -5.10894839e-04 -2.99826751e-02 -1.74258620e-01] [ 4.74028847e-04 9.99999123e-01 -1.23667152e-03 1.89299188e-01] [ 2.99832806e-02 1.22190273e-03 9.99549654e-01 -2.70089072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.963133365 meters SLAMing on 48.99313336499999 meters Centerline goodness : 0.138153 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.19, Z:-0.27 [[ 0.9995923 0.00843057 -0.02727933 -0.15527578] [-0.00848035 0.99996258 -0.00170954 0.1904622 ] [ 0.02726389 0.00194018 0.99962639 -0.26861843] [ 0. 0. 0. 1. ]] SLAMing on 49.02313336499999 meters Centerline goodness : 0.163512 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.20, Z:-0.27 [[ 0.99957749 0.00882323 -0.0276947 -0.15417943] [-0.00888774 0.99995807 -0.00220718 0.19595042] [ 0.02767406 0.0024524 0.99961399 -0.26852883] [ 0. 0. 0. 1. ]] SLAMing on 49.053133364999994 meters Centerline goodness : 0.139469 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.27 [[ 9.99579156e-01 2.02229844e-03 -2.89382294e-02 -1.33971140e-01] [-2.03383494e-03 9.99997864e-01 -3.69231271e-04 2.02343677e-01] [ 2.89374209e-02 4.27931465e-04 9.99581134e-01 -2.66405957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.083133364999995 meters Centerline goodness : 0.144241 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.21, Z:-0.27 [[ 9.99567847e-01 2.03657536e-03 -2.93252559e-02 -1.33030884e-01] [-2.06130354e-03 9.99997545e-01 -8.13032432e-04 2.05345853e-01] [ 2.93235281e-02 8.73129332e-04 9.99569592e-01 -2.66395143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.113133364999996 meters Centerline goodness : 0.163063 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.21, Z:-0.27 [[ 0.99955583 0.0021718 -0.02972237 -0.13229317] [-0.00221535 0.99999652 -0.00143228 0.21095859] [ 0.02971916 0.00149749 0.99955717 -0.2659988 ] [ 0. 0. 0. 1. ]] SLAMing on 49.143133365 meters Centerline goodness : 0.147988 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.22, Z:-0.27 [[ 9.99605166e-01 -4.49472445e-03 -2.77364380e-02 -1.51146468e-01] [ 4.47355172e-03 9.99989653e-01 -8.25359698e-04 2.19281333e-01] [ 2.77398608e-02 7.00953428e-04 9.99614930e-01 -2.68258881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.173133365 meters Centerline goodness : 0.146434 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.22, Z:-0.27 [[ 0.99966744 0.00309029 -0.02560192 -0.13231745] [-0.00315017 0.9999924 -0.00229875 0.215992 ] [ 0.02559462 0.00237864 0.99966957 -0.26732494] [ 0. 0. 0. 1. ]] SLAMing on 49.20313336499999 meters Centerline goodness : 0.134778 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.22, Z:-0.27 [[ 0.99967409 0.00301781 -0.02534987 -0.13328119] [-0.00308271 0.99999207 -0.00252132 0.21705945] [ 0.02534206 0.00259864 0.99967546 -0.2667653 ] [ 0. 0. 0. 1. ]] SLAMing on 49.23313336499999 meters Centerline goodness : 0.137718 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.22, Z:-0.26 [[ 0.99968655 -0.00595957 -0.02431626 -0.11394215] [ 0.00591776 0.99998089 -0.00179097 0.22301741] [ 0.02432647 0.00164651 0.99970271 -0.26489713] [ 0. 0. 0. 1. ]] SLAMing on 49.263133364999995 meters Centerline goodness : 0.141282 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.22, Z:-0.27 [[ 0.9997119 0.00247775 -0.02387403 -0.13288199] [-0.00253904 0.99999356 -0.00253709 0.21856969] [ 0.02386759 0.00259698 0.99971176 -0.26653613] [ 0. 0. 0. 1. ]] SLAMing on 49.293133364999996 meters Centerline goodness : 0.165462 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.22, Z:-0.27 [[ 0.99972328 0.00221219 -0.02341948 -0.13430117] [-0.00228228 0.999993 -0.00296619 0.22048796] [ 0.02341275 0.00301882 0.99972133 -0.26596274] [ 0. 0. 0. 1. ]] SLAMing on 49.323133365 meters Centerline goodness : 0.156632 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.22, Z:-0.27 [[ 0.99972819 0.00207847 -0.02322139 -0.13512866] [-0.00215365 0.99999252 -0.00321296 0.22172255] [ 0.02321454 0.0032621 0.99972518 -0.26540947] [ 0. 0. 0. 1. ]] SLAMing on 49.353133365 meters Centerline goodness : 0.140980 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.22, Z:-0.27 [[ 0.99973133 0.00194351 -0.02309746 -0.13554711] [-0.00202438 0.9999919 -0.00347841 0.22297526] [ 0.02309052 0.00352424 0.99972717 -0.26521923] [ 0. 0. 0. 1. ]] SLAMing on 49.38313336499999 meters Centerline goodness : 0.091614 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.22, Z:-0.27 [[ 0.99972289 0.00172727 -0.02347663 -0.13419786] [-0.00181787 0.99999098 -0.00383856 0.22467233] [ 0.02346979 0.00388017 0.99971702 -0.26590317] [ 0. 0. 0. 1. ]] SLAMing on 49.41313336499999 meters Centerline goodness : 0.144868 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.23, Z:-0.27 [[ 0.99971787 0.00166373 -0.02369431 -0.13339093] [-0.00175842 0.99999055 -0.00397606 0.22562702] [ 0.02368747 0.00401661 0.99971134 -0.26631372] [ 0. 0. 0. 1. ]] SLAMing on 49.443133364999994 meters Centerline goodness : 0.090327 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.23, Z:-0.27 [[ 0.99971459 0.00160033 -0.02383663 -0.13290502] [-0.00170005 0.99998989 -0.00416369 0.22680509] [ 0.02382972 0.00420303 0.9997072 -0.26649572] [ 0. 0. 0. 1. ]] SLAMing on 49.473133364999995 meters Centerline goodness : 0.143307 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.24, Z:-0.27 [[ 0.99964337 0.00301748 -0.02653342 -0.17612947] [-0.00314633 0.99998345 -0.00481605 0.23517457] [ 0.02651845 0.00489781 0.99963633 -0.26690272] [ 0. 0. 0. 1. ]] SLAMing on 49.503133365 meters Centerline goodness : 0.137967 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.24, Z:-0.27 [[ 0.99967577 0.00240323 -0.02534922 -0.13210553] [-0.00251511 0.99998723 -0.0043827 0.23519586] [ 0.02533836 0.00444503 0.99966905 -0.26627113] [ 0. 0. 0. 1. ]] SLAMing on 49.533133365 meters Centerline goodness : 0.091986 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.24, Z:-0.27 [[ 0.99966074 0.00619384 -0.02529895 -0.13221698] [-0.00622883 0.99997975 -0.00130428 0.23983423] [ 0.02529035 0.00146142 0.99967908 -0.26614386] [ 0. 0. 0. 1. ]] SLAMing on 49.56313336499999 meters SLAMing on 49.59313336499999 meters Centerline goodness : 0.143618 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.25, Z:-0.27 [[ 9.99664777e-01 8.42332537e-03 -2.44822612e-02 -1.35107562e-01] [-8.43409240e-03 9.99964376e-01 -3.36562025e-04 2.47839237e-01] [ 2.44785541e-02 5.42934855e-04 9.99700208e-01 -2.65358306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.623133364999994 meters SLAMing on 49.653133364999995 meters Centerline goodness : 0.139465 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.26, Z:-0.27 [[ 9.99653688e-01 1.05602270e-02 -2.41036256e-02 -1.36665135e-01] [-1.05655648e-02 9.99944178e-01 -9.41092770e-05 2.58608388e-01] [ 2.41012863e-02 3.48745105e-04 9.99709461e-01 -2.65305748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.683133364999996 meters Centerline goodness : 0.162112 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.27, Z:-0.26 [[ 0.99961969 0.01359895 -0.0239907 -0.13767467] [-0.01356829 0.99990691 0.00144069 0.26719919] [ 0.02400806 -0.00111463 0.99971114 -0.26496886] [ 0. 0. 0. 1. ]] SLAMing on 49.713133365 meters Centerline goodness : 0.102902 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.27, Z:-0.27 [[ 9.99612839e-01 1.36489494e-02 -2.42461868e-02 -1.37187734e-01] [-1.36329077e-02 9.99906726e-01 8.26801972e-04 2.70687511e-01] [ 2.42552102e-02 -4.95935841e-04 9.99705676e-01 -2.65151218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74313336499999 meters Centerline goodness : 0.140218 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.27, Z:-0.27 [[ 9.99607621e-01 1.37268108e-02 -2.44167572e-02 -1.36877848e-01] [-1.37256482e-02 9.99905776e-01 2.15215167e-04 2.74059420e-01] [ 2.44174108e-02 1.20005098e-04 9.99701843e-01 -2.65432034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77313336499999 meters Centerline goodness : 0.144828 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.28, Z:-0.27 [[ 9.99574282e-01 1.62447999e-02 -2.42355530e-02 -1.38122864e-01] [-1.62235159e-02 9.99867813e-01 1.07459077e-03 2.83111824e-01] [ 2.42498059e-02 -6.80947421e-04 9.99705698e-01 -2.65247390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.803133364999994 meters Centerline goodness : 0.158895 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.29, Z:-0.27 [[ 9.99702198e-01 6.97984396e-03 -2.33836758e-02 -1.56060029e-01] [-6.96121122e-03 9.99975385e-01 8.78133405e-04 2.93372422e-01] [ 2.33892294e-02 -7.15093189e-04 9.99726179e-01 -2.66682210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.833133364999995 meters Centerline goodness : 0.091915 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.30, Z:-0.27 [[ 9.99694048e-01 6.70250587e-03 -2.38093651e-02 -1.55130080e-01] [-6.70777912e-03 9.99977493e-01 -1.41618359e-04 2.99032207e-01] [ 2.38078800e-02 3.01282992e-04 9.99716507e-01 -2.66540670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.863133364999996 meters Centerline goodness : 0.146939 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.30, Z:-0.27 [[ 9.99743526e-01 6.00492763e-03 -2.18362673e-02 -1.12427596e-01] [-5.99195296e-03 9.99981831e-01 6.59560795e-04 2.99835726e-01] [ 2.18398311e-02 -5.28549749e-04 9.99761343e-01 -2.65723544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.893133365 meters SLAMing on 49.923133365 meters Centerline goodness : 0.092858 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.30, Z:-0.27 [[ 9.99735791e-01 5.78438571e-03 -2.22460893e-02 -1.11023838e-01] [-5.79055901e-03 9.99983212e-01 -2.13093418e-04 3.04730208e-01] [ 2.22444832e-02 3.41854410e-04 9.99752502e-01 -2.66319809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95313336499999 meters Centerline goodness : 0.134164 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.31, Z:-0.27 [[ 9.99733084e-01 5.67495723e-03 -2.23954254e-02 -1.10463116e-01] [-5.68888255e-03 9.99983662e-01 -5.58131193e-04 3.06490885e-01] [ 2.23918922e-02 6.85387164e-04 9.99749035e-01 -2.66666415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98313336499999 meters Centerline goodness : 0.156068 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.31, Z:-0.27 [[ 9.99732190e-01 5.66912864e-03 -2.24367949e-02 -1.10480651e-01] [-5.68841865e-03 9.99983504e-01 -7.96018952e-04 3.08161185e-01] [ 2.24319121e-02 9.23435653e-04 9.99747947e-01 -2.66490072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.013133364999995 meters Centerline goodness : 0.153368 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.31, Z:-0.27 [[ 9.99795253e-01 -1.05439048e-04 -2.02346666e-02 -8.96173069e-02] [ 1.57986295e-04 9.99996620e-01 2.59531115e-03 3.10783791e-01] [ 2.02343246e-02 -2.59797657e-03 9.99791890e-01 -2.66623873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.043133364999996 meters Centerline goodness : 0.152449 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.31, Z:-0.27 [[ 9.99795368e-01 -1.98028260e-04 -2.02282714e-02 -8.97549386e-02] [ 2.46158272e-04 9.99997145e-01 2.37688157e-03 3.11458799e-01] [ 2.02277430e-02 -2.38137454e-03 9.99792562e-01 -2.66530631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.073133365 meters Centerline goodness : 0.146232 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.31, Z:-0.27 [[ 9.99793525e-01 -1.03177884e-04 -2.03198609e-02 -8.94476417e-02] [ 1.48316527e-04 9.99997525e-01 2.21991062e-03 3.12367379e-01] [ 2.03195816e-02 -2.22246603e-03 9.99791066e-01 -2.66735688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.103133365 meters Centerline goodness : 0.108590 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.31, Z:-0.27 [[ 9.99791778e-01 5.11623096e-05 -2.04058560e-02 -8.90843024e-02] [-4.61028911e-06 9.99997398e-01 2.28134744e-03 3.12751397e-01] [ 2.04059196e-02 -2.28077833e-03 9.99789176e-01 -2.67021121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13313336499999 meters Centerline goodness : 0.135648 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.31, Z:-0.27 [[ 0.99974811 0.00749546 -0.02115499 -0.06939625] [-0.00746155 0.99997075 0.0016815 0.30823237] [ 0.02116697 -0.00152323 0.99977479 -0.2652287 ] [ 0. 0. 0. 1. ]] SLAMing on 50.16313336499999 meters Centerline goodness : 0.142925 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.31, Z:-0.27 [[ 9.99765344e-01 4.95880673e-03 -2.10871487e-02 -6.95464803e-02] [-4.98047996e-03 9.99987122e-01 -9.75399237e-04 3.06637679e-01] [ 2.10820403e-02 1.08019447e-03 9.99777166e-01 -2.65308149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.193133364999994 meters Centerline goodness : 0.154700 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.31, Z:-0.27 [[ 9.99765409e-01 4.99888348e-03 -2.10745936e-02 -6.96100922e-02] [-5.01856406e-03 9.99987019e-01 -8.81068642e-04 3.05757331e-01] [ 2.10699156e-02 9.86626149e-04 9.99777518e-01 -2.65336607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.223133364999995 meters Centerline goodness : 0.133065 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.31, Z:-0.27 [[ 9.99760947e-01 5.12358835e-03 -2.12555494e-02 -6.91745072e-02] [-5.14007925e-03 9.99986530e-01 -7.21278502e-04 3.05077730e-01] [ 2.12515676e-02 8.30361287e-04 9.99773815e-01 -2.65425672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.253133365 meters Centerline goodness : 0.156560 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.30, Z:-0.27 [[ 9.99752965e-01 5.30917381e-03 -2.15828883e-02 -6.82144512e-02] [-5.32224308e-03 9.99985687e-01 -5.48141819e-04 3.04630208e-01] [ 2.15796692e-02 6.62875787e-04 9.99766912e-01 -2.65766283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.283133365 meters Centerline goodness : 0.104302 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.30, Z:-0.27 [[ 9.99731048e-01 5.92245606e-03 -2.24222208e-02 -6.55961557e-02] [-5.92850646e-03 9.99982406e-01 -2.03375060e-04 3.04188265e-01] [ 2.24206218e-02 3.36250643e-04 9.99748570e-01 -2.66848127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31313336499999 meters Centerline goodness : 0.156181 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.30, Z:-0.27 [[ 9.99727006e-01 6.00120195e-03 -2.25809350e-02 -6.51704125e-02] [-6.00730645e-03 9.99981935e-01 -2.02513725e-04 3.04158376e-01] [ 2.25793117e-02 3.38109036e-04 9.99744998e-01 -2.67051267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34313336499999 meters Centerline goodness : 0.119193 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.30, Z:-0.27 [[ 9.99725028e-01 6.53039726e-03 -2.25215850e-02 -6.55967991e-02] [-6.52633668e-03 9.99978671e-01 2.53794160e-04 3.03133172e-01] [ 2.25227620e-02 -1.06740927e-04 9.99746325e-01 -2.66705261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.373133364999994 meters Centerline goodness : 0.104988 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.30, Z:-0.27 [[ 9.99725416e-01 6.68411422e-03 -2.24591716e-02 -6.58480843e-02] [-6.67465481e-03 9.99977601e-01 4.96119584e-04 3.02011511e-01] [ 2.24619847e-02 -3.46076139e-04 9.99747638e-01 -2.66612899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.403133364999995 meters Centerline goodness : 0.136189 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.30, Z:-0.27 [[ 9.99725513e-01 6.74983547e-03 -2.24352017e-02 -6.57430616e-02] [-6.73484953e-03 9.99977044e-01 7.43457630e-04 3.00345598e-01] [ 2.24397049e-02 -5.92155853e-04 9.99748023e-01 -2.66923101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.433133364999996 meters Centerline goodness : 0.118768 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.30, Z:-0.27 [[ 0.9997403 0.00322803 -0.02255896 -0.06561758] [-0.00328051 0.999992 -0.00228954 0.29698678] [ 0.02255139 0.00236295 0.99974289 -0.26687351] [ 0. 0. 0. 1. ]] SLAMing on 50.463133365 meters Centerline goodness : 0.110251 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.29, Z:-0.27 [[ 0.99974557 0.00340103 -0.02229846 -0.06637784] [-0.00343811 0.99999277 -0.00162451 0.29344229] [ 0.02229278 0.00170077 0.99975004 -0.26657512] [ 0. 0. 0. 1. ]] SLAMing on 50.49313336499999 meters Centerline goodness : 0.129315 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.29, Z:-0.27 [[ 9.99777109e-01 -5.27011848e-03 -2.04440425e-02 -4.63615940e-02] [ 5.26654255e-03 9.99986106e-01 -2.28750151e-04 2.93121642e-01] [ 2.04449640e-02 1.21029745e-04 9.99790973e-01 -2.66219277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52313336499999 meters Centerline goodness : 0.158904 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.28, Z:-0.27 [[ 9.99847144e-01 -2.33040808e-04 -1.74824236e-02 -6.76885714e-02] [ 1.80898353e-04 9.99995531e-01 -2.98408656e-03 2.81301539e-01] [ 1.74830409e-02 2.98046788e-03 9.99842718e-01 -2.67510129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.553133364999994 meters Centerline goodness : 0.132666 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.28, Z:-0.27 [[ 9.99847730e-01 -9.28949007e-05 -1.74501577e-02 -6.80720563e-02] [ 4.94499971e-05 9.99996899e-01 -2.49007179e-03 2.78118459e-01] [ 1.74503349e-02 2.48882972e-03 9.99844634e-01 -2.67060219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.583133364999995 meters Centerline goodness : 0.126094 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.28, Z:-0.27 [[ 9.99848804e-01 1.49625848e-04 -1.73880949e-02 -6.83753276e-02] [-1.84084995e-04 9.99998022e-01 -1.98018300e-03 2.75698147e-01] [ 1.73877642e-02 1.98308449e-03 9.99846855e-01 -2.66853313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.613133364999996 meters Centerline goodness : 0.156900 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.27, Z:-0.27 [[ 9.99850884e-01 8.33667605e-04 -1.72486346e-02 -6.85402899e-02] [-8.50065844e-04 9.99999194e-01 -9.43387912e-04 2.71846972e-01] [ 1.72478342e-02 9.57909713e-04 9.99850786e-01 -2.67103053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.643133365 meters Centerline goodness : 0.250486 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.27, Z:-0.27 [[ 9.99852601e-01 9.61667813e-04 -1.71421067e-02 -6.88002316e-02] [-9.73938845e-04 9.99999275e-01 -7.07507654e-04 2.70514827e-01] [ 1.71414138e-02 7.24098731e-04 9.99852813e-01 -2.67159586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67313336499999 meters Centerline goodness : 0.250486 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.27, Z:-0.27 [[ 9.99852519e-01 9.59805257e-04 -1.71469711e-02 -6.87980706e-02] [-9.72127417e-04 9.99999275e-01 -7.10299533e-04 2.70517597e-01] [ 1.71462769e-02 7.26863818e-04 9.99852728e-01 -2.67152510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70313336499999 meters Centerline goodness : 0.244351 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.27, Z:-0.27 [[ 9.99846721e-01 1.34190580e-03 -1.74566390e-02 -6.80428264e-02] [-1.34786385e-03 9.99999037e-01 -3.29544560e-04 2.68522143e-01] [ 1.74561800e-02 3.53023220e-04 9.99847567e-01 -2.67367740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73313336499999 meters Centerline goodness : 0.104238 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.27, Z:-0.27 [[ 9.99838704e-01 1.57303604e-03 -1.78910849e-02 -6.66558125e-02] [-1.57504870e-03 9.99998755e-01 -9.84048228e-05 2.67704247e-01] [ 1.78909078e-02 1.26568281e-04 9.99839937e-01 -2.68039126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.763133364999995 meters Centerline goodness : 0.267749 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.27, Z:-0.27 [[ 9.99831573e-01 1.82088128e-03 -1.82622327e-02 -6.53261128e-02] [-1.81829308e-03 9.99998334e-01 1.58327395e-04 2.66847900e-01] [ 1.82624906e-02 -1.25094637e-04 9.99833219e-01 -2.68817459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.793133364999996 meters SLAMing on 50.823133365 meters Centerline goodness : 0.229024 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.26, Z:-0.27 [[ 9.99830167e-01 2.28733645e-03 -1.82867682e-02 -6.49304559e-02] [-2.26904853e-03 9.99996905e-01 1.02074906e-03 2.62534389e-01] [ 1.82890464e-02 -9.79082140e-04 9.99832262e-01 -2.69412390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.853133365 meters Centerline goodness : 0.100829 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.26, Z:-0.27 [[ 0.99983233 0.00241484 -0.01815156 -0.06530922] [-0.00239062 0.99999622 0.00135597 0.26070684] [ 0.01815477 -0.00131235 0.99983433 -0.26932915] [ 0. 0. 0. 1. ]] SLAMing on 50.88313336499999 meters Centerline goodness : 0.268918 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.26, Z:-0.27 [[ 0.99983829 0.00264142 -0.01778823 -0.0662823 ] [-0.00260664 0.99999465 0.00197797 0.25735891] [ 0.01779336 -0.00193128 0.99983982 -0.26915149] [ 0. 0. 0. 1. ]] SLAMing on 50.91313336499999 meters Centerline goodness : 0.103749 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.26, Z:-0.27 [[ 0.99983787 0.00275283 -0.01779483 -0.06605186] [-0.00271278 0.99999373 0.00227405 0.25576147] [ 0.01780098 -0.0022254 0.99983907 -0.26945973] [ 0. 0. 0. 1. ]] SLAMing on 50.943133364999994 meters Centerline goodness : 0.125475 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.25, Z:-0.27 [[ 0.99983088 0.00303069 -0.01813885 -0.06473321] [-0.00297975 0.99999154 0.00283444 0.25301361] [ 0.01814729 -0.00277992 0.99983146 -0.27027299] [ 0. 0. 0. 1. ]] SLAMing on 50.973133364999995 meters SLAMing on 51.003133365 meters Centerline goodness : 0.102202 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.25, Z:-0.27 [[ 0.99982206 0.00326446 -0.01857928 -0.06332379] [-0.00320678 0.99998995 0.00313365 0.25181764] [ 0.01858932 -0.00307351 0.99982248 -0.27087896] [ 0. 0. 0. 1. ]] SLAMing on 51.033133365 meters Centerline goodness : 0.094000 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.25, Z:-0.27 [[ 0.99982313 0.00336811 -0.01850327 -0.063719 ] [-0.0033104 0.99998956 0.00314911 0.2518247 ] [ 0.01851368 -0.0030873 0.99982384 -0.27067644] [ 0. 0. 0. 1. ]] SLAMing on 51.06313336499999 meters Centerline goodness : 0.253652 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.25, Z:-0.27 [[ 0.99982262 0.0033997 -0.01852495 -0.06378181] [-0.00334357 0.99998973 0.00306005 0.25248831] [ 0.01853516 -0.00299757 0.99982372 -0.27061264] [ 0. 0. 0. 1. ]] SLAMing on 51.09313336499999 meters Centerline goodness : 0.098207 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.25, Z:-0.27 [[ 0.99981974 0.00350622 -0.01865975 -0.0633675 ] [-0.00345353 0.99998996 0.00285538 0.25406001] [ 0.01866957 -0.00279042 0.99982181 -0.27098139] [ 0. 0. 0. 1. ]] SLAMing on 51.123133364999994 meters Centerline goodness : 0.082637 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.25, Z:-0.27 [[ 0.99982147 0.00349629 -0.01856896 -0.06360217] [-0.00344526 0.9999902 0.0027795 0.25442631] [ 0.01857849 -0.00271502 0.99982372 -0.27102678] [ 0. 0. 0. 1. ]] SLAMing on 51.153133364999995 meters Centerline goodness : 0.142984 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.25, Z:-0.27 [[ 0.99982549 0.00344982 -0.01835969 -0.06437484] [-0.00340039 0.99999051 0.00272292 0.25455354] [ 0.01836891 -0.00266001 0.99982774 -0.27064717] [ 0. 0. 0. 1. ]] SLAMing on 51.183133364999996 meters Centerline goodness : 0.100620 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.26, Z:-0.27 [[ 0.99983433 0.00345223 -0.01787181 -0.06617938] [-0.00340446 0.99999055 0.00270267 0.25502204] [ 0.01788097 -0.00264138 0.99983663 -0.2697163 ] [ 0. 0. 0. 1. ]] SLAMing on 51.213133365 meters SLAMing on 51.24313336499999 meters Centerline goodness : 0.148523 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.26, Z:-0.27 [[ 0.99983214 0.00335269 -0.01801273 -0.06547294] [-0.00330935 0.99999156 0.00243542 0.25661702] [ 0.01802074 -0.0023754 0.99983479 -0.27030021] [ 0. 0. 0. 1. ]] SLAMing on 51.27313336499999 meters Centerline goodness : 0.307213 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.26, Z:-0.27 [[ 0.99982933 0.0032961 -0.01817827 -0.06503861] [-0.00325597 0.9999922 0.00223677 0.25784676] [ 0.0181855 -0.0021772 0.99983226 -0.27039737] [ 0. 0. 0. 1. ]] SLAMing on 51.303133364999994 meters Centerline goodness : 0.224607 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.26, Z:-0.27 [[ 0.9998289 0.00323607 -0.01821249 -0.06488852] [-0.00319974 0.99999283 0.00202402 0.25903687] [ 0.01821891 -0.0019654 0.99983209 -0.27054129] [ 0. 0. 0. 1. ]] SLAMing on 51.333133364999995 meters Centerline goodness : 0.095956 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.26, Z:-0.27 [[ 0.99984572 -0.00440949 -0.0170026 -0.08532836] [ 0.00445449 0.99998667 0.00260964 0.26430399] [ 0.01699086 -0.00268497 0.99985204 -0.27264267] [ 0. 0. 0. 1. ]] SLAMing on 51.363133364999996 meters SLAMing on 51.393133365 meters Centerline goodness : 0.092045 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.27, Z:-0.27 [[ 0.99988484 0.00316812 -0.01484169 -0.06611284] [-0.00315081 0.99999433 0.00119008 0.26522316] [ 0.01484537 -0.00114318 0.99988915 -0.27166311] [ 0. 0. 0. 1. ]] SLAMing on 51.42313336499999 meters Centerline goodness : 0.334052 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.26, Z:-0.27 [[ 9.99835817e-01 2.99415147e-03 -1.78710673e-02 -1.08823105e-01] [-2.99508280e-03 9.99995514e-01 -2.53496248e-05 2.64559886e-01] [ 1.78709112e-02 7.88707890e-05 9.99840299e-01 -2.72068812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45313336499999 meters Centerline goodness : 0.090493 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.26, Z:-0.27 [[ 9.99834568e-01 2.98799440e-03 -1.79418067e-02 -1.08570511e-01] [-2.98863889e-03 9.99995534e-01 -9.10806973e-06 2.64481715e-01] [ 1.79416994e-02 6.27281444e-05 9.99839033e-01 -2.72179420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48313336499999 meters Centerline goodness : 0.082277 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.26, Z:-0.27 [[ 9.99837650e-01 3.03403213e-03 -1.77614221e-02 -1.09215779e-01] [-3.03295879e-03 9.99995397e-01 8.73676051e-05 2.64229554e-01] [ 1.77616054e-02 -3.34837597e-05 9.99842250e-01 -2.71856638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.513133364999995 meters Centerline goodness : 0.095230 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.26, Z:-0.27 [[ 9.99842965e-01 3.13262312e-03 -1.74422246e-02 -1.10369568e-01] [-3.12670467e-03 9.99995045e-01 3.66577758e-04 2.63062230e-01] [ 1.74432866e-02 -3.11983507e-04 9.99847806e-01 -2.71167370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.543133364999996 meters SLAMing on 51.573133365 meters Centerline goodness : 0.096564 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.26, Z:-0.27 [[ 9.99839771e-01 3.06006239e-03 -1.76371037e-02 -1.09866846e-01] [-3.05188215e-03 9.99995223e-01 4.90705011e-04 2.61190557e-01] [ 1.76385211e-02 -4.36800024e-04 9.99844334e-01 -2.71246382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.603133365 meters Centerline goodness : 0.145097 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.26, Z:-0.27 [[ 9.99836494e-01 3.16735194e-03 -1.78031619e-02 -1.09429765e-01] [-3.15250039e-03 9.99994659e-01 8.62211024e-04 2.58988165e-01] [ 1.78057977e-02 -8.05945573e-04 9.99841139e-01 -2.71341478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63313336499999 meters Centerline goodness : 0.105444 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.26, Z:-0.27 [[ 0.99983825 0.00326285 -0.01768701 -0.10971844] [-0.00324425 0.99999415 0.00108045 0.25800069] [ 0.01769043 -0.0010229 0.99984299 -0.27131586] [ 0. 0. 0. 1. ]] SLAMing on 51.66313336499999 meters Centerline goodness : 0.274431 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.26, Z:-0.27 [[ 0.99983906 -0.00468187 -0.01731859 -0.09021376] [ 0.00472819 0.99998535 0.0026348 0.26186508] [ 0.017306 -0.00271627 0.99984655 -0.27041998] [ 0. 0. 0. 1. ]] SLAMing on 51.693133364999994 meters Centerline goodness : 0.104928 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.26, Z:-0.27 [[ 0.99983554 -0.00452135 -0.01756278 -0.08900039] [ 0.00457655 0.99998471 0.00310418 0.25930582] [ 0.01754847 -0.00318405 0.99984094 -0.27131867] [ 0. 0. 0. 1. ]] SLAMing on 51.723133364999995 meters SLAMing on 51.753133365 meters Centerline goodness : 0.038016 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.25, Z:-0.27 [[ 9.99814733e-01 -8.22212510e-03 -1.74038942e-02 -8.93522306e-02] [ 8.22668123e-03 9.99966142e-01 1.90209043e-04 2.53803601e-01] [ 1.74017410e-02 -3.33350093e-04 9.99848523e-01 -2.71147445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.783133365 meters Centerline goodness : 0.225750 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.24, Z:-0.27 [[ 9.99873718e-01 -9.78505340e-04 -1.58616194e-02 -1.11017099e-01] [ 9.61988262e-04 9.99998987e-01 -1.04891989e-03 2.44268368e-01] [ 1.58626297e-02 1.03352874e-03 9.99873646e-01 -2.72032256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81313336499999 meters Centerline goodness : 0.155515 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.24, Z:-0.27 [[ 9.99873172e-01 -8.38255135e-04 -1.59039709e-02 -1.10895527e-01] [ 8.32147121e-04 9.99999577e-01 -3.90669652e-04 2.40670173e-01] [ 1.59042916e-02 3.77385661e-04 9.99873448e-01 -2.71931874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84313336499999 meters Centerline goodness : 0.100318 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.23, Z:-0.27 [[ 9.99875774e-01 -7.71774562e-04 -1.57429512e-02 -1.11096647e-01] [ 7.80611984e-04 9.99999541e-01 5.55220168e-04 2.34254113e-01] [ 1.57425154e-02 -5.67440332e-04 9.99875918e-01 -2.71946931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.873133364999994 meters SLAMing on 51.903133364999995 meters SLAMing on 51.933133364999996 meters SLAMing on 51.963133365 meters SLAMing on 51.99313336499999 meters Centerline goodness : 0.099241 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.22, Z:-0.27 [[ 9.99874056e-01 -9.14736467e-04 -1.58441004e-02 -1.11066713e-01] [ 9.36340515e-04 9.99998642e-01 1.35617443e-03 2.21711286e-01] [ 1.58428383e-02 -1.37083910e-03 9.99873555e-01 -2.71608208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02313336499999 meters SLAMing on 52.053133364999994 meters SLAMing on 52.083133364999995 meters Centerline goodness : 0.177893 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.21, Z:-0.27 [[ 9.99881398e-01 -3.41075394e-03 -1.50185753e-02 -1.15124603e-01] [ 3.41492519e-03 9.99994137e-01 2.52102933e-04 2.09863225e-01] [ 1.50176274e-02 -3.03360345e-04 9.99887183e-01 -2.68797305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.113133364999996 meters Centerline goodness : 0.183370 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.21, Z:-0.27 [[ 9.99885659e-01 -3.22743066e-03 -1.47733807e-02 -1.15748847e-01] [ 3.24125538e-03 9.99994331e-01 9.11937763e-04 2.06453304e-01] [ 1.47703537e-02 -9.59717791e-04 9.99890452e-01 -2.68597551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.143133365 meters Centerline goodness : 0.192801 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.20, Z:-0.27 [[ 0.99988649 -0.00309579 -0.01474541 -0.11525498] [ 0.00312191 0.9999936 0.00174863 0.20067432] [ 0.01473991 -0.00179446 0.99988975 -0.26919107] [ 0. 0. 0. 1. ]] SLAMing on 52.17313336499999 meters Centerline goodness : 0.099575 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.20, Z:-0.27 [[ 0.9998841 -0.00293457 -0.01493918 -0.11442977] [ 0.00296766 0.99999319 0.0021934 0.19823861] [ 0.01493264 -0.00223748 0.999886 -0.26972268] [ 0. 0. 0. 1. ]] SLAMing on 52.20313336499999 meters SLAMing on 52.23313336499999 meters Centerline goodness : 0.121527 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.27 [[ 0.99987729 -0.00249493 -0.01546515 -0.11210095] [ 0.00254557 0.99999146 0.00325572 0.19139534] [ 0.0154569 -0.00329469 0.99987511 -0.27110861] [ 0. 0. 0. 1. ]] SLAMing on 52.263133364999995 meters Centerline goodness : 0.124886 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.27 [[ 0.99987738 -0.00235178 -0.0154818 -0.11186719] [ 0.00240724 0.99999075 0.00356491 0.18985337] [ 0.01547327 -0.00360174 0.99987379 -0.27140729] [ 0. 0. 0. 1. ]] SLAMing on 52.293133364999996 meters Centerline goodness : 0.137728 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.27 [[ 0.9998798 -0.00187652 -0.01539068 -0.11169723] [ 0.00193996 0.99998968 0.00410758 0.18820185] [ 0.01538282 -0.00413694 0.99987312 -0.2720757 ] [ 0. 0. 0. 1. ]] SLAMing on 52.323133365 meters Centerline goodness : 0.166954 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.27 [[ 0.99987934 -0.00180326 -0.01542876 -0.11131342] [ 0.00186613 0.99999001 0.00406166 0.18871549] [ 0.01542128 -0.00408996 0.99987272 -0.27261145] [ 0. 0. 0. 1. ]] SLAMing on 52.353133365 meters SLAMing on 52.38313336499999 meters Centerline goodness : 0.171463 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.27 [[ 0.99987882 -0.00100505 -0.01553499 -0.11076276] [ 0.00107138 0.99999034 0.00426203 0.19019427] [ 0.01553056 -0.00427816 0.99987024 -0.27344398] [ 0. 0. 0. 1. ]] SLAMing on 52.41313336499999 meters Centerline goodness : 0.167455 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.27 [[ 9.99882608e-01 -9.16695671e-04 -1.52947429e-02 -1.11391482e-01] [ 9.80739194e-04 9.99990782e-01 4.18031503e-03 1.91304941e-01] [ 1.52907698e-02 -4.19482445e-03 9.99874290e-01 -2.73480314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.443133364999994 meters Centerline goodness : 0.166685 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.27 [[ 0.99988469 -0.00104003 -0.01515021 -0.11173759] [ 0.00109723 0.9999923 0.00376815 0.19341584] [ 0.01514617 -0.00378434 0.99987813 -0.27365879] [ 0. 0. 0. 1. ]] SLAMing on 52.473133364999995 meters Centerline goodness : 0.086893 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.19, Z:-0.27 [[ 9.99858630e-01 5.33835886e-03 -1.59443434e-02 -1.32859827e-01] [-5.32798219e-03 9.99985566e-01 6.93213704e-04 1.89573454e-01] [ 1.59478139e-02 -6.08164527e-04 9.99872641e-01 -2.73627540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.503133365 meters Centerline goodness : 0.179587 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.19, Z:-0.27 [[ 9.99858993e-01 5.20093506e-03 -1.59669820e-02 -1.32988398e-01] [-5.19445658e-03 9.99986409e-01 4.47188364e-04 1.90500610e-01] [ 1.59690908e-02 -3.64185512e-04 9.99872420e-01 -2.73396123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.533133365 meters Centerline goodness : 0.168095 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.19, Z:-0.27 [[ 9.99862835e-01 5.09168015e-03 -1.57602508e-02 -1.33912930e-01] [-5.09148298e-03 9.99987037e-01 5.26349451e-05 1.93144046e-01] [ 1.57603145e-02 2.76153234e-05 9.99875798e-01 -2.72804104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56313336499999 meters Centerline goodness : 0.168095 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.19, Z:-0.27 [[ 9.99862835e-01 5.09168015e-03 -1.57602508e-02 -1.33912930e-01] [-5.09148298e-03 9.99987037e-01 5.26349451e-05 1.93144046e-01] [ 1.57603145e-02 2.76153234e-05 9.99875798e-01 -2.72804104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59313336499999 meters Centerline goodness : 0.163433 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.20, Z:-0.27 [[ 0.99989343 -0.00281222 -0.01432572 -0.1157412 ] [ 0.00283221 0.99999504 0.00137537 0.19987223] [ 0.01432178 -0.00141579 0.99989644 -0.27135566] [ 0. 0. 0. 1. ]] SLAMing on 52.623133364999994 meters Centerline goodness : 0.162259 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.20, Z:-0.27 [[ 0.9999009 -0.00310759 -0.01373082 -0.11796526] [ 0.00312206 0.99999459 0.0010321 0.20112511] [ 0.01372753 -0.00107487 0.9999052 -0.27007686] [ 0. 0. 0. 1. ]] SLAMing on 52.653133364999995 meters Centerline goodness : 0.166965 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.20, Z:-0.27 [[ 9.99899087e-01 -3.18596298e-03 -1.38443493e-02 -1.17906546e-01] [ 3.19996260e-03 9.99994391e-01 9.89181362e-04 2.01079803e-01] [ 1.38411201e-02 -1.03338294e-03 9.99903673e-01 -2.69682226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.683133364999996 meters SLAMing on 52.713133365 meters Centerline goodness : 0.161474 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.20, Z:-0.27 [[ 0.99989014 -0.00347231 -0.01441017 -0.11676525] [ 0.00349015 0.99999317 0.00121269 0.19882742] [ 0.01440586 -0.00126285 0.99989543 -0.26914374] [ 0. 0. 0. 1. ]] SLAMing on 52.74313336499999 meters SLAMing on 52.77313336499999 meters Centerline goodness : 0.097121 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.19, Z:-0.27 [[ 9.99920232e-01 2.66633675e-03 -1.23458643e-02 -1.37877149e-01] [-2.67882311e-03 9.99995917e-01 -9.94953909e-04 1.91078938e-01] [ 1.23431610e-02 1.02794693e-03 9.99923292e-01 -2.70470039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.803133364999994 meters Centerline goodness : 0.162386 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.19, Z:-0.27 [[ 9.99921372e-01 2.66280559e-03 -1.22539654e-02 -1.38193321e-01] [-2.67462186e-03 9.99995974e-01 -9.47994239e-04 1.90519060e-01] [ 1.22513918e-02 9.80694424e-04 9.99924468e-01 -2.70321385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.833133364999995 meters Centerline goodness : 0.161698 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.19, Z:-0.27 [[ 0.99991838 0.00271415 -0.01248433 -0.13714042] [-0.00272747 0.99999573 -0.00105063 0.1910872 ] [ 0.01248143 0.0010846 0.99992152 -0.2712523 ] [ 0. 0. 0. 1. ]] SLAMing on 52.863133364999996 meters Centerline goodness : 0.162066 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.19, Z:-0.27 [[ 0.9999178 0.00275881 -0.01252115 -0.13665412] [-0.00277385 0.99999545 -0.001184 0.192132 ] [ 0.01251782 0.00121864 0.99992091 -0.27196304] [ 0. 0. 0. 1. ]] SLAMing on 52.893133365 meters Centerline goodness : 0.164645 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.19, Z:-0.27 [[ 0.99991735 0.00295107 -0.0125137 -0.13635947] [-0.00296849 0.99999465 -0.00137368 0.19387827] [ 0.01250958 0.00141072 0.99992076 -0.27269352] [ 0. 0. 0. 1. ]] SLAMing on 52.92313336499999 meters Centerline goodness : 0.160486 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.19, Z:-0.27 [[ 0.99991794 0.00292856 -0.0124711 -0.13633856] [-0.00294772 0.9999945 -0.00151783 0.19458048] [ 0.01246659 0.00155447 0.99992108 -0.27300611] [ 0. 0. 0. 1. ]] SLAMing on 52.95313336499999 meters Centerline goodness : 0.164090 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.20, Z:-0.27 [[ 0.99991655 0.00290745 -0.01258754 -0.13586804] [-0.00292806 0.9999944 -0.00161936 0.19504875] [ 0.01258276 0.00165608 0.99991946 -0.27336588] [ 0. 0. 0. 1. ]] SLAMing on 52.98313336499999 meters Centerline goodness : 0.162283 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.27 [[ 0.99991075 0.00289828 -0.0130421 -0.13413727] [-0.00292141 0.99999419 -0.0017546 0.19578246] [ 0.01303694 0.00179254 0.99991341 -0.27452985] [ 0. 0. 0. 1. ]] SLAMing on 53.013133364999995 meters Centerline goodness : 0.165760 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.28 [[ 0.99990789 0.002862 -0.01326754 -0.13325032] [-0.00288641 0.99999418 -0.00182126 0.19606423] [ 0.01326225 0.00185938 0.99991032 -0.27511584] [ 0. 0. 0. 1. ]] SLAMing on 53.043133364999996 meters SLAMing on 53.073133365 meters SLAMing on 53.103133365 meters Centerline goodness : 0.164150 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.27 [[ 0.99991045 0.0027655 -0.01309343 -0.13383186] [-0.00279063 0.9999943 -0.00190092 0.19677229] [ 0.0130881 0.00193729 0.99991247 -0.27481648] [ 0. 0. 0. 1. ]] SLAMing on 53.13313336499999 meters SLAMing on 53.16313336499999 meters Centerline goodness : 0.161085 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.20, Z:-0.27 [[ 0.99992426 0.00193841 -0.01215416 -0.13699687] [-0.00196646 0.99999543 -0.00229655 0.1958013 ] [ 0.01214965 0.00232028 0.9999235 -0.27322983] [ 0. 0. 0. 1. ]] SLAMing on 53.193133364999994 meters SLAMing on 53.223133364999995 meters SLAMing on 53.253133365 meters SLAMing on 53.283133365 meters Centerline goodness : 0.158077 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.20, Z:-0.27 [[ 0.9999313 0.00199581 -0.01155076 -0.13871932] [-0.00202465 0.99999486 -0.00248513 0.19761274] [ 0.01154574 0.00250834 0.9999302 -0.27282271] [ 0. 0. 0. 1. ]] SLAMing on 53.31313336499999 meters Centerline goodness : 0.160571 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.20, Z:-0.27 [[ 0.99993534 0.00181147 -0.01122692 -0.13928505] [-0.00184643 0.99999348 -0.00310446 0.20037786] [ 0.01122123 0.00312499 0.99993216 -0.27336428] [ 0. 0. 0. 1. ]] SLAMing on 53.34313336499999 meters Centerline goodness : 0.158318 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.20, Z:-0.27 [[ 0.99991226 0.00242072 -0.01302315 -0.1850218 ] [-0.0024622 0.99999194 -0.00317018 0.19888278] [ 0.01301537 0.00320197 0.99991017 -0.27293388] [ 0. 0. 0. 1. ]] SLAMing on 53.373133364999994 meters Centerline goodness : 0.160822 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.21, Z:-0.27 [[ 0.99993297 0.00373803 -0.01095854 -0.14324941] [-0.00376344 0.99999027 -0.00229966 0.20630193] [ 0.01094984 0.00234074 0.99993731 -0.27157426] [ 0. 0. 0. 1. ]] SLAMing on 53.403133364999995 meters Centerline goodness : 0.148156 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.21, Z:-0.27 [[ 0.99993273 0.00357162 -0.01103501 -0.14307446] [-0.00360196 0.99998979 -0.00273024 0.20827264] [ 0.01102515 0.0027698 0.99993539 -0.27166615] [ 0. 0. 0. 1. ]] SLAMing on 53.433133364999996 meters Centerline goodness : 0.161638 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.21, Z:-0.27 [[ 0.99989974 0.00330794 -0.01376864 -0.18612202] [-0.0033592 0.99998751 -0.00370152 0.20738802] [ 0.01375623 0.0037474 0.99989836 -0.27237523] [ 0. 0. 0. 1. ]] SLAMing on 53.463133365 meters SLAMing on 53.49313336499999 meters Centerline goodness : 0.159722 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.21, Z:-0.28 [[ 0.99987008 0.00522773 -0.01524791 -0.17971147] [-0.00526731 0.99998286 -0.00255632 0.21372735] [ 0.01523429 0.0026363 0.99988048 -0.27609407] [ 0. 0. 0. 1. ]] SLAMing on 53.52313336499999 meters Centerline goodness : 0.162311 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.22, Z:-0.28 [[ 0.99987223 0.00502646 -0.01517436 -0.18002235] [-0.00507198 0.99998275 -0.00296278 0.21550641] [ 0.01515921 0.00303937 0.99988047 -0.27592883] [ 0. 0. 0. 1. ]] SLAMing on 53.553133364999994 meters Centerline goodness : 0.156548 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.27 [[ 0.99989181 -0.00344699 -0.01430013 -0.16105673] [ 0.00341511 0.99999163 -0.00225355 0.22147534] [ 0.01430778 0.00220447 0.99989521 -0.27479392] [ 0. 0. 0. 1. ]] SLAMing on 53.583133364999995 meters Centerline goodness : 0.165003 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.27 [[ 0.9998935 -0.00349423 -0.01416976 -0.16172357] [ 0.00346148 0.99999128 -0.00233499 0.22207395] [ 0.0141778 0.00228569 0.99989688 -0.27424236] [ 0. 0. 0. 1. ]] SLAMing on 53.613133364999996 meters Centerline goodness : 0.142330 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.27 [[ 0.99989365 -0.00348576 -0.01416085 -0.16167462] [ 0.00345249 0.99999122 -0.00237292 0.22252926] [ 0.014169 0.00232378 0.99989691 -0.27437037] [ 0. 0. 0. 1. ]] SLAMing on 53.643133365 meters Centerline goodness : 0.162247 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.22, Z:-0.28 [[ 0.99988454 0.00475243 -0.01443347 -0.1804746 ] [-0.00480641 0.99998158 -0.0037073 0.21758975] [ 0.01441559 0.00377624 0.99988896 -0.27610272] [ 0. 0. 0. 1. ]] SLAMing on 53.67313336499999 meters SLAMing on 53.70313336499999 meters Centerline goodness : 0.095341 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.27 [[ 0.99992499 -0.00189696 -0.01210037 -0.16392471] [ 0.00188366 0.99999761 -0.00111092 0.22432985] [ 0.01210245 0.00108805 0.99992617 -0.27466252] [ 0. 0. 0. 1. ]] SLAMing on 53.73313336499999 meters Centerline goodness : 0.156164 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.23, Z:-0.27 [[ 0.99993005 -0.00188512 -0.01167694 -0.16510436] [ 0.00186807 0.99999717 -0.00147125 0.22666617] [ 0.01167968 0.00144934 0.99993074 -0.27456527] [ 0. 0. 0. 1. ]] SLAMing on 53.763133364999995 meters SLAMing on 53.793133364999996 meters Centerline goodness : 0.114220 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992559 -0.00204228 -0.01202687 -0.16400589] [ 0.00201751 0.99999582 -0.00207141 0.2293959 ] [ 0.01203105 0.002047 0.99992553 -0.27523611] [ 0. 0. 0. 1. ]] SLAMing on 53.823133365 meters Centerline goodness : 0.135649 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 9.99908192e-01 -1.46199248e-04 -1.35493626e-02 -1.57475534e-01] [ 1.38724887e-04 9.99999838e-01 -5.52577485e-04 2.31293568e-01] [ 1.35494412e-02 5.50647120e-04 9.99908050e-01 -2.78728566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.853133365 meters SLAMing on 53.88313336499999 meters Centerline goodness : 0.166220 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 9.99905963e-01 -3.50273711e-04 -1.37092254e-02 -1.57019714e-01] [ 3.36727991e-04 9.99999453e-01 -9.90369072e-04 2.32602976e-01] [ 1.37095648e-02 9.85659661e-04 9.99905534e-01 -2.79058400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91313336499999 meters Centerline goodness : 0.088971 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 9.99907697e-01 -3.54977959e-04 -1.35820196e-02 -1.57482121e-01] [ 3.41503755e-04 9.99999447e-01 -9.94368317e-04 2.32598982e-01] [ 1.35823651e-02 9.89638223e-04 9.99907266e-01 -2.78856566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.943133364999994 meters Centerline goodness : 0.144947 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 9.99909203e-01 -3.30120811e-04 -1.34713377e-02 -1.58034891e-01] [ 3.16658852e-04 9.99999448e-01 -1.00142460e-03 2.32968119e-01] [ 1.34716609e-02 9.97067858e-04 9.99908756e-01 -2.78403885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.973133364999995 meters SLAMing on 54.003133365 meters Centerline goodness : 0.121577 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.24, Z:-0.28 [[ 9.99919777e-01 -2.72813604e-04 -1.26635599e-02 -1.60497200e-01] [ 2.54128753e-04 9.99998877e-01 -1.47706738e-03 2.37077191e-01] [ 1.26639487e-02 1.47373071e-03 9.99918723e-01 -2.77776622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.033133365 meters Centerline goodness : 0.128882 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.24, Z:-0.28 [[ 9.99920990e-01 -4.25566289e-04 -1.25631603e-02 -1.61111407e-01] [ 4.00965763e-04 9.99997998e-01 -1.96060178e-03 2.39748564e-01] [ 1.25639695e-02 1.95540947e-03 9.99919158e-01 -2.77363564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06313336499999 meters Centerline goodness : 0.153081 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.24, Z:-0.28 [[ 9.99919409e-01 -4.47689670e-04 -1.26875607e-02 -1.60759604e-01] [ 4.21132590e-04 9.99997715e-01 -2.09575319e-03 2.40733431e-01] [ 1.26884699e-02 2.09024115e-03 9.99917313e-01 -2.77460010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09313336499999 meters SLAMing on 54.123133364999994 meters Centerline goodness : 0.137661 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.24, Z:-0.28 [[ 9.99923099e-01 -6.47674325e-04 -1.23845611e-02 -1.61976846e-01] [ 6.19872759e-04 9.99997280e-01 -2.24856360e-03 2.40987053e-01] [ 1.23859837e-02 2.24071383e-03 9.99920780e-01 -2.76636423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.153133364999995 meters Centerline goodness : 0.152405 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.24, Z:-0.28 [[ 9.99929286e-01 -7.84799106e-04 -1.18662517e-02 -1.63636356e-01] [ 7.59605557e-04 9.99997448e-01 -2.12748405e-03 2.39744429e-01] [ 1.18678911e-02 2.11831993e-03 9.99927330e-01 -2.75810596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.183133364999996 meters Centerline goodness : 0.144109 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.24, Z:-0.27 [[ 0.999932 -0.00158692 -0.01155329 -0.16478739] [ 0.00156161 0.99999636 -0.00219963 0.23691693] [ 0.01155674 0.00218144 0.99993084 -0.27498881] [ 0. 0. 0. 1. ]] SLAMing on 54.213133365 meters Centerline goodness : 0.127513 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992941 -0.00202049 -0.01170884 -0.16382192] [ 0.00199782 0.99999611 -0.00194689 0.23384818] [ 0.01171273 0.00192336 0.99992955 -0.27564244] [ 0. 0. 0. 1. ]] SLAMing on 54.24313336499999 meters Centerline goodness : 0.101270 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992936 -0.00193399 -0.01172759 -0.16345123] [ 0.00191593 0.99999696 -0.00155096 0.23170529] [ 0.01173055 0.00152838 0.99993003 -0.27605905] [ 0. 0. 0. 1. ]] SLAMing on 54.27313336499999 meters SLAMing on 54.303133364999994 meters SLAMing on 54.333133364999995 meters Centerline goodness : 0.099621 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99933689e-01 -1.88894226e-03 -1.13599543e-02 -1.63646658e-01] [ 1.88329472e-03 9.99998098e-01 -5.07821420e-04 2.23757580e-01] [ 1.13608920e-02 4.86393604e-04 9.99935345e-01 -2.76721583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.363133364999996 meters Centerline goodness : 0.091004 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99933098e-01 -1.74774891e-03 -1.14344153e-02 -1.63287443e-01] [ 1.74537090e-03 9.99998453e-01 -2.17945017e-04 2.22444159e-01] [ 1.14347785e-02 1.97973140e-04 9.99934601e-01 -2.77015461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.393133365 meters SLAMing on 54.42313336499999 meters Centerline goodness : 0.097956 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99923244e-01 -1.67151556e-03 -1.22765078e-02 -1.59950216e-01] [ 1.67031355e-03 9.99998599e-01 -1.08163462e-04 2.20710390e-01] [ 1.22766714e-02 8.76495429e-05 9.99924635e-01 -2.79183240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45313336499999 meters Centerline goodness : 0.124719 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99917805e-01 -1.46427960e-03 -1.27373478e-02 -1.58142162e-01] [ 1.46594457e-03 9.99998918e-01 1.21380283e-04 2.20059315e-01] [ 1.27371563e-02 -1.40042552e-04 9.99918869e-01 -2.80478768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48313336499999 meters Centerline goodness : 0.124719 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99917805e-01 -1.46427960e-03 -1.27373478e-02 -1.58142162e-01] [ 1.46594457e-03 9.99998918e-01 1.21380283e-04 2.20059315e-01] [ 1.27371563e-02 -1.40042552e-04 9.99918869e-01 -2.80478768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.513133364999995 meters SLAMing on 54.543133364999996 meters Centerline goodness : 0.167715 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99916763e-01 -1.36175077e-03 -1.28301190e-02 -1.57651689e-01] [ 1.36476360e-03 9.99999043e-01 2.26072380e-04 2.19906248e-01] [ 1.28297989e-02 -2.43563642e-04 9.99917665e-01 -2.80910742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.573133365 meters Centerline goodness : 0.115859 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99914107e-01 -1.48518763e-03 -1.30220372e-02 -1.56971358e-01] [ 1.48708772e-03 9.99998885e-01 1.36231134e-04 2.19378902e-01] [ 1.30218204e-02 -1.55584344e-04 9.99915200e-01 -2.81310736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.603133365 meters Centerline goodness : 0.109683 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99915467e-01 -1.47319419e-03 -1.29185417e-02 -1.57618272e-01] [ 1.47575055e-03 9.99998893e-01 1.88352914e-04 2.19087233e-01] [ 1.29182499e-02 -2.07401538e-04 9.99916534e-01 -2.80718706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63313336499999 meters Centerline goodness : 0.160466 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99917490e-01 -1.43415952e-03 -1.27654511e-02 -1.58404692e-01] [ 1.43716164e-03 9.99998942e-01 2.26004690e-04 2.19182085e-01] [ 1.27651135e-02 -2.44332059e-04 9.99918493e-01 -2.80060555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66313336499999 meters Centerline goodness : 0.092580 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99919871e-01 -1.39681497e-03 -1.25817865e-02 -1.59189745e-01] [ 1.39752608e-03 9.99999022e-01 4.77277512e-05 2.20796315e-01] [ 1.25817076e-02 -6.53073017e-05 9.99920845e-01 -2.79624104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.693133364999994 meters Centerline goodness : 0.149548 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99920103e-01 -1.49313100e-03 -1.25522076e-02 -1.59036168e-01] [ 1.49100882e-03 9.99998873e-01 -1.78424494e-04 2.21687044e-01] [ 1.25524599e-02 1.59694786e-04 9.99921202e-01 -2.80042962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.723133364999995 meters Centerline goodness : 0.123888 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99923848e-01 -1.61636778e-03 -1.22346125e-02 -1.60012411e-01] [ 1.61060275e-03 9.99998587e-01 -4.81044915e-04 2.22964033e-01] [ 1.22353728e-02 4.61303181e-04 9.99925039e-01 -2.79823809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.753133365 meters Centerline goodness : 0.089859 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99927212e-01 -1.65989214e-03 -1.19505371e-02 -1.61130935e-01] [ 1.65288467e-03 9.99998456e-01 -5.96225098e-04 2.23602295e-01] [ 1.19515083e-02 5.76428841e-04 9.99928412e-01 -2.79142885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.783133365 meters Centerline goodness : 0.174884 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99929531e-01 -1.71126347e-03 -1.17475555e-02 -1.62069514e-01] [ 1.70258247e-03 9.99998270e-01 -7.48923239e-04 2.24445428e-01] [ 1.17488168e-02 7.28869281e-04 9.99930715e-01 -2.78466875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81313336499999 meters SLAMing on 54.84313336499999 meters Centerline goodness : 0.088617 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 9.99927719e-01 -1.70296600e-03 -1.19019243e-02 -1.61384325e-01] [ 1.69135102e-03 9.99998084e-01 -9.85888328e-04 2.26208523e-01] [ 1.19035804e-02 9.65686736e-04 9.99928684e-01 -2.79066661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.873133364999994 meters SLAMing on 54.903133364999995 meters Centerline goodness : 0.165740 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992488 -0.00172382 -0.01213553 -0.16093675] [ 0.00170847 0.99999773 -0.00127483 0.22784486] [ 0.0121377 0.001254 0.99992555 -0.27901238] [ 0. 0. 0. 1. ]] SLAMing on 54.933133364999996 meters SLAMing on 54.963133365 meters Centerline goodness : 0.150760 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992811 -0.00172371 -0.0118657 -0.1620764 ] [ 0.00170815 0.99999767 -0.00132064 0.22836641] [ 0.01186795 0.00130027 0.99992873 -0.27828045] [ 0. 0. 0. 1. ]] SLAMing on 54.99313336499999 meters Centerline goodness : 0.163466 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992941 -0.00168944 -0.01176084 -0.16244354] [ 0.00167481 0.99999781 -0.00125358 0.22812873] [ 0.01176293 0.00123379 0.99993005 -0.27808976] [ 0. 0. 0. 1. ]] SLAMing on 55.02313336499999 meters Centerline goodness : 0.152746 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992981 -0.00167667 -0.01172865 -0.1623849 ] [ 0.00166252 0.99999788 -0.00121645 0.22794222] [ 0.01173066 0.00119687 0.99993048 -0.27830312] [ 0. 0. 0. 1. ]] SLAMing on 55.053133364999994 meters SLAMing on 55.083133364999995 meters Centerline goodness : 0.169957 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992391 -0.00178783 -0.01220546 -0.16115826] [ 0.00177261 0.99999764 -0.00125799 0.22748093] [ 0.01220768 0.00123626 0.99992472 -0.278404 ] [ 0. 0. 0. 1. ]] SLAMing on 55.113133364999996 meters SLAMing on 55.143133365 meters Centerline goodness : 0.114373 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992422 -0.00176504 -0.01218365 -0.16164538] [ 0.00174931 0.99999762 -0.00130182 0.22803589] [ 0.01218592 0.00128041 0.99992493 -0.27774212] [ 0. 0. 0. 1. ]] SLAMing on 55.17313336499999 meters Centerline goodness : 0.089093 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992342 -0.00174364 -0.01225196 -0.16127244] [ 0.00172924 0.9999978 -0.0011853 0.22729658] [ 0.012254 0.00116402 0.99992424 -0.27805576] [ 0. 0. 0. 1. ]] SLAMing on 55.20313336499999 meters Centerline goodness : 0.091451 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99922270e-01 -1.67615942e-03 -1.23549112e-02 -1.60787045e-01] [ 1.66834556e-03 9.99998402e-01 -6.42729094e-04 2.24164204e-01] [ 1.23559688e-02 6.22066873e-04 9.99923469e-01 -2.78300308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23313336499999 meters Centerline goodness : 0.133345 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99921669e-01 -1.59548441e-03 -1.24140881e-02 -1.60601211e-01] [ 1.59286540e-03 9.99998707e-01 -2.20855824e-04 2.21793589e-01] [ 1.24144244e-02 2.01064553e-04 9.99922918e-01 -2.78220028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.263133364999995 meters Centerline goodness : 0.091917 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99918460e-01 -2.18696420e-03 -1.25813658e-02 -1.60215992e-01] [ 2.18695377e-03 9.99997609e-01 -1.45862983e-05 2.16345294e-01] [ 1.25813676e-02 -1.29297564e-05 9.99920851e-01 -2.78049799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.293133364999996 meters SLAMing on 55.323133365 meters Centerline goodness : 0.100952 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.21, Z:-0.28 [[ 9.99911177e-01 -2.16844760e-03 -1.31504947e-02 -1.58361308e-01] [ 2.17911288e-03 9.99997308e-01 7.96742631e-04 2.10680454e-01] [ 1.31487316e-02 -8.25328275e-04 9.99913211e-01 -2.78604416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.353133365 meters Centerline goodness : 0.127332 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.21, Z:-0.28 [[ 0.99990962 -0.00190022 -0.01330944 -0.1574167 ] [ 0.00192008 0.99999706 0.00147981 0.20703639] [ 0.01330659 -0.00150523 0.99991033 -0.27935499] [ 0. 0. 0. 1. ]] SLAMing on 55.38313336499999 meters Centerline goodness : 0.111868 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.21, Z:-0.28 [[ 0.9999091 -0.00185795 -0.01335417 -0.15720772] [ 0.00187907 0.999997 0.00156902 0.20629836] [ 0.01335122 -0.00159398 0.9999096 -0.27957933] [ 0. 0. 0. 1. ]] SLAMing on 55.41313336499999 meters Centerline goodness : 0.094088 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.21, Z:-0.28 [[ 0.99990856 -0.0018366 -0.01339781 -0.15702974] [ 0.0018574 0.99999709 0.00154009 0.20627494] [ 0.01339494 -0.00156483 0.99990906 -0.27978931] [ 0. 0. 0. 1. ]] SLAMing on 55.443133364999994 meters Centerline goodness : 0.134775 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.21, Z:-0.28 [[ 0.99990594 -0.00155728 -0.01362651 -0.15656128] [ 0.0015798 0.9999974 0.00164216 0.20658581] [ 0.01362392 -0.00166353 0.99990581 -0.27984354] [ 0. 0. 0. 1. ]] SLAMing on 55.473133364999995 meters Centerline goodness : 0.130785 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.20, Z:-0.28 [[ 9.99890722e-01 6.38554138e-03 -1.33329654e-02 -1.37023183e-01] [-6.37965704e-03 9.99979533e-01 4.83823323e-04 2.03872714e-01] [ 1.33357820e-02 -3.98710706e-04 9.99910995e-01 -2.78100501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.503133365 meters Centerline goodness : 0.099933 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.21, Z:-0.28 [[ 0.99992088 -0.00184964 -0.01244235 -0.11772614] [ 0.00186699 0.9999973 0.00138277 0.20872044] [ 0.01243976 -0.00140589 0.99992163 -0.27749513] [ 0. 0. 0. 1. ]] SLAMing on 55.533133365 meters Centerline goodness : 0.102269 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.20, Z:-0.28 [[ 9.99887136e-01 -2.45981469e-03 -1.48211190e-02 -1.63968526e-01] [ 2.47227851e-03 9.99996606e-01 8.22686742e-04 2.02278908e-01] [ 1.48190450e-02 -8.59235824e-04 9.99889823e-01 -2.76058807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56313336499999 meters Centerline goodness : 0.102606 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.20, Z:-0.28 [[ 0.99988737 -0.00237776 -0.01481899 -0.1642697 ] [ 0.00239418 0.99999654 0.00109073 0.20095649] [ 0.01481635 -0.00112609 0.9998896 -0.27552254] [ 0. 0. 0. 1. ]] SLAMing on 55.59313336499999 meters Centerline goodness : 0.102564 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.20, Z:-0.27 [[ 0.99988985 -0.00228267 -0.01466519 -0.16534338] [ 0.00230482 0.99999623 0.0014939 0.19901215] [ 0.01466173 -0.00152754 0.99989134 -0.27424904] [ 0. 0. 0. 1. ]] SLAMing on 55.623133364999994 meters Centerline goodness : 0.165136 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.20, Z:-0.27 [[ 0.99988908 -0.00224371 -0.01472411 -0.16546822] [ 0.00226799 0.9999961 0.00163208 0.19828062] [ 0.01472039 -0.0016653 0.99989026 -0.27377935] [ 0. 0. 0. 1. ]] SLAMing on 55.653133364999995 meters Centerline goodness : 0.089343 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.20, Z:-0.27 [[ 0.99988872 -0.0022021 -0.01475453 -0.16544912] [ 0.0022285 0.99999594 0.00177339 0.1976085 ] [ 0.01475057 -0.00180607 0.99988957 -0.27366709] [ 0. 0. 0. 1. ]] SLAMing on 55.683133364999996 meters Centerline goodness : 0.121216 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.20, Z:-0.27 [[ 0.99989038 -0.0020574 -0.01466295 -0.16565611] [ 0.00208848 0.9999956 0.00210466 0.19626854] [ 0.01465855 -0.00213506 0.99989028 -0.27365185] [ 0. 0. 0. 1. ]] SLAMing on 55.713133365 meters Centerline goodness : 0.108633 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.20, Z:-0.27 [[ 0.99989203 -0.00195853 -0.01456349 -0.16596622] [ 0.00199291 0.99999526 0.00234659 0.19514418] [ 0.01455883 -0.00237536 0.99989119 -0.27348045] [ 0. 0. 0. 1. ]] SLAMing on 55.74313336499999 meters Centerline goodness : 0.101989 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.19, Z:-0.27 [[ 0.9998961 -0.00192048 -0.01428607 -0.16687377] [ 0.00196105 0.99999408 0.00282675 0.19204373] [ 0.01428055 -0.00285447 0.99989395 -0.27295092] [ 0. 0. 0. 1. ]] SLAMing on 55.77313336499999 meters Centerline goodness : 0.102589 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.19, Z:-0.27 [[ 0.99989582 -0.00182564 -0.01431858 -0.16671231] [ 0.00187133 0.9999932 0.00317814 0.19001998] [ 0.01431269 -0.0032046 0.99989243 -0.27301275] [ 0. 0. 0. 1. ]] SLAMing on 55.803133364999994 meters Centerline goodness : 0.167368 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.19, Z:-0.27 [[ 0.99989492 -0.00173316 -0.01439234 -0.16641934] [ 0.00178393 0.99999223 0.00351513 0.1880571 ] [ 0.01438614 -0.00354044 0.99989025 -0.27315466] [ 0. 0. 0. 1. ]] SLAMing on 55.833133364999995 meters Centerline goodness : 0.098599 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.99987524 0.00576002 -0.01470829 -0.14621493] [-0.00572464 0.99998062 0.00244633 0.18317566] [ 0.01472209 -0.00236182 0.99988883 -0.27173018] [ 0. 0. 0. 1. ]] SLAMing on 55.863133364999996 meters Centerline goodness : 0.117256 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.9998714 0.00589956 -0.0149125 -0.14561075] [-0.00585886 0.999979 0.00277155 0.18115506] [ 0.01492854 -0.00268383 0.99988496 -0.27189994] [ 0. 0. 0. 1. ]] SLAMing on 55.893133365 meters Centerline goodness : 0.137568 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.9998713 0.00594576 -0.01490085 -0.1456886 ] [-0.00590434 0.99997859 0.00282254 0.18085067] [ 0.01491731 -0.0027342 0.99988499 -0.27187091] [ 0. 0. 0. 1. ]] SLAMing on 55.92313336499999 meters Centerline goodness : 0.138124 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.99987419 0.00621971 -0.01459195 -0.14638355] [-0.00617524 0.99997616 0.00309025 0.18002613] [ 0.01461083 -0.00299975 0.99988876 -0.27202308] [ 0. 0. 0. 1. ]] SLAMing on 55.95313336499999 meters Centerline goodness : 0.117237 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.99987464 0.0062598 -0.01454397 -0.14634381] [-0.0062141 0.99997562 0.00318504 0.17935362] [ 0.01456355 -0.00309426 0.99988916 -0.27228874] [ 0. 0. 0. 1. ]] SLAMing on 55.98313336499999 meters Centerline goodness : 0.101295 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.99987129 0.00628444 -0.01476201 -0.14548593] [-0.00623707 0.99997526 0.00325329 0.1786988 ] [ 0.01478209 -0.0031608 0.99988574 -0.27286693] [ 0. 0. 0. 1. ]] SLAMing on 56.013133364999995 meters Centerline goodness : 0.144836 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.18, Z:-0.27 [[ 0.9998586 0.00633652 -0.01557675 -0.14264364] [-0.00628369 0.99997435 0.00343771 0.17726368] [ 0.01559813 -0.00333935 0.99987277 -0.27435394] [ 0. 0. 0. 1. ]] SLAMing on 56.043133364999996 meters Centerline goodness : 0.145064 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.18, Z:-0.27 [[ 0.99985485 0.00638829 -0.01579482 -0.14192629] [-0.00633194 0.99997342 0.00361445 0.1762713 ] [ 0.01581749 -0.00351392 0.99986872 -0.27464782] [ 0. 0. 0. 1. ]] SLAMing on 56.073133365 meters Centerline goodness : 0.171895 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.18, Z:-0.27 [[ 0.9998846 -0.00268025 -0.01495341 -0.1218955 ] [ 0.00274353 0.99998736 0.00421304 0.17837514] [ 0.01494193 -0.00425358 0.99987932 -0.27388729] [ 0. 0. 0. 1. ]] SLAMing on 56.103133365 meters Centerline goodness : 0.175746 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.18, Z:-0.27 [[ 0.99988463 -0.00272467 -0.01494329 -0.12195735] [ 0.00279147 0.9999862 0.00445122 0.17655148] [ 0.01493096 -0.00449242 0.99987843 -0.27369479] [ 0. 0. 0. 1. ]] SLAMing on 56.13313336499999 meters SLAMing on 56.16313336499999 meters Centerline goodness : 0.177405 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.17, Z:-0.27 [[ 0.99987237 -0.0031667 -0.01565906 -0.11958545] [ 0.00324335 0.99998287 0.00487175 0.17200213] [ 0.01564337 -0.00492192 0.99986552 -0.27440197] [ 0. 0. 0. 1. ]] SLAMing on 56.193133364999994 meters SLAMing on 56.223133364999995 meters SLAMing on 56.253133365 meters SLAMing on 56.283133365 meters SLAMing on 56.31313336499999 meters SLAMing on 56.34313336499999 meters SLAMing on 56.373133364999994 meters SLAMing on 56.403133364999995 meters Centerline goodness : 0.098845 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.16, Z:-0.27 [[ 0.99987576 -0.00572844 -0.01468534 -0.12352968] [ 0.0057855 0.99997587 0.00384598 0.16060151] [ 0.01466295 -0.00393047 0.99988477 -0.27183596] [ 0. 0. 0. 1. ]] SLAMing on 56.433133364999996 meters Centerline goodness : 0.091167 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.16, Z:-0.27 [[ 0.99988117 -0.00563716 -0.01434784 -0.12439025] [ 0.0056951 0.99997578 0.00400063 0.16000392] [ 0.01432494 -0.00408186 0.99988906 -0.2717708 ] [ 0. 0. 0. 1. ]] SLAMing on 56.463133365 meters Centerline goodness : 0.092349 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.16, Z:-0.27 [[ 0.9998818 -0.00554819 -0.01433913 -0.12433754] [ 0.00560705 0.99997601 0.00406802 0.16000371] [ 0.01431622 -0.00414794 0.99988891 -0.27189062] [ 0. 0. 0. 1. ]] SLAMing on 56.49313336499999 meters Centerline goodness : 0.095557 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99983543 -0.00513877 -0.01739855 -0.167069 ] [ 0.00521014 0.99997819 0.00405941 0.15750444] [ 0.01737731 -0.00414939 0.99984039 -0.27233337] [ 0. 0. 0. 1. ]] SLAMing on 56.52313336499999 meters Centerline goodness : 0.176893 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.16, Z:-0.27 [[ 0.9998409 0.00294798 -0.01759242 -0.14685803] [-0.00289942 0.99999192 0.00278487 0.1552604 ] [ 0.01760049 -0.00273342 0.99984136 -0.27060092] [ 0. 0. 0. 1. ]] SLAMing on 56.553133364999994 meters SLAMing on 56.583133364999995 meters Centerline goodness : 0.174621 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.16, Z:-0.27 [[ 0.9998437 0.00318763 -0.01738981 -0.14766409] [-0.00314445 0.99999191 0.00250958 0.15756427] [ 0.01739767 -0.00245451 0.99984564 -0.27029057] [ 0. 0. 0. 1. ]] SLAMing on 56.613133364999996 meters Centerline goodness : 0.176221 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.16, Z:-0.27 [[ 0.99984432 0.0031087 -0.01736857 -0.1478601 ] [-0.00306938 0.99999267 0.00228964 0.15851121] [ 0.01737556 -0.00223598 0.99984653 -0.27014826] [ 0. 0. 0. 1. ]] SLAMing on 56.643133365 meters Centerline goodness : 0.171438 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.16, Z:-0.27 [[ 0.99984546 0.00304847 -0.01731387 -0.14810011] [-0.00301275 0.99999328 0.00208879 0.15947322] [ 0.01732013 -0.0020363 0.99984792 -0.27005993] [ 0. 0. 0. 1. ]] SLAMing on 56.67313336499999 meters Centerline goodness : 0.096995 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99986928 -0.00469528 -0.01547179 -0.17145673] [ 0.00474164 0.99998437 0.00296129 0.16422475] [ 0.01545764 -0.00303427 0.99987592 -0.27078821] [ 0. 0. 0. 1. ]] SLAMing on 56.70313336499999 meters SLAMing on 56.73313336499999 meters SLAMing on 56.763133364999995 meters SLAMing on 56.793133364999996 meters Centerline goodness : 0.171974 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.17, Z:-0.27 [[ 0.99987682 0.00429604 -0.01509584 -0.14934232] [-0.00426465 0.99998868 0.00211088 0.16854841] [ 0.01510474 -0.00204624 0.99988382 -0.27040005] [ 0. 0. 0. 1. ]] SLAMing on 56.823133365 meters Centerline goodness : 0.172809 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.17, Z:-0.27 [[ 0.99987687 0.0042223 -0.01511323 -0.14919437] [-0.00419573 0.9999896 0.0017894 0.1704474 ] [ 0.01512063 -0.00172576 0.99988419 -0.27068163] [ 0. 0. 0. 1. ]] SLAMing on 56.853133365 meters Centerline goodness : 0.139055 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.99988212 0.0041704 -0.01477707 -0.15041852] [-0.0041548 0.99999078 0.00108665 0.17519067] [ 0.01478147 -0.00102512 0.99989022 -0.27023516] [ 0. 0. 0. 1. ]] SLAMing on 56.88313336499999 meters Centerline goodness : 0.112979 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 9.99883958e-01 3.96525990e-03 -1.47087647e-02 -1.50711727e-01] [-3.95782048e-03 9.99992025e-01 5.34855415e-04 1.77884482e-01] [ 1.47107682e-02 -4.76578699e-04 9.99891677e-01 -2.70135193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91313336499999 meters Centerline goodness : 0.103643 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 9.99882046e-01 3.74736551e-03 -1.48946603e-02 -1.50440367e-01] [-3.75225724e-03 9.99992915e-01 -3.00489339e-04 1.82945904e-01] [ 1.48934288e-02 3.56342492e-04 9.99889023e-01 -2.70117639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.943133364999994 meters Centerline goodness : 0.171963 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.19, Z:-0.27 [[ 9.99880904e-01 3.62429440e-03 -1.50014034e-02 -1.50211488e-01] [-3.63558703e-03 9.99993128e-01 -7.25568797e-04 1.85507499e-01] [ 1.49986707e-02 7.80021292e-04 9.99887209e-01 -2.70134801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.973133364999995 meters Centerline goodness : 0.172043 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.19, Z:-0.27 [[ 0.99987892 0.00321117 -0.01522595 -0.149704 ] [-0.00323744 0.99999331 -0.00170106 0.19014195] [ 0.01522039 0.00175015 0.99988263 -0.27017165] [ 0. 0. 0. 1. ]] SLAMing on 57.003133365 meters Centerline goodness : 0.174182 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.19, Z:-0.27 [[ 0.99987848 0.00299949 -0.01529788 -0.1496347 ] [-0.00303285 0.99999307 -0.00215755 0.19211734] [ 0.0152913 0.00220368 0.99988065 -0.27005971] [ 0. 0. 0. 1. ]] SLAMing on 57.033133365 meters Centerline goodness : 0.173767 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.27 [[ 0.99987851 -0.00501728 -0.0147578 -0.13068292] [ 0.00500163 0.99998689 -0.00109731 0.19980228] [ 0.01476311 0.00102336 0.9998905 -0.26859235] [ 0. 0. 0. 1. ]] SLAMing on 57.06313336499999 meters Centerline goodness : 0.099186 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.27 [[ 0.99988426 -0.00543964 -0.01420865 -0.13252111] [ 0.00542077 0.99998437 -0.00136644 0.20057491] [ 0.01421586 0.00128926 0.99989812 -0.26768374] [ 0. 0. 0. 1. ]] SLAMing on 57.09313336499999 meters Centerline goodness : 0.123378 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.27 [[ 0.99987943 -0.00574567 -0.01442638 -0.13199639] [ 0.00572458 0.99998249 -0.00150243 0.20013583] [ 0.01443476 0.00141966 0.99989481 -0.26761423] [ 0. 0. 0. 1. ]] SLAMing on 57.123133364999994 meters Centerline goodness : 0.146189 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.27 [[ 0.99987253 -0.00603288 -0.01478281 -0.13105125] [ 0.00601085 0.99998076 -0.00153425 0.19910429] [ 0.01479178 0.0014452 0.99988955 -0.26763118] [ 0. 0. 0. 1. ]] SLAMing on 57.153133364999995 meters Centerline goodness : 0.106589 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.19, Z:-0.27 [[ 0.9999029 0.00107258 -0.0138942 -0.14864879] [-0.0011135 0.99999507 -0.00293764 0.19199681] [ 0.01389098 0.00295283 0.99989916 -0.26984195] [ 0. 0. 0. 1. ]] SLAMing on 57.183133364999996 meters Centerline goodness : 0.136457 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.19, Z:-0.27 [[ 0.99990733 0.00109972 -0.0135692 -0.14982185] [-0.00113446 0.9999961 -0.00255297 0.19045106] [ 0.01356634 0.00256812 0.99990467 -0.26897452] [ 0. 0. 0. 1. ]] SLAMing on 57.213133365 meters Centerline goodness : 0.104853 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.19, Z:-0.27 [[ 0.99990855 0.00109778 -0.01347947 -0.15027651] [-0.0011332 0.99999593 -0.00262016 0.1909122 ] [ 0.01347654 0.00263519 0.99990571 -0.26857345] [ 0. 0. 0. 1. ]] SLAMing on 57.24313336499999 meters Centerline goodness : 0.144284 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.19, Z:-0.27 [[ 0.99991658 0.00119249 -0.01286089 -0.15223763] [-0.00123241 0.99999444 -0.00309713 0.1939363 ] [ 0.01285713 0.00311272 0.9999125 -0.26794341] [ 0. 0. 0. 1. ]] SLAMing on 57.27313336499999 meters Centerline goodness : 0.139283 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.19, Z:-0.27 [[ 0.99989029 0.00267108 -0.01456966 -0.19926455] [-0.00271231 0.99999237 -0.00281077 0.19378785] [ 0.01456204 0.00284998 0.99988991 -0.26651623] [ 0. 0. 0. 1. ]] SLAMing on 57.303133364999994 meters SLAMing on 57.333133364999995 meters SLAMing on 57.363133364999996 meters Centerline goodness : 0.143891 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.20, Z:-0.27 [[ 0.99986255 0.00576275 -0.01554571 -0.19516576] [-0.00578288 0.9999825 -0.00125014 0.20258626] [ 0.01553823 0.00133987 0.99987838 -0.26925187] [ 0. 0. 0. 1. ]] SLAMing on 57.393133365 meters Centerline goodness : 0.099900 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.20, Z:-0.27 [[ 0.99986459 0.00567203 -0.01544754 -0.1955415 ] [-0.00569584 0.99998266 -0.00149779 0.20363133] [ 0.01543877 0.00158558 0.99987956 -0.26915811] [ 0. 0. 0. 1. ]] SLAMing on 57.42313336499999 meters Centerline goodness : 0.172296 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.20, Z:-0.27 [[ 0.99986737 0.00563448 -0.01528079 -0.19624704] [-0.00565888 0.99998278 -0.00155388 0.20377658] [ 0.01527177 0.00164014 0.99988203 -0.2686982 ] [ 0. 0. 0. 1. ]] SLAMing on 57.45313336499999 meters Centerline goodness : 0.127447 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.20, Z:-0.27 [[ 0.99987202 0.00560783 -0.01498322 -0.1973031 ] [-0.00563206 0.9999829 -0.00157554 0.20376714] [ 0.01497413 0.00165973 0.9998865 -0.26821631] [ 0. 0. 0. 1. ]] SLAMing on 57.48313336499999 meters Centerline goodness : 0.121590 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.21, Z:-0.27 [[ 9.99898278e-01 -2.24514968e-03 -1.40852381e-02 -1.79508717e-01] [ 2.24230798e-03 9.99997462e-01 -2.17539686e-04 2.09861741e-01] [ 1.40856908e-02 1.85934116e-04 9.99900774e-01 -2.66937060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.513133364999995 meters Centerline goodness : 0.100708 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.21, Z:-0.27 [[ 9.99895834e-01 -2.22655108e-03 -1.42605549e-02 -1.78755793e-01] [ 2.22284885e-03 9.99997492e-01 -2.75458173e-04 2.10465729e-01] [ 1.42611324e-02 2.43730422e-04 9.99898275e-01 -2.67528116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.543133364999996 meters Centerline goodness : 0.141866 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.21, Z:-0.27 [[ 9.99883554e-01 -2.04107596e-03 -1.51232171e-02 -1.75988679e-01] [ 2.03826999e-03 9.99997903e-01 -2.00952118e-04 2.10640825e-01] [ 1.51235956e-02 1.70103518e-04 9.99885617e-01 -2.68719205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.573133365 meters Centerline goodness : 0.101819 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.21, Z:-0.27 [[ 9.99878301e-01 -2.01849211e-03 -1.54696229e-02 -1.74967068e-01] [ 2.01748222e-03 9.99997962e-01 -8.08877340e-05 2.09735926e-01] [ 1.54697546e-02 4.96682009e-05 9.99880335e-01 -2.69014436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60313336499999 meters Centerline goodness : 0.130771 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.21, Z:-0.27 [[ 9.99875061e-01 -1.90382548e-03 -1.56919450e-02 -1.74266720e-01] [ 1.90852169e-03 9.99998138e-01 2.84305637e-04 2.07749269e-01] [ 1.56913745e-02 -3.14218533e-04 9.99876833e-01 -2.69227212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63313336499999 meters Centerline goodness : 0.143818 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.20, Z:-0.27 [[ 0.99990875 0.00245049 -0.01328511 -0.19226145] [-0.00247641 0.99999506 -0.0019348 0.19648297] [ 0.0132803 0.00196752 0.99990988 -0.27091996] [ 0. 0. 0. 1. ]] SLAMing on 57.66313336499999 meters Centerline goodness : 0.104300 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.19, Z:-0.27 [[ 0.99990787 0.00245094 -0.01335105 -0.19211174] [-0.00247056 0.99999589 -0.00145287 0.19347228] [ 0.01334744 0.00148572 0.99990982 -0.27078983] [ 0. 0. 0. 1. ]] SLAMing on 57.693133364999994 meters Centerline goodness : 0.096516 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.19, Z:-0.27 [[ 9.99922951e-01 3.12572169e-04 -1.24094151e-02 -1.96185913e-01] [-3.44021602e-04 9.99996735e-01 -2.53226658e-03 1.85857328e-01] [ 1.24085831e-02 2.53634058e-03 9.99919794e-01 -2.68405863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.723133364999995 meters Centerline goodness : 0.102269 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.18, Z:-0.27 [[ 9.99931855e-01 2.33421847e-04 -1.16717613e-02 -1.98244942e-01] [-2.57530029e-04 9.99997837e-01 -2.06405329e-03 1.82507353e-01] [ 1.16712543e-02 2.06691846e-03 9.99929752e-01 -2.67781121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.753133365 meters Centerline goodness : 0.135752 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.18, Z:-0.27 [[ 0.99993301 -0.00334638 -0.01108007 -0.20021621] [ 0.00329249 0.99998268 -0.00487799 0.17716249] [ 0.01109621 0.00484118 0.99992672 -0.26677317] [ 0. 0. 0. 1. ]] SLAMing on 57.783133365 meters Centerline goodness : 0.121649 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.17, Z:-0.27 [[ 0.99993185 -0.00320319 -0.0112264 -0.19987119] [ 0.0031545 0.99998555 -0.00435257 0.17432866] [ 0.01124018 0.00431686 0.99992751 -0.26668386] [ 0. 0. 0. 1. ]] SLAMing on 57.81313336499999 meters Centerline goodness : 0.102405 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.17, Z:-0.27 [[ 0.99992918 -0.00300627 -0.01151514 -0.19897622] [ 0.00296225 0.99998825 -0.0038379 0.1718505 ] [ 0.01152654 0.00380351 0.99992633 -0.26697578] [ 0. 0. 0. 1. ]] SLAMing on 57.84313336499999 meters Centerline goodness : 0.118554 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.16, Z:-0.27 [[ 0.99990847 0.00513599 -0.01251667 -0.21671489] [-0.00519638 0.99997499 -0.00479692 0.16342154] [ 0.01249172 0.00486152 0.99991016 -0.2688469 ] [ 0. 0. 0. 1. ]] SLAMing on 57.873133364999994 meters SLAMing on 57.903133364999995 meters SLAMing on 57.933133364999996 meters SLAMing on 57.963133365 meters Centerline goodness : 0.135123 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.15, Z:-0.27 [[ 0.99992225 0.00199915 -0.01230875 -0.2174335 ] [-0.00208134 0.9999756 -0.00666782 0.15212993] [ 0.01229512 0.00669292 0.99990201 -0.2684596 ] [ 0. 0. 0. 1. ]] SLAMing on 57.99313336499999 meters SLAMing on 58.02313336499999 meters SLAMing on 58.053133364999994 meters SLAMing on 58.083133364999995 meters Centerline goodness : 0.110120 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.15, Z:-0.27 [[ 0.99991363 0.00274005 -0.01285391 -0.2151756 ] [-0.00282424 0.99997465 -0.00653582 0.15361284] [ 0.01283568 0.00657156 0.99989602 -0.27024618] [ 0. 0. 0. 1. ]] SLAMing on 58.113133364999996 meters SLAMing on 58.143133365 meters Centerline goodness : 0.092478 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.15, Z:-0.27 [[ 0.99990976 0.00273365 -0.01315318 -0.21454491] [-0.00282148 0.99997381 -0.00666418 0.1544168 ] [ 0.01313462 0.00670069 0.99989129 -0.27022861] [ 0. 0. 0. 1. ]] SLAMing on 58.17313336499999 meters Centerline goodness : 0.104964 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.16, Z:-0.27 [[ 0.99990877 0.00275528 -0.01322384 -0.21427512] [-0.00284555 0.99997275 -0.00681217 0.15565279] [ 0.01320471 0.00684918 0.99988936 -0.27043992] [ 0. 0. 0. 1. ]] SLAMing on 58.20313336499999 meters Centerline goodness : 0.095299 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.16, Z:-0.27 [[ 0.9999084 0.00270028 -0.0132625 -0.21403004] [-0.00279296 0.99997178 -0.00697422 0.15633543] [ 0.01324329 0.00701063 0.99988773 -0.27073898] [ 0. 0. 0. 1. ]] SLAMing on 58.23313336499999 meters Centerline goodness : 0.179794 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.16, Z:-0.27 [[ 0.99990981 0.00264568 -0.01316732 -0.21419712] [-0.00273989 0.99997074 -0.00714178 0.15708834] [ 0.01314804 0.00717722 0.9998878 -0.27088621] [ 0. 0. 0. 1. ]] SLAMing on 58.263133364999995 meters SLAMing on 58.293133364999996 meters SLAMing on 58.323133365 meters SLAMing on 58.35313336499999 meters Centerline goodness : 0.176654 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.16, Z:-0.27 [[ 0.99990045 0.00636171 -0.01259402 -0.21610989] [-0.00641796 0.99996959 -0.00443059 0.16467626] [ 0.01256545 0.00451098 0.99991088 -0.27018691] [ 0. 0. 0. 1. ]] SLAMing on 58.38313336499999 meters Centerline goodness : 0.181707 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.17, Z:-0.27 [[ 0.99990275 0.006238 -0.01247342 -0.21652543] [-0.00629981 0.99996804 -0.00492169 0.16737457] [ 0.01244232 0.00499979 0.99991009 -0.27010726] [ 0. 0. 0. 1. ]] SLAMing on 58.41313336499999 meters SLAMing on 58.443133364999994 meters Centerline goodness : 0.175591 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.18, Z:-0.27 [[ 0.99987974 0.00926187 -0.01243918 -0.21805436] [-0.00930039 0.99995212 -0.0030424 0.17616361] [ 0.0124104 0.00315772 0.999918 -0.26848763] [ 0. 0. 0. 1. ]] SLAMing on 58.473133364999995 meters Centerline goodness : 0.093005 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.18, Z:-0.27 [[ 0.99995404 0.00225516 -0.00931827 -0.23854949] [-0.00227883 0.9999942 -0.00252974 0.18293998] [ 0.00931251 0.00255086 0.99995338 -0.27066795] [ 0. 0. 0. 1. ]] SLAMing on 58.503133365 meters SLAMing on 58.533133365 meters Centerline goodness : 0.124995 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.19, Z:-0.27 [[ 0.99996799 -0.00524527 -0.00604258 -0.22163712] [ 0.0052376 0.99998546 -0.00128478 0.19316363] [ 0.00604923 0.00125309 0.99998092 -0.2691586 ] [ 0. 0. 0. 1. ]] SLAMing on 58.56313336499999 meters Centerline goodness : 0.131685 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.19, Z:-0.27 [[ 0.99997357 0.00226954 -0.00690708 -0.24004724] [-0.00229146 0.99999236 -0.00316774 0.18755512] [ 0.00689984 0.00318348 0.99997113 -0.2706753 ] [ 0. 0. 0. 1. ]] SLAMing on 58.59313336499999 meters Centerline goodness : 0.121451 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.19, Z:-0.27 [[ 0.99996806 0.00199708 -0.00773868 -0.23749937] [-0.00202324 0.99999226 -0.00337362 0.18755054] [ 0.00773189 0.00338917 0.99996437 -0.27158965] [ 0. 0. 0. 1. ]] SLAMing on 58.623133364999994 meters Centerline goodness : 0.099655 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.19, Z:-0.27 [[ 0.99996759 0.00202706 -0.00779169 -0.23721051] [-0.00205275 0.99999248 -0.00329099 0.18728316] [ 0.00778497 0.00330688 0.99996423 -0.27184688] [ 0. 0. 0. 1. ]] SLAMing on 58.653133364999995 meters Centerline goodness : 0.101813 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.19, Z:-0.27 [[ 0.99995443 -0.0060078 -0.00741896 -0.21774817] [ 0.00599139 0.99997956 -0.00223293 0.19298832] [ 0.00743222 0.00218838 0.99996999 -0.27101996] [ 0. 0. 0. 1. ]] SLAMing on 58.683133364999996 meters Centerline goodness : 0.100147 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.19, Z:-0.27 [[ 0.9999705 0.00176835 -0.00747485 -0.23605482] [-0.00179691 0.99999111 -0.00381576 0.18731782] [ 0.00746804 0.00382908 0.99996478 -0.27301553] [ 0. 0. 0. 1. ]] SLAMing on 58.713133365 meters Centerline goodness : 0.112780 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.19, Z:-0.27 [[ 0.99996938 0.00177959 -0.00762096 -0.23565966] [-0.00180844 0.99999122 -0.00378094 0.18712562] [ 0.00761417 0.0037946 0.99996381 -0.27312901] [ 0. 0. 0. 1. ]] SLAMing on 58.74313336499999 meters SLAMing on 58.77313336499999 meters Centerline goodness : 0.118391 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.18, Z:-0.27 [[ 0.99996564 0.00203864 -0.00803568 -0.2345803 ] [-0.00206367 0.99999304 -0.0031078 0.18444003] [ 0.00802929 0.00312427 0.99996288 -0.27315501] [ 0. 0. 0. 1. ]] SLAMing on 58.803133364999994 meters Centerline goodness : 0.180847 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.18, Z:-0.27 [[ 0.9999668 0.00205539 -0.00788546 -0.23498353] [-0.00207783 0.99999381 -0.00283847 0.18257234] [ 0.00787958 0.00285476 0.99996488 -0.27300692] [ 0. 0. 0. 1. ]] SLAMing on 58.833133364999995 meters Centerline goodness : 0.098653 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.18, Z:-0.27 [[ 0.99997342 0.00142993 -0.00715 -0.23693784] [-0.00144972 0.99999513 -0.00276378 0.17775235] [ 0.00714601 0.00277407 0.99997062 -0.27265852] [ 0. 0. 0. 1. ]] SLAMing on 58.863133364999996 meters Centerline goodness : 0.099672 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.17, Z:-0.27 [[ 0.99997373 0.00158782 -0.00707278 -0.23716202] [-0.00160266 0.99999653 -0.00209256 0.17414637] [ 0.00706943 0.00210384 0.9999728 -0.27246608] [ 0. 0. 0. 1. ]] SLAMing on 58.893133365 meters Centerline goodness : 0.102873 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.16, Z:-0.27 [[ 9.99954086e-01 9.92031213e-04 -9.53105078e-03 -2.80902472e-01] [-1.00826394e-03 9.99998049e-01 -1.69848731e-03 1.62588452e-01] [ 9.52934723e-03 1.70801914e-03 9.99953136e-01 -2.72242516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92313336499999 meters Centerline goodness : 0.132457 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.16, Z:-0.27 [[ 0.99995277 0.00108304 -0.00965886 -0.2802426 ] [-0.00109497 0.99999864 -0.00122954 0.15949837] [ 0.00965752 0.00124006 0.9999526 -0.27275053] [ 0. 0. 0. 1. ]] SLAMing on 58.95313336499999 meters Centerline goodness : 0.092649 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.16, Z:-0.27 [[ 9.99929463e-01 -7.21211783e-03 -9.43687956e-03 -2.59883779e-01] [ 7.20909393e-03 9.99973951e-01 -3.54412215e-04 1.61548302e-01] [ 9.43918980e-03 2.86355864e-04 9.99955409e-01 -2.72368496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98313336499999 meters SLAMing on 59.013133364999995 meters Centerline goodness : 0.093663 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.16, Z:-0.27 [[ 0.99993852 -0.00500062 -0.00989695 -0.25696816] [ 0.00501965 0.9999856 0.00189887 0.15736803] [ 0.00988732 -0.00194843 0.99994922 -0.27468345] [ 0. 0. 0. 1. ]] SLAMing on 59.043133364999996 meters Centerline goodness : 0.171015 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.15, Z:-0.27 [[ 9.99954916e-01 3.51976405e-03 -8.81919076e-03 -2.37198936e-01] [-3.51265260e-03 9.99993493e-01 8.21720158e-04 1.54052995e-01] [ 8.82202564e-03 -7.90704358e-04 9.99960773e-01 -2.73678203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.073133365 meters Centerline goodness : 0.169296 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.15, Z:-0.27 [[ 9.99957293e-01 3.55247222e-03 -8.53182512e-03 -2.38131207e-01] [-3.54483813e-03 9.99993303e-01 9.09733357e-04 1.53494622e-01] [ 8.53499979e-03 -8.79450566e-04 9.99963189e-01 -2.73359493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10313336499999 meters SLAMing on 59.13313336499999 meters Centerline goodness : 0.171653 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.15, Z:-0.27 [[ 9.99959430e-01 3.58933950e-03 -8.26161322e-03 -2.38651245e-01] [-3.58222426e-03 9.99993200e-01 8.75877152e-04 1.53880629e-01] [ 8.26470087e-03 -8.46246666e-04 9.99965489e-01 -2.73669925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16313336499999 meters Centerline goodness : 0.176534 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.15, Z:-0.27 [[ 9.99961289e-01 3.50273810e-03 -8.07165324e-03 -2.39124861e-01] [-3.49754859e-03 9.99993668e-01 6.56955394e-04 1.54814212e-01] [ 8.07390327e-03 -6.28698963e-04 9.99967208e-01 -2.73708273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.193133364999994 meters Centerline goodness : 0.172749 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.16, Z:-0.27 [[ 9.99963487e-01 3.36086931e-03 -7.85680207e-03 -2.40006296e-01] [-3.35892795e-03 9.99994325e-01 2.60274948e-04 1.56747060e-01] [ 7.85763223e-03 -2.33875012e-04 9.99969101e-01 -2.73281241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.223133364999995 meters Centerline goodness : 0.173594 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.16, Z:-0.27 [[ 9.99962180e-01 3.30897449e-03 -8.04292881e-03 -2.39641019e-01] [-3.30793054e-03 9.99994519e-01 1.43097387e-04 1.57406549e-01] [ 8.04335823e-03 -1.16486525e-04 9.99967645e-01 -2.73177405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.253133365 meters Centerline goodness : 0.100943 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.15, Z:-0.27 [[ 9.99923888e-01 2.63567817e-03 -1.20528465e-02 -2.80734858e-01] [-2.63874070e-03 9.99996490e-01 -2.38196575e-04 1.54885285e-01] [ 1.20521764e-02 2.69982782e-04 9.99927333e-01 -2.73162608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.283133365 meters Centerline goodness : 0.148021 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.15, Z:-0.27 [[ 9.99920820e-01 2.57748109e-03 -1.23170660e-02 -2.80078283e-01] [-2.58046929e-03 9.99996645e-01 -2.26720465e-04 1.54527780e-01] [ 1.23164403e-02 2.58486324e-04 9.99924116e-01 -2.73201939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31313336499999 meters SLAMing on 59.34313336499999 meters Centerline goodness : 0.150207 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.15, Z:-0.27 [[ 9.99927053e-01 2.01768942e-03 -1.19087522e-02 -2.81294613e-01] [-2.02447851e-03 9.99997795e-01 -5.58064820e-04 1.54355456e-01] [ 1.19076000e-02 5.82133124e-04 9.99928933e-01 -2.72617187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.373133364999994 meters Centerline goodness : 0.112066 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.15, Z:-0.27 [[ 9.99929122e-01 1.91475723e-03 -1.17509364e-02 -2.81874815e-01] [-1.92067207e-03 9.99998034e-01 -4.92085323e-04 1.53964567e-01] [ 1.17499710e-02 5.14620140e-04 9.99930834e-01 -2.72207489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.403133364999995 meters Centerline goodness : 0.100719 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.15, Z:-0.27 [[ 9.99929383e-01 1.84650251e-03 -1.17396837e-02 -2.81868953e-01] [-1.85328664e-03 9.99998122e-01 -5.67027687e-04 1.54153519e-01] [ 1.17386146e-02 5.88744644e-04 9.99930927e-01 -2.72269054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.433133364999996 meters Centerline goodness : 0.096405 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.16, Z:-0.27 [[ 9.99926995e-01 1.68342548e-03 -1.19653653e-02 -2.81254054e-01] [-1.69328160e-03 9.99998235e-01 -8.13637789e-04 1.55056424e-01] [ 1.19639745e-02 8.33839123e-04 9.99928081e-01 -2.72358754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.463133365 meters Centerline goodness : 0.131502 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.15, Z:-0.27 [[ 9.99893795e-01 1.83579660e-03 -1.44578153e-02 -3.26599942e-01] [-1.84802466e-03 9.99997946e-01 -8.32460404e-04 1.53294295e-01] [ 1.44562573e-02 8.59090392e-04 9.99895134e-01 -2.71532160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49313336499999 meters Centerline goodness : 0.094038 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.16, Z:-0.27 [[ 0.99989773 -0.00428865 -0.013643 -0.30518931] [ 0.00431476 0.99998892 0.00188464 0.15774793] [ 0.01363477 -0.00194331 0.99990515 -0.27169043] [ 0. 0. 0. 1. ]] SLAMing on 59.52313336499999 meters Centerline goodness : 0.120799 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.16, Z:-0.27 [[ 0.99989851 -0.00441665 -0.0135445 -0.30566151] [ 0.00443828 0.99998892 0.00156726 0.15920019] [ 0.01353743 -0.00162722 0.99990704 -0.27139389] [ 0. 0. 0. 1. ]] SLAMing on 59.553133364999994 meters Centerline goodness : 0.128452 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.16, Z:-0.27 [[ 0.99989886 -0.004441 -0.01351087 -0.30583227] [ 0.00446263 0.99998881 0.00157161 0.15891953] [ 0.01350374 -0.00163175 0.99990749 -0.27129115] [ 0. 0. 0. 1. ]] SLAMing on 59.583133364999995 meters Centerline goodness : 0.112621 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.16, Z:-0.27 [[ 0.99989702 -0.00435518 -0.01367406 -0.30539983] [ 0.00438154 0.9999886 0.00189863 0.15723246] [ 0.01366564 -0.00195835 0.9999047 -0.27130774] [ 0. 0. 0. 1. ]] SLAMing on 59.613133364999996 meters Centerline goodness : 0.095872 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.16, Z:-0.27 [[ 0.99989652 -0.00426565 -0.01373876 -0.30530097] [ 0.00429555 0.99998847 0.00214786 0.15603434] [ 0.01372944 -0.00220665 0.99990331 -0.27117258] [ 0. 0. 0. 1. ]] SLAMing on 59.643133365 meters Centerline goodness : 0.142406 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.15, Z:-0.27 [[ 0.99989545 -0.00423725 -0.01382508 -0.30528991] [ 0.00426949 0.99998823 0.00230313 0.15497921] [ 0.01381516 -0.00236192 0.99990178 -0.27084461] [ 0. 0. 0. 1. ]] SLAMing on 59.67313336499999 meters Centerline goodness : 0.120435 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.15, Z:-0.27 [[ 9.99903600e-01 3.34144789e-03 -1.34768732e-02 -2.85808579e-01] [-3.32911576e-03 9.99994019e-01 9.37389162e-04 1.49275730e-01] [ 1.34799249e-02 -8.92432726e-04 9.99908743e-01 -2.68718907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70313336499999 meters Centerline goodness : 0.135362 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.15, Z:-0.27 [[ 0.99990419 0.00341556 -0.0134143 -0.28612071] [-0.00340072 0.99999358 0.0011287 0.14826982] [ 0.01341807 -0.00108298 0.99990939 -0.26846893] [ 0. 0. 0. 1. ]] SLAMing on 59.73313336499999 meters Centerline goodness : 0.116830 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.15, Z:-0.27 [[ 0.99990429 0.00364886 -0.01334513 -0.28652859] [-0.00362628 0.99999195 0.00171596 0.1455298 ] [ 0.01335128 -0.0016674 0.99990948 -0.26804858] [ 0. 0. 0. 1. ]] SLAMing on 59.763133364999995 meters Centerline goodness : 0.094269 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.14, Z:-0.27 [[ 0.99990593 0.00376698 -0.01318869 -0.28696794] [-0.00373963 0.99999081 0.00209765 0.14355049] [ 0.01319647 -0.00204813 0.99991083 -0.26792058] [ 0. 0. 0. 1. ]] SLAMing on 59.793133364999996 meters Centerline goodness : 0.106473 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.14, Z:-0.27 [[ 0.99991014 0.00381509 -0.01285164 -0.28797039] [-0.00378396 0.99998985 0.00244536 0.14139471] [ 0.01286084 -0.00239651 0.99991442 -0.26755491] [ 0. 0. 0. 1. ]] SLAMing on 59.823133365 meters Centerline goodness : 0.099397 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.14, Z:-0.27 [[ 0.99990648 -0.0056113 -0.01247176 -0.31266488] [ 0.00564763 0.99997991 0.00287967 0.13772974] [ 0.01245535 -0.00294984 0.99991808 -0.26688093] [ 0. 0. 0. 1. ]] SLAMing on 59.85313336499999 meters Centerline goodness : 0.117239 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.13, Z:-0.27 [[ 0.99990553 -0.00544433 -0.01262113 -0.31220094] [ 0.00548814 0.99997903 0.0034392 0.13476836] [ 0.01260214 -0.00350815 0.99991444 -0.26694941] [ 0. 0. 0. 1. ]] SLAMing on 59.88313336499999 meters Centerline goodness : 0.095900 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.12, Z:-0.27 [[ 9.99947560e-01 1.77322933e-04 -1.02393902e-02 -3.31448419e-01] [-1.57393827e-04 9.99998092e-01 1.94709069e-03 1.23661246e-01] [ 1.02397159e-02 -1.94537697e-03 9.99945680e-01 -2.68713631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91313336499999 meters Centerline goodness : 0.159443 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.12, Z:-0.27 [[ 9.99947945e-01 2.80794023e-04 -1.01993978e-02 -3.31766667e-01] [-2.56490569e-04 9.99997125e-01 2.38406217e-03 1.21126465e-01] [ 1.02000379e-02 -2.38132202e-03 9.99945143e-01 -2.68278778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.943133364999994 meters Centerline goodness : 0.119768 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.12, Z:-0.27 [[ 9.99947244e-01 3.99969333e-04 -1.02639684e-02 -3.31623893e-01] [-3.70863887e-04 9.99995906e-01 2.83743799e-03 1.18600283e-01] [ 1.02650612e-02 -2.83348176e-03 9.99943298e-01 -2.68214839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.973133364999995 meters SLAMing on 60.003133365 meters Centerline goodness : 0.146966 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.11, Z:-0.27 [[ 0.99992983 -0.00138638 -0.0117648 -0.32519166] [ 0.00141038 0.99999694 0.00203209 0.11012896] [ 0.01176194 -0.00204854 0.99992873 -0.27166679] [ 0. 0. 0. 1. ]] SLAMing on 60.033133365 meters SLAMing on 60.06313336499999 meters Centerline goodness : 0.097038 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.10, Z:-0.27 [[ 9.99916671e-01 -4.91394207e-03 -1.19375063e-02 -3.24722319e-01] [ 4.90801060e-03 9.99987817e-01 -5.26121867e-04 1.02893982e-01] [ 1.19399462e-02 4.67488618e-04 9.99928607e-01 -2.71617460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09313336499999 meters SLAMing on 60.123133364999994 meters Centerline goodness : 0.095515 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.10, Z:-0.27 [[ 9.99905606e-01 -4.63080527e-03 -1.29358006e-02 -3.21719830e-01] [ 4.63944671e-03 9.99989034e-01 6.38096286e-04 9.67497506e-02] [ 1.29327038e-02 -6.98051011e-04 9.99916125e-01 -2.72489071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.153133364999995 meters Centerline goodness : 0.095625 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.09, Z:-0.27 [[ 9.99906573e-01 3.22146637e-03 -1.32841102e-02 -3.40221465e-01] [-3.22834549e-03 9.99994666e-01 -4.96434398e-04 9.00630659e-02] [ 1.32824401e-02 5.39273715e-04 9.99911639e-01 -2.74224107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.183133364999996 meters Centerline goodness : 0.095625 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.09, Z:-0.27 [[ 9.99906573e-01 3.22146637e-03 -1.32841102e-02 -3.40221465e-01] [-3.22834549e-03 9.99994666e-01 -4.96434398e-04 9.00630659e-02] [ 1.32824401e-02 5.39273715e-04 9.99911639e-01 -2.74224107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.213133365 meters Centerline goodness : 0.127441 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.09, Z:-0.27 [[ 9.99910933e-01 -4.94858887e-03 -1.23951004e-02 -3.20304709e-01] [ 4.95345116e-03 9.99987666e-01 3.61605146e-04 9.35446125e-02] [ 1.23931581e-02 -4.22971463e-04 9.99923112e-01 -2.73323725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24313336499999 meters SLAMing on 60.27313336499999 meters Centerline goodness : 0.059695 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.09, Z:-0.27 [[ 9.99923507e-01 -5.62563020e-03 -1.10150662e-02 -3.24876537e-01] [ 5.62941649e-03 9.99984106e-01 3.12762772e-04 9.08500017e-02] [ 1.10131316e-02 -3.74747243e-04 9.99939283e-01 -2.71138402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.303133364999994 meters Centerline goodness : 0.091099 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.09, Z:-0.27 [[ 9.99913471e-01 -6.14106399e-03 -1.16334736e-02 -3.23232838e-01] [ 6.14748420e-03 9.99980971e-01 5.16194315e-04 8.74911097e-02] [ 1.16300822e-02 -5.87666245e-04 9.99932196e-01 -2.71317238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.333133364999995 meters Centerline goodness : 0.094172 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.09, Z:-0.27 [[ 9.99913602e-01 -6.30984375e-03 -1.15314394e-02 -3.23632454e-01] [ 6.31908924e-03 9.99979741e-01 7.65503880e-04 8.52283810e-02] [ 1.15263756e-02 -8.38305937e-04 9.99933218e-01 -2.70976584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.363133364999996 meters Centerline goodness : 0.167490 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.08, Z:-0.27 [[ 0.9999174 -0.0064774 -0.01110146 -0.32495856] [ 0.00648966 0.99997837 0.00106837 0.08272705] [ 0.0110943 -0.00114032 0.99993781 -0.27033868] [ 0. 0. 0. 1. ]] SLAMing on 60.393133365 meters Centerline goodness : 0.351784 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.08, Z:-0.27 [[ 0.99992473 -0.00714702 -0.00997302 -0.32854478] [ 0.00715948 0.99997363 0.00121419 0.0776562 ] [ 0.00996408 -0.0012855 0.99994953 -0.26884244] [ 0. 0. 0. 1. ]] SLAMing on 60.42313336499999 meters Centerline goodness : 0.041805 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.08, Z:-0.27 [[ 0.99992391 -0.00713822 -0.0100605 -0.32817616] [ 0.00715486 0.99997309 0.00161901 0.07502264] [ 0.01004867 -0.00169087 0.99994808 -0.26907539] [ 0. 0. 0. 1. ]] SLAMing on 60.45313336499999 meters Centerline goodness : 0.043727 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.06, Z:-0.27 [[ 9.99947121e-01 -5.23680232e-04 -1.02704145e-02 -3.45861282e-01] [ 5.23838110e-04 9.99999863e-01 1.26820887e-05 6.42152457e-02] [ 1.02704065e-02 -1.80614526e-05 9.99947258e-01 -2.71694415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48313336499999 meters SLAMing on 60.513133364999995 meters SLAMing on 60.543133364999996 meters Centerline goodness : 0.071828 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.05, Z:-0.27 [[ 0.99993848 -0.00353997 -0.01051221 -0.34544171] [ 0.00352124 0.99999218 -0.00180008 0.05493167] [ 0.0105185 0.00176295 0.99994312 -0.2713956 ] [ 0. 0. 0. 1. ]] SLAMing on 60.573133365 meters SLAMing on 60.60313336499999 meters Centerline goodness : 0.097650 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.05, Z:-0.27 [[ 0.99991482 0.00494738 -0.01207785 -0.3658173 ] [-0.00497579 0.99998492 -0.00232407 0.04843677] [ 0.01206617 0.00238397 0.99992436 -0.27162852] [ 0. 0. 0. 1. ]] SLAMing on 60.63313336499999 meters Centerline goodness : 0.097654 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.05, Z:-0.27 [[ 9.99923285e-01 -2.17437986e-03 -1.21941333e-02 -3.46797608e-01] [ 2.16582394e-03 9.99997399e-01 -7.14804128e-04 5.38992244e-02] [ 1.21956558e-02 6.88338946e-04 9.99925393e-01 -2.69963440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66313336499999 meters Centerline goodness : 0.092501 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.05, Z:-0.27 [[ 9.99923766e-01 -2.21242162e-03 -1.21476951e-02 -3.46973564e-01] [ 2.20161434e-03 9.99997169e-01 -9.02957489e-04 5.48723601e-02] [ 1.21496584e-02 8.76144114e-04 9.99925806e-01 -2.69866701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.693133364999994 meters Centerline goodness : 0.095769 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.06, Z:-0.27 [[ 0.99992891 -0.00233583 -0.01169289 -0.34840857] [ 0.00232051 0.99999643 -0.00132372 0.05690693] [ 0.01169594 0.00129649 0.99993076 -0.26934302] [ 0. 0. 0. 1. ]] SLAMing on 60.723133364999995 meters Centerline goodness : 0.091714 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.06, Z:-0.27 [[ 0.99993016 -0.00236733 -0.01157879 -0.34897818] [ 0.00235045 0.99999616 -0.00147118 0.0578917 ] [ 0.01158223 0.00144386 0.99993188 -0.26889519] [ 0. 0. 0. 1. ]] SLAMing on 60.753133365 meters Centerline goodness : 0.038729 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.06, Z:-0.27 [[ 0.99992709 -0.00250973 -0.0118117 -0.34851154] [ 0.00248778 0.99999515 -0.00187198 0.06020942] [ 0.01181634 0.00184246 0.99992849 -0.26879888] [ 0. 0. 0. 1. ]] SLAMing on 60.783133365 meters Centerline goodness : 0.102025 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.06, Z:-0.27 [[ 0.99992582 -0.00270275 -0.01187637 -0.34834491] [ 0.00267722 0.99999407 -0.00216471 0.06130567] [ 0.01188215 0.00213276 0.99992713 -0.26887877] [ 0. 0. 0. 1. ]] SLAMing on 60.81313336499999 meters Centerline goodness : 0.089407 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.06, Z:-0.27 [[ 0.99992934 -0.00333569 -0.01141037 -0.34970293] [ 0.00330343 0.9999905 -0.00284462 0.06330712] [ 0.01141975 0.00280673 0.99993085 -0.26844071] [ 0. 0. 0. 1. ]] SLAMing on 60.84313336499999 meters Centerline goodness : 0.134884 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.06, Z:-0.27 [[ 0.99993125 -0.00355471 -0.0111743 -0.3505106 ] [ 0.00352009 0.99998895 -0.00311688 0.06430957] [ 0.01118526 0.00307733 0.99993271 -0.26811967] [ 0. 0. 0. 1. ]] SLAMing on 60.873133364999994 meters SLAMing on 60.903133364999995 meters Centerline goodness : 0.155639 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.07, Z:-0.27 [[ 0.99992287 -0.00445927 -0.0115917 -0.34965802] [ 0.00440993 0.99998112 -0.00427881 0.06921229] [ 0.01161056 0.00422736 0.99992366 -0.26797683] [ 0. 0. 0. 1. ]] SLAMing on 60.933133364999996 meters Centerline goodness : 0.088935 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.07, Z:-0.27 [[ 0.99991906 -0.00462558 -0.01185205 -0.34872809] [ 0.00457005 0.99997848 -0.00470788 0.07148785] [ 0.01187357 0.00465334 0.99991868 -0.26845582] [ 0. 0. 0. 1. ]] SLAMing on 60.963133365 meters Centerline goodness : 0.157587 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.07, Z:-0.27 [[ 0.999916 -0.00484842 -0.01201994 -0.34797924] [ 0.00478517 0.99997458 -0.00528526 0.07441265] [ 0.01204526 0.0052273 0.99991379 -0.2689852 ] [ 0. 0. 0. 1. ]] SLAMing on 60.99313336499999 meters Centerline goodness : 0.091886 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.08, Z:-0.27 [[ 0.99993479 -0.00285638 -0.01105731 -0.35196004] [ 0.00281136 0.9999877 -0.00408492 0.08175996] [ 0.01106884 0.00405357 0.99993052 -0.26705241] [ 0. 0. 0. 1. ]] SLAMing on 61.02313336499999 meters Centerline goodness : 0.088161 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.09, Z:-0.27 [[ 0.99993597 -0.00305938 -0.01089466 -0.35266752] [ 0.00300729 0.99998398 -0.00479439 0.0855501 ] [ 0.01090915 0.00476132 0.99992916 -0.26648482] [ 0. 0. 0. 1. ]] SLAMing on 61.053133364999994 meters Centerline goodness : 0.094318 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.09, Z:-0.27 [[ 0.99993251 -0.0011277 -0.01156319 -0.35055845] [ 0.00108282 0.99999186 -0.00388631 0.09427909] [ 0.01156748 0.00387352 0.99992559 -0.26707786] [ 0. 0. 0. 1. ]] SLAMing on 61.083133364999995 meters Centerline goodness : 0.100514 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.9999284 -0.00130246 -0.01189568 -0.34943604] [ 0.00124849 0.9999889 -0.00454364 0.09786704] [ 0.01190147 0.00452847 0.99991892 -0.26761058] [ 0. 0. 0. 1. ]] SLAMing on 61.113133364999996 meters Centerline goodness : 0.087300 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99992417 -0.00148206 -0.01222506 -0.34844322] [ 0.00141865 0.99998551 -0.00519325 0.10129334] [ 0.01223258 0.00517552 0.99991179 -0.26793084] [ 0. 0. 0. 1. ]] SLAMing on 61.143133365 meters Centerline goodness : 0.085191 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99992105 -0.00169098 -0.01245155 -0.34787557] [ 0.00161824 0.99998158 -0.00584991 0.10466762] [ 0.01246121 0.00582929 0.99990536 -0.2679294 ] [ 0. 0. 0. 1. ]] SLAMing on 61.17313336499999 meters Centerline goodness : 0.086754 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 9.99922634e-01 9.44084393e-04 -1.24030326e-02 -3.49122993e-01] [-9.94949018e-04 9.99991119e-01 -4.09545274e-03 1.11815176e-01] [ 1.23990560e-02 4.10747628e-03 9.99914692e-01 -2.66637822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20313336499999 meters Centerline goodness : 0.104966 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.12, Z:-0.27 [[ 9.99922068e-01 7.00887861e-04 -1.24646011e-02 -3.49007670e-01] [-7.60940762e-04 9.99988124e-01 -4.81378608e-03 1.15378950e-01] [ 1.24610791e-02 4.82289576e-03 9.99910727e-01 -2.66533264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23313336499999 meters Centerline goodness : 0.223157 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.12, Z:-0.27 [[ 9.99921933e-01 3.39243672e-04 -1.24905096e-02 -3.49171139e-01] [-4.14341925e-04 9.99981852e-01 -6.01032835e-03 1.22241017e-01] [ 1.24882439e-02 6.01503448e-03 9.99903927e-01 -2.66093149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.263133364999995 meters Centerline goodness : 0.126584 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99989896 -0.00785287 -0.01184909 -0.32994323] [ 0.00779252 0.99995648 -0.00513066 0.12920641] [ 0.01188886 0.00503781 0.99991663 -0.26478319] [ 0. 0. 0. 1. ]] SLAMing on 61.293133364999996 meters Centerline goodness : 0.038891 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99989874 -0.00801322 -0.01175986 -0.33025844] [ 0.0079494 0.99995348 -0.00546385 0.13075144] [ 0.0118031 0.00536982 0.99991592 -0.26461668] [ 0. 0. 0. 1. ]] SLAMing on 61.323133365 meters Centerline goodness : 0.127622 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99989569 -0.00854839 -0.01164229 -0.33061961] [ 0.00847985 0.9999465 -0.00592353 0.13198913] [ 0.0116923 0.00582419 0.99991468 -0.26450623] [ 0. 0. 0. 1. ]] SLAMing on 61.35313336499999 meters Centerline goodness : 0.107904 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99989527 -0.00858051 -0.01165447 -0.33069742] [ 0.00851311 0.99994682 -0.00582061 0.1313565 ] [ 0.0117038 0.00572079 0.99991514 -0.26426825] [ 0. 0. 0. 1. ]] SLAMing on 61.38313336499999 meters Centerline goodness : 0.112228 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99990245 -0.00915716 -0.01054715 -0.33388906] [ 0.00909324 0.9999401 -0.00609236 0.13083263] [ 0.01060231 0.00599586 0.99992582 -0.26317931] [ 0. 0. 0. 1. ]] SLAMing on 61.41313336499999 meters Centerline goodness : 0.137897 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99990473 -0.00917299 -0.01031459 -0.33467932] [ 0.00911167 0.99994063 -0.00597631 0.13002623] [ 0.0103688 0.00588176 0.99992894 -0.26272837] [ 0. 0. 0. 1. ]] SLAMing on 61.443133364999994 meters Centerline goodness : 0.146719 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99990508 -0.00916355 -0.01028905 -0.33486387] [ 0.00910298 0.99994106 -0.00591788 0.12975586] [ 0.01034267 0.00582366 0.99992955 -0.26252422] [ 0. 0. 0. 1. ]] SLAMing on 61.473133364999995 meters Centerline goodness : 0.146838 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99992929 -0.00601675 -0.01025735 -0.33470176] [ 0.00598961 0.99997848 -0.00267522 0.12999172] [ 0.01027322 0.0026136 0.99994381 -0.26294645] [ 0. 0. 0. 1. ]] SLAMing on 61.503133365 meters Centerline goodness : 0.136971 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99992903 -0.00606245 -0.01025614 -0.33473316] [ 0.00603292 0.99997757 -0.00290791 0.13132989] [ 0.01027354 0.00284583 0.99994318 -0.26287645] [ 0. 0. 0. 1. ]] SLAMing on 61.533133365 meters Centerline goodness : 0.145513 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.14, Z:-0.26 [[ 0.99992967 -0.00626094 -0.01007251 -0.33539487] [ 0.00622449 0.99997398 -0.00364693 0.13506455] [ 0.01009508 0.00358398 0.99994262 -0.26247813] [ 0. 0. 0. 1. ]] SLAMing on 61.56313336499999 meters Centerline goodness : 0.116008 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.13, Z:-0.26 [[ 0.99993704 0.00243004 -0.0109551 -0.35500243] [-0.00248318 0.99998521 -0.00483974 0.13342556] [ 0.01094318 0.00486664 0.99992828 -0.26361496] [ 0. 0. 0. 1. ]] SLAMing on 61.59313336499999 meters Centerline goodness : 0.157250 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.14, Z:-0.26 [[ 0.9999099 -0.00528361 -0.01233983 -0.33474588] [ 0.00523659 0.99997892 -0.00384017 0.13942894] [ 0.01235986 0.00377521 0.99991649 -0.26197456] [ 0. 0. 0. 1. ]] SLAMing on 61.623133364999994 meters Centerline goodness : 0.140964 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.14, Z:-0.26 [[ 0.99990562 -0.00548081 -0.01259779 -0.33354237] [ 0.00542885 0.99997663 -0.00415466 0.14065186] [ 0.01262027 0.00408588 0.99991201 -0.26288753] [ 0. 0. 0. 1. ]] SLAMing on 61.653133364999995 meters Centerline goodness : 0.145998 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.14, Z:-0.26 [[ 0.99990543 -0.0055117 -0.01259938 -0.33331998] [ 0.00546055 0.99997672 -0.00409112 0.14008826] [ 0.01262163 0.00402193 0.99991226 -0.26324875] [ 0. 0. 0. 1. ]] SLAMing on 61.683133364999996 meters Centerline goodness : 0.137070 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.14, Z:-0.26 [[ 0.99990061 -0.00600847 -0.01275426 -0.33289261] [ 0.00595715 0.99997402 -0.00405825 0.13827136] [ 0.01277831 0.00398186 0.99991043 -0.26333614] [ 0. 0. 0. 1. ]] SLAMing on 61.713133365 meters Centerline goodness : 0.113211 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.14, Z:-0.26 [[ 0.99989635 -0.00605309 -0.01306318 -0.33207435] [ 0.00600484 0.99997501 -0.00372989 0.13631239] [ 0.01308543 0.00365106 0.99990772 -0.26349737] [ 0. 0. 0. 1. ]] SLAMing on 61.74313336499999 meters Centerline goodness : 0.110776 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99988915 -0.00606926 -0.01359578 -0.33068027] [ 0.0060247 0.99997635 -0.00331662 0.133947 ] [ 0.01361559 0.00323434 0.99990207 -0.26378652] [ 0. 0. 0. 1. ]] SLAMing on 61.77313336499999 meters Centerline goodness : 0.152846 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.27 [[ 0.99985787 -0.00900667 -0.01425193 -0.32756815] [ 0.00893015 0.99994542 -0.00542383 0.12839396] [ 0.0143 0.00529578 0.99988373 -0.26562532] [ 0. 0. 0. 1. ]] SLAMing on 61.803133364999994 meters Centerline goodness : 0.140292 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.12, Z:-0.27 [[ 9.99902139e-01 -7.42977170e-04 -1.39699714e-02 -3.47091743e-01] [ 6.56451291e-04 9.99980581e-01 -6.19727053e-03 1.21515837e-01] [ 1.39743045e-02 6.18749345e-03 9.99883210e-01 -2.67565949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.833133364999995 meters Centerline goodness : 0.137390 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.12, Z:-0.27 [[ 9.99904267e-01 -6.30610821e-04 -1.38224238e-02 -3.47367210e-01] [ 5.52110896e-04 9.99983703e-01 -5.68225262e-03 1.18789758e-01] [ 1.38257819e-02 5.67407713e-03 9.99888320e-01 -2.67771666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.863133364999996 meters Centerline goodness : 0.140205 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 9.99906123e-01 -4.56580737e-04 -1.36944201e-02 -3.47656971e-01] [ 3.90266900e-04 9.99988188e-01 -4.84467987e-03 1.14018865e-01] [ 1.36964703e-02 4.83888059e-03 9.99894490e-01 -2.67948993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.893133365 meters Centerline goodness : 0.151616 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 9.99904731e-01 -3.17312212e-04 -1.37995780e-02 -3.47355767e-01] [ 2.56198760e-04 9.99990154e-01 -4.43018872e-03 1.11864951e-01] [ 1.38008479e-02 4.42623123e-03 9.99894967e-01 -2.68096692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92313336499999 meters Centerline goodness : 0.147979 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 9.99903161e-01 -5.55798622e-05 -1.39164086e-02 -3.47179506e-01] [ 2.42859829e-06 9.99992706e-01 -3.81931110e-03 1.08846476e-01] [ 1.39165194e-02 3.81890744e-03 9.99895868e-01 -2.68005166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95313336499999 meters Centerline goodness : 0.146682 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 9.99905438e-01 9.99731915e-05 -1.37515630e-02 -3.47762917e-01] [-1.49481434e-04 9.99993512e-01 -3.59920951e-03 1.08046962e-01] [ 1.37511139e-02 3.60092477e-03 9.99898965e-01 -2.67673969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98313336499999 meters Centerline goodness : 0.143629 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 9.99907920e-01 1.98134007e-04 -1.35688328e-02 -3.48413454e-01] [-2.46022606e-04 9.99993747e-01 -3.52773041e-03 1.07940578e-01] [ 1.35680490e-02 3.53074382e-03 9.99901716e-01 -2.67282575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.013133364999995 meters Centerline goodness : 0.148623 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.11, Z:-0.27 [[ 9.99925916e-01 -4.88865911e-03 -1.11473315e-02 -3.26042181e-01] [ 4.88436087e-03 9.99987986e-01 -4.12776479e-04 1.07237595e-01] [ 1.11492155e-02 3.58298309e-04 9.99937781e-01 -2.67916140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.043133364999996 meters Centerline goodness : 0.146370 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.11, Z:-0.27 [[ 9.99924917e-01 -4.87024995e-03 -1.12446248e-02 -3.25705891e-01] [ 4.86508559e-03 9.99988047e-01 -4.86581755e-04 1.07734725e-01] [ 1.12468602e-02 4.31839158e-04 9.99936659e-01 -2.68099678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.073133365 meters Centerline goodness : 0.142480 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 0.99992378 0.00400555 -0.01167895 -0.34636808] [-0.00402197 0.99999096 -0.00138292 0.10536679] [ 0.01167331 0.00142979 0.99993084 -0.26935547] [ 0. 0. 0. 1. ]] SLAMing on 62.10313336499999 meters Centerline goodness : 0.142480 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 0.99992378 0.00400555 -0.01167895 -0.34636808] [-0.00402197 0.99999096 -0.00138292 0.10536679] [ 0.01167331 0.00142979 0.99993084 -0.26935547] [ 0. 0. 0. 1. ]] SLAMing on 62.13313336499999 meters Centerline goodness : 0.140240 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.11, Z:-0.27 [[ 0.99993904 -0.00250352 -0.01075377 -0.32360649] [ 0.00251698 0.99999607 0.00123835 0.10628374] [ 0.01075063 -0.00126535 0.99994141 -0.27017847] [ 0. 0. 0. 1. ]] SLAMing on 62.16313336499999 meters Centerline goodness : 0.141995 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.27 [[ 9.99927274e-01 5.76163344e-03 -1.05948431e-02 -3.43418986e-01] [-5.76119774e-03 9.99983402e-01 7.16441547e-05 1.02287038e-01] [ 1.05950800e-02 -1.05999584e-05 9.99943871e-01 -2.71847712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.193133364999994 meters Centerline goodness : 0.123239 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.27 [[ 9.99927773e-01 5.75802940e-03 -1.05495473e-02 -3.43638239e-01] [-5.75662306e-03 9.99983417e-01 1.63668621e-04 1.01709320e-01] [ 1.05503148e-02 -1.02927032e-04 9.99944339e-01 -2.71691374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.223133364999995 meters Centerline goodness : 0.143028 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.27 [[ 9.99926612e-01 5.74693458e-03 -1.06650182e-02 -3.43415235e-01] [-5.74491418e-03 9.99983474e-01 2.20068206e-04 1.01345419e-01] [ 1.06661066e-02 -1.58782442e-04 9.99943103e-01 -2.71647998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.253133365 meters Centerline goodness : 0.105489 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.11, Z:-0.27 [[ 0.99993691 -0.00241127 -0.01097103 -0.36397742] [ 0.00242421 0.99999638 0.00116618 0.10593838] [ 0.01096818 -0.00119271 0.99993914 -0.27231427] [ 0. 0. 0. 1. ]] SLAMing on 62.283133365 meters Centerline goodness : 0.142739 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 9.99939622e-01 5.23912804e-03 -9.65934334e-03 -3.45506404e-01] [-5.23854580e-03 9.99986275e-01 8.55777875e-05 1.00548982e-01] [ 9.65965912e-03 -3.49717080e-05 9.99953344e-01 -2.71194127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31313336499999 meters Centerline goodness : 0.144109 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 9.99942218e-01 5.19688695e-03 -9.41028598e-03 -3.46293711e-01] [-5.19640861e-03 9.99986496e-01 7.52811244e-05 1.00288779e-01] [ 9.41055013e-03 -2.63770834e-05 9.99955719e-01 -2.70862195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34313336499999 meters Centerline goodness : 0.147041 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.10, Z:-0.27 [[ 0.9999526 -0.00288409 -0.00929957 -0.32729509] [ 0.00289359 0.99999531 0.0010085 0.10391181] [ 0.00929662 -0.00103537 0.99995625 -0.26950128] [ 0. 0. 0. 1. ]] SLAMing on 62.373133364999994 meters Centerline goodness : 0.142929 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 9.99934259e-01 5.87226714e-03 -9.84859035e-03 -3.47348878e-01] [-5.87263743e-03 9.99982756e-01 -8.67917426e-06 1.01534278e-01] [ 9.84836955e-03 6.65158040e-05 9.99951501e-01 -2.70981967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.403133364999995 meters Centerline goodness : 0.141978 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 9.99929980e-01 6.34505938e-03 -9.98872490e-03 -3.47056358e-01] [-6.34444352e-03 9.99979869e-01 9.33419631e-05 1.02639159e-01] [ 9.98911608e-03 -2.99625263e-05 9.99950107e-01 -2.70847587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.433133364999996 meters Centerline goodness : 0.150395 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 9.99929659e-01 6.34314352e-03 -1.00220543e-02 -3.46956392e-01] [-6.34461175e-03 9.99979866e-01 -1.14712740e-04 1.03829101e-01] [ 1.00211249e-02 1.78290714e-04 9.99949771e-01 -2.70863856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.463133365 meters Centerline goodness : 0.144062 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 9.99929169e-01 6.33616654e-03 -1.00752155e-02 -3.46839764e-01] [-6.33948186e-03 9.99979861e-01 -2.97154473e-04 1.04765007e-01] [ 1.00731297e-02 3.61005071e-04 9.99949200e-01 -2.70846340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49313336499999 meters Centerline goodness : 0.107993 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.11, Z:-0.27 [[ 9.99964973e-01 -5.23336515e-04 -8.35341868e-03 -3.64884204e-01] [ 5.28557215e-04 9.99999666e-01 6.22782297e-04 1.11410409e-01] [ 8.35308997e-03 -6.27175742e-04 9.99964916e-01 -2.73026395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52313336499999 meters Centerline goodness : 0.158920 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.11, Z:-0.27 [[ 9.99970006e-01 -4.25848702e-04 -7.73337037e-03 -3.66719647e-01] [ 4.29602938e-04 9.99999791e-01 4.83804569e-04 1.12435331e-01] [ 7.73316273e-03 -4.87112336e-04 9.99969980e-01 -2.72485455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.553133364999994 meters Centerline goodness : 0.139125 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.11, Z:-0.27 [[ 9.99970636e-01 -4.30445454e-04 -7.65124349e-03 -3.66958094e-01] [ 4.33139280e-04 9.99999845e-01 3.50423207e-04 1.13286604e-01] [ 7.65109147e-03 -3.53726972e-04 9.99970667e-01 -2.72437681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.583133364999995 meters Centerline goodness : 0.142839 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.12, Z:-0.27 [[ 9.99967179e-01 -2.57112563e-04 -8.09787872e-03 -3.65622745e-01] [ 2.58711754e-04 9.99999947e-01 1.96435843e-04 1.15064538e-01] [ 8.09782779e-03 -1.98524412e-04 9.99967192e-01 -2.72909852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.613133364999996 meters Centerline goodness : 0.097206 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.12, Z:-0.27 [[ 9.99964415e-01 -2.47779166e-04 -8.43248136e-03 -3.64682287e-01] [ 2.47577700e-04 9.99999969e-01 -2.49355621e-05 1.16484047e-01] [ 8.43248728e-03 2.28469805e-05 9.99964446e-01 -2.73150431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.643133365 meters Centerline goodness : 0.139734 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.12, Z:-0.27 [[ 9.99963273e-01 -3.17574600e-04 -8.56454217e-03 -3.64384973e-01] [ 3.14396512e-04 9.99999881e-01 -3.72418783e-04 1.18345270e-01] [ 8.56465942e-03 3.69712443e-04 9.99963254e-01 -2.73116606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67313336499999 meters Centerline goodness : 0.137202 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.12, Z:-0.27 [[ 9.99970397e-01 2.84712851e-04 -7.68918567e-03 -3.67004776e-01] [-2.88092031e-04 9.99999862e-01 -4.38367671e-04 1.21193882e-01] [ 7.68905980e-03 4.40569888e-04 9.99970342e-01 -2.72365187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70313336499999 meters Centerline goodness : 0.136034 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.12, Z:-0.27 [[ 9.99973050e-01 2.29661540e-04 -7.33803206e-03 -3.68073523e-01] [-2.35620955e-04 9.99999643e-01 -8.11272929e-04 1.23269398e-01] [ 7.33784312e-03 8.12980059e-04 9.99972747e-01 -2.71927953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73313336499999 meters Centerline goodness : 0.093129 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.13, Z:-0.27 [[ 9.99970488e-01 1.44967559e-04 -7.68127100e-03 -3.67204539e-01] [-1.56495107e-04 9.99998863e-01 -1.50015475e-03 1.26954938e-01] [ 7.68104479e-03 1.50131256e-03 9.99969373e-01 -2.72060014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.763133364999995 meters Centerline goodness : 0.144504 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.13, Z:-0.27 [[ 9.99967441e-01 5.48650105e-05 -8.06932361e-03 -3.65999886e-01] [-6.98567338e-05 9.99998272e-01 -1.85759606e-03 1.28715996e-01] [ 8.06920775e-03 1.85809927e-03 9.99965717e-01 -2.72532534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.793133364999996 meters Centerline goodness : 0.129005 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.13, Z:-0.27 [[ 9.99961194e-01 1.17811311e-04 -8.80888557e-03 -3.64080549e-01] [-1.38329142e-04 9.99997279e-01 -2.32864685e-03 1.31927614e-01] [ 8.80858726e-03 2.32977501e-03 9.99958490e-01 -2.72883517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.823133365 meters Centerline goodness : 0.333901 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.13, Z:-0.27 [[ 9.99960833e-01 3.30658700e-05 -8.85048797e-03 -3.64122109e-01] [-5.67189032e-05 9.99996428e-01 -2.67227411e-03 1.33679718e-01] [ 8.85036799e-03 2.67267143e-03 9.99957263e-01 -2.72634619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85313336499999 meters Centerline goodness : 0.105954 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 9.99961929e-01 -8.17394101e-05 -8.72542719e-03 -3.64612298e-01] [ 5.48005191e-05 9.99995232e-01 -3.08759525e-03 1.35642580e-01] [ 8.72563797e-03 3.08699954e-03 9.99957166e-01 -2.72328035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88313336499999 meters Centerline goodness : 0.129232 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.14, Z:-0.27 [[ 9.99953365e-01 -6.04058251e-03 -7.53518914e-03 -3.42636720e-01] [ 6.03532430e-03 9.99981528e-01 -7.20364387e-04 1.40834512e-01] [ 7.53940137e-03 6.74853482e-04 9.99971351e-01 -2.72279688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91313336499999 meters Centerline goodness : 0.146268 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.14, Z:-0.27 [[ 9.99953072e-01 -6.05225650e-03 -7.56464314e-03 -3.42751118e-01] [ 6.04498436e-03 9.99981245e-01 -9.83827954e-04 1.42394173e-01] [ 7.57045564e-03 9.38053636e-04 9.99970904e-01 -2.72031358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.943133364999994 meters Centerline goodness : 0.128359 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.14, Z:-0.27 [[ 0.99995617 -0.00608454 -0.00711643 -0.34396776] [ 0.00607492 0.99998061 -0.00137274 0.14471867] [ 0.00712465 0.00132945 0.99997374 -0.27182365] [ 0. 0. 0. 1. ]] SLAMing on 62.973133364999995 meters Centerline goodness : 0.132643 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.15, Z:-0.27 [[ 0.99995719 -0.00618339 -0.00688373 -0.34482506] [ 0.0061727 0.99997971 -0.00157342 0.1454423 ] [ 0.00689332 0.00153086 0.99997507 -0.27137996] [ 0. 0. 0. 1. ]] SLAMing on 63.003133365 meters Centerline goodness : 0.129926 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.14, Z:-0.27 [[ 0.99997812 0.00217664 -0.00624615 -0.36538542] [-0.0021939 0.99999379 -0.00275731 0.14136083] [ 0.00624011 0.00277095 0.99997669 -0.27266104] [ 0. 0. 0. 1. ]] SLAMing on 63.033133365 meters Centerline goodness : 0.132873 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.14, Z:-0.27 [[ 0.99997746 0.00220319 -0.00634296 -0.36505435] [-0.00222054 0.99999381 -0.00273032 0.14125589] [ 0.00633691 0.00274435 0.99997616 -0.27288535] [ 0. 0. 0. 1. ]] SLAMing on 63.06313336499999 meters Centerline goodness : 0.310121 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 0.99997602 0.00223929 -0.00655263 -0.36445322] [-0.00225726 0.99999371 -0.002736 0.14129036] [ 0.00654647 0.00275072 0.99997479 -0.27308175] [ 0. 0. 0. 1. ]] SLAMing on 63.09313336499999 meters Centerline goodness : 0.333025 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 0.99997436 0.00243713 -0.00673297 -0.36386259] [-0.00245545 0.9999933 -0.00271349 0.14161472] [ 0.00672631 0.00272996 0.99997365 -0.27339296] [ 0. 0. 0. 1. ]] SLAMing on 63.123133364999994 meters Centerline goodness : 0.120826 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 0.99997429 0.00245644 -0.00673625 -0.36387253] [-0.00247511 0.99999312 -0.00276385 0.14195115] [ 0.00672942 0.00278045 0.99997349 -0.27339919] [ 0. 0. 0. 1. ]] SLAMing on 63.153133364999995 meters Centerline goodness : 0.293794 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 0.99997333 0.00283766 -0.0067298 -0.36400532] [-0.00285483 0.99999269 -0.00254352 0.14189484] [ 0.00672253 0.00256266 0.99997412 -0.27326446] [ 0. 0. 0. 1. ]] SLAMing on 63.183133364999996 meters Centerline goodness : 0.040571 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 0.99997234 0.00290145 -0.00684801 -0.36365377] [-0.00291932 0.99999235 -0.00260192 0.14237816] [ 0.00684041 0.00262184 0.99997317 -0.27346303] [ 0. 0. 0. 1. ]] SLAMing on 63.213133365 meters Centerline goodness : 0.113708 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 0.99997158 0.002957 -0.00693553 -0.36326489] [-0.00297529 0.99999212 -0.00262891 0.14265528] [ 0.0069277 0.00264947 0.99997249 -0.27380999] [ 0. 0. 0. 1. ]] SLAMing on 63.24313336499999 meters SLAMing on 63.27313336499999 meters Centerline goodness : 0.039076 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 0.9999686 0.00375665 -0.00697729 -0.36287534] [-0.00377134 0.9999907 -0.00209256 0.14209749] [ 0.00696937 0.00211881 0.99997347 -0.27442534] [ 0. 0. 0. 1. ]] SLAMing on 63.303133364999994 meters Centerline goodness : 0.099174 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.14, Z:-0.27 [[ 9.99981042e-01 -2.04850704e-03 -5.80678220e-03 -3.40967821e-01] [ 2.05362298e-03 9.99997508e-01 8.75202904e-04 1.42811229e-01] [ 5.80497488e-03 -8.87111253e-04 9.99982758e-01 -2.74974198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.333133364999995 meters Centerline goodness : 0.120202 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.14, Z:-0.28 [[ 0.99998129 -0.00197105 -0.00579075 -0.34098216] [ 0.00197708 0.99999751 0.0010358 0.14193393] [ 0.00578869 -0.00104723 0.9999827 -0.27505439] [ 0. 0. 0. 1. ]] SLAMing on 63.363133364999996 meters Centerline goodness : 0.089286 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.14, Z:-0.28 [[ 0.99998081 -0.00188185 -0.00590277 -0.34060466] [ 0.00188915 0.99999746 0.0012312 0.14091692] [ 0.00590044 -0.00124233 0.99998182 -0.27524635] [ 0. 0. 0. 1. ]] SLAMing on 63.393133365 meters Centerline goodness : 0.290422 Centerline is valid? [False, False] Translation: X:-0.38, Y:0.14, Z:-0.28 [[ 0.99995678 -0.00118554 -0.00922079 -0.38219978] [ 0.00119917 0.9999982 0.00147358 0.13574492] [ 0.00921903 -0.00148457 0.9999564 -0.27594088] [ 0. 0. 0. 1. ]] SLAMing on 63.42313336499999 meters Centerline goodness : 0.103767 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.13, Z:-0.28 [[ 9.99930911e-01 6.96203737e-03 -9.47115377e-03 -3.61243337e-01] [-6.95417042e-03 9.99975447e-01 8.63301672e-04 1.31434256e-01] [ 9.47693156e-03 -7.97378010e-04 9.99954775e-01 -2.75490629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45313336499999 meters SLAMing on 63.48313336499999 meters SLAMing on 63.513133364999995 meters Centerline goodness : 0.102754 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.13, Z:-0.28 [[ 0.99993927 0.00741423 -0.00815336 -0.36441641] [-0.00740398 0.99997176 0.00128691 0.13033485] [ 0.00816267 -0.00122646 0.99996593 -0.27538615] [ 0. 0. 0. 1. ]] SLAMing on 63.543133364999996 meters Centerline goodness : 0.106416 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.13, Z:-0.28 [[ 0.9999379 0.00747967 -0.00826097 -0.36433257] [-0.00746797 0.99997107 0.00144628 0.12952549] [ 0.00827155 -0.0013845 0.99996483 -0.27514013] [ 0. 0. 0. 1. ]] SLAMing on 63.573133365 meters Centerline goodness : 0.092704 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.13, Z:-0.28 [[ 0.99993693 0.00750761 -0.00835241 -0.36398233] [-0.00749422 0.99997058 0.00163277 0.12839235] [ 0.00836442 -0.00157007 0.99996379 -0.27536211] [ 0. 0. 0. 1. ]] SLAMing on 63.60313336499999 meters Centerline goodness : 0.092762 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.13, Z:-0.27 [[ 0.99996817 -0.00121411 -0.00788517 -0.34347363] [ 0.00123316 0.99999633 0.00241123 0.13085651] [ 0.00788221 -0.00242087 0.999966 -0.27468771] [ 0. 0. 0. 1. ]] SLAMing on 63.63313336499999 meters SLAMing on 63.66313336499999 meters Centerline goodness : 0.090742 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.12, Z:-0.27 [[ 0.99996956 -0.00367472 -0.00688231 -0.34833477] [ 0.00368385 0.99999235 0.00131529 0.12116124] [ 0.00687743 -0.00134061 0.99997545 -0.27137781] [ 0. 0. 0. 1. ]] SLAMing on 63.693133364999994 meters Centerline goodness : 0.094566 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.11, Z:-0.27 [[ 9.99956080e-01 3.80508655e-03 -8.56500172e-03 -3.64104581e-01] [-3.80433905e-03 9.99992758e-01 1.03564001e-04 1.09115546e-01] [ 8.56533376e-03 -7.09752819e-05 9.99963314e-01 -2.74005037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.723133364999995 meters SLAMing on 63.753133365 meters SLAMing on 63.783133365 meters Centerline goodness : 0.153160 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.10, Z:-0.27 [[ 9.99954184e-01 4.11914354e-03 -8.64076409e-03 -3.63602099e-01] [-4.11180516e-03 9.99991171e-01 8.66867461e-04 1.04458403e-01] [ 8.64425855e-03 -8.31298606e-04 9.99962292e-01 -2.74466955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81313336499999 meters SLAMing on 63.84313336499999 meters Centerline goodness : 0.130622 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.27 [[ 0.99995396 0.00537679 -0.00794754 -0.36535379] [-0.00536051 0.99998349 0.00206879 0.10221052] [ 0.00795853 -0.0020261 0.99996628 -0.27436551] [ 0. 0. 0. 1. ]] SLAMing on 63.873133364999994 meters Centerline goodness : 0.153135 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.9999539 0.0054971 -0.0078725 -0.36515823] [-0.00547993 0.99998256 0.00220146 0.10123325] [ 0.00788446 -0.00215822 0.99996659 -0.27504106] [ 0. 0. 0. 1. ]] SLAMing on 63.903133364999995 meters Centerline goodness : 0.125228 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.27 [[ 0.99995406 0.00555602 -0.00781083 -0.36537219] [-0.00553819 0.99998201 0.00230251 0.1006962 ] [ 0.00782348 -0.00225914 0.99996684 -0.27499264] [ 0. 0. 0. 1. ]] SLAMing on 63.933133364999996 meters Centerline goodness : 0.140181 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.27 [[ 0.99995415 0.0056529 -0.00772938 -0.36569144] [-0.00563401 0.99998109 0.00246457 0.10009649] [ 0.00774316 -0.00242091 0.99996709 -0.27482267] [ 0. 0. 0. 1. ]] SLAMing on 63.963133365 meters Centerline goodness : 0.143874 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.27 [[ 0.99995445 0.00577821 -0.0075964 -0.36605927] [-0.00575772 0.99997973 0.00271662 0.09906713] [ 0.00761194 -0.00267276 0.99996746 -0.27475719] [ 0. 0. 0. 1. ]] SLAMing on 63.99313336499999 meters Centerline goodness : 0.143874 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.27 [[ 0.99995445 0.00577821 -0.0075964 -0.36605927] [-0.00575772 0.99997973 0.00271662 0.09906713] [ 0.00761194 -0.00267276 0.99996746 -0.27475719] [ 0. 0. 0. 1. ]] SLAMing on 64.02313336499999 meters Centerline goodness : 0.101963 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.27 [[ 0.99995473 0.00581278 -0.00753343 -0.36616884] [-0.00579124 0.99997909 0.00287717 0.09805207] [ 0.00754999 -0.00283341 0.99996748 -0.27482391] [ 0. 0. 0. 1. ]] SLAMing on 64.053133365 meters Centerline goodness : 0.138975 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99996693 -0.00244976 -0.00775498 -0.34662317] [ 0.00247983 0.99998944 0.00386998 0.10056672] [ 0.00774542 -0.00388909 0.99996244 -0.27340603] [ 0. 0. 0. 1. ]] SLAMing on 64.083133365 meters Centerline goodness : 0.157920 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99996624 -0.00238845 -0.00786157 -0.34626277] [ 0.00242031 0.99998889 0.00404515 0.0997046 ] [ 0.00785182 -0.00406404 0.99996092 -0.27355239] [ 0. 0. 0. 1. ]] SLAMing on 64.113133365 meters Centerline goodness : 0.124461 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99996404 -0.00232597 -0.00815532 -0.34519753] [ 0.00236065 0.9999882 0.00424515 0.09854501] [ 0.00814535 -0.00426425 0.99995773 -0.27411666] [ 0. 0. 0. 1. ]] SLAMing on 64.143133365 meters Centerline goodness : 0.159359 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.27 [[ 0.9999629 -0.00232035 -0.00829508 -0.34458946] [ 0.00235589 0.99998808 0.00427728 0.09826332] [ 0.00828505 -0.00429666 0.99995645 -0.27460681] [ 0. 0. 0. 1. ]] SLAMing on 64.173133365 meters Centerline goodness : 0.153987 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.27 [[ 0.99996242 -0.00230851 -0.00835634 -0.34445967] [ 0.00234465 0.99998793 0.00431755 0.09794932] [ 0.00834628 -0.00433698 0.99995576 -0.2745776 ] [ 0. 0. 0. 1. ]] SLAMing on 64.203133365 meters Centerline goodness : 0.126019 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99996422 -0.0022046 -0.00816665 -0.34520764] [ 0.00224256 0.99998671 0.00464205 0.09632025] [ 0.00815631 -0.0046602 0.99995588 -0.27406404] [ 0. 0. 0. 1. ]] SLAMing on 64.233133365 meters Centerline goodness : 0.131200 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99996433 -0.00216172 -0.00816445 -0.34515842] [ 0.00220095 0.99998606 0.00479981 0.09550312] [ 0.00815396 -0.00481761 0.99995515 -0.27413754] [ 0. 0. 0. 1. ]] SLAMing on 64.26313336499999 meters Centerline goodness : 0.163072 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.09, Z:-0.27 [[ 0.99996363 -0.00204937 -0.00827841 -0.34479048] [ 0.00209234 0.99998436 0.00518594 0.09367704] [ 0.00826766 -0.00520307 0.99995229 -0.27422938] [ 0. 0. 0. 1. ]] SLAMing on 64.29313336499999 meters Centerline goodness : 0.148319 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.09, Z:-0.27 [[ 0.99996348 -0.00198832 -0.00831189 -0.34468101] [ 0.00203252 0.99998382 0.00531268 0.09318579] [ 0.00830119 -0.00532938 0.99995134 -0.27424662] [ 0. 0. 0. 1. ]] SLAMing on 64.32313336499999 meters Centerline goodness : 0.158941 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.09, Z:-0.27 [[ 0.99996332 -0.00197405 -0.0083342 -0.34463558] [ 0.00201853 0.99998375 0.00533136 0.09316032] [ 0.00832354 -0.00534799 0.99995106 -0.27422763] [ 0. 0. 0. 1. ]] SLAMing on 64.35313336499999 meters Centerline goodness : 0.146753 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.27 [[ 0.99996188 -0.00210102 -0.00847534 -0.34407839] [ 0.00214234 0.99998585 0.00486896 0.09529614] [ 0.00846499 -0.00488693 0.99995223 -0.27470102] [ 0. 0. 0. 1. ]] SLAMing on 64.38313336499999 meters Centerline goodness : 0.152727 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.28 [[ 0.99996147 -0.00220476 -0.00849657 -0.34375781] [ 0.00224224 0.99998779 0.00440395 0.09760586] [ 0.00848676 -0.00442283 0.99995421 -0.27530158] [ 0. 0. 0. 1. ]] SLAMing on 64.413133365 meters Centerline goodness : 0.160626 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.28 [[ 0.99996466 -0.00145271 -0.00828071 -0.34419817] [ 0.00148908 0.99998927 0.00438741 0.10171833] [ 0.00827425 -0.00439958 0.99995609 -0.27566248] [ 0. 0. 0. 1. ]] SLAMing on 64.443133365 meters Centerline goodness : 0.156036 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.28 [[ 0.99996435 -0.00146621 -0.00831528 -0.34407851] [ 0.00149958 0.99999084 0.00400856 0.10411154] [ 0.00830932 -0.00402089 0.99995739 -0.2758843 ] [ 0. 0. 0. 1. ]] SLAMing on 64.473133365 meters Centerline goodness : 0.141957 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.11, Z:-0.28 [[ 0.99996405 -0.00160959 -0.00832527 -0.34406108] [ 0.00163957 0.9999922 0.00359447 0.10603847] [ 0.00831942 -0.00360799 0.99995888 -0.27594537] [ 0. 0. 0. 1. ]] SLAMing on 64.503133365 meters Centerline goodness : 0.165707 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.11, Z:-0.28 [[ 9.99940714e-01 4.87712567e-03 -9.73557620e-03 -3.65032537e-01] [-4.87214520e-03 9.99987988e-01 5.35225543e-04 1.05256666e-01] [ 9.73806962e-03 -4.87760671e-04 9.99952465e-01 -2.76026815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.533133365 meters Centerline goodness : 0.162515 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 0.99995202 -0.00315755 -0.00927319 -0.34594686] [ 0.00317053 0.99999401 0.00138578 0.11143212] [ 0.00926876 -0.00141512 0.99995604 -0.27494403] [ 0. 0. 0. 1. ]] SLAMing on 64.563133365 meters Centerline goodness : 0.119126 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 0.99995473 -0.00313629 -0.00898289 -0.34706688] [ 0.00314906 0.99999405 0.00140758 0.11181703] [ 0.00897842 -0.00143581 0.99995866 -0.27422065] [ 0. 0. 0. 1. ]] SLAMing on 64.593133365 meters SLAMing on 64.623133365 meters Centerline goodness : 0.161881 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 0.99995978 -0.00312148 -0.00840857 -0.34880705] [ 0.0031358 0.99999366 0.00169013 0.11027818] [ 0.00840324 -0.00171643 0.99996322 -0.27344374] [ 0. 0. 0. 1. ]] SLAMing on 64.65313336499999 meters Centerline goodness : 0.158331 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 0.99996027 -0.00299632 -0.00839533 -0.34886384] [ 0.00301534 0.99999291 0.00225376 0.10722819] [ 0.00838852 -0.00227898 0.99996222 -0.27324091] [ 0. 0. 0. 1. ]] SLAMing on 64.68313336499999 meters Centerline goodness : 0.160224 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 0.99995781 -0.00290141 -0.00871572 -0.34779636] [ 0.00292351 0.99999254 0.00252413 0.10577959] [ 0.00870833 -0.0025495 0.99995883 -0.27368644] [ 0. 0. 0. 1. ]] SLAMing on 64.71313336499999 meters Centerline goodness : 0.131541 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.28 [[ 0.99995303 -0.00280917 -0.00927562 -0.34549588] [ 0.0028367 0.9999916 0.00295702 0.10273899] [ 0.00926723 -0.0029832 0.99995261 -0.27516685] [ 0. 0. 0. 1. ]] SLAMing on 64.74313336499999 meters Centerline goodness : 0.127538 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.28 [[ 0.99995383 -0.00266802 -0.00923135 -0.34553268] [ 0.00269863 0.9999909 0.00330538 0.10103553] [ 0.00922244 -0.00333014 0.99995193 -0.27525083] [ 0. 0. 0. 1. ]] SLAMing on 64.77313336499999 meters Centerline goodness : 0.064667 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99995619 -0.00249288 -0.00902197 -0.34621838] [ 0.00252567 0.99999024 0.00362535 0.09974248] [ 0.00901284 -0.00364798 0.99995273 -0.27492099] [ 0. 0. 0. 1. ]] SLAMing on 64.803133365 meters Centerline goodness : 0.159213 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99996044 -0.00216972 -0.00862567 -0.34721906] [ 0.0022045 0.99998947 0.00402512 0.09839312] [ 0.00861684 -0.00404397 0.9999547 -0.27479905] [ 0. 0. 0. 1. ]] SLAMing on 64.833133365 meters Centerline goodness : 0.096672 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.28 [[ 0.99995909 -0.00213217 -0.00879039 -0.34650399] [ 0.00216726 0.99998971 0.00398413 0.09862443] [ 0.0087818 -0.00400301 0.99995343 -0.27542362] [ 0. 0. 0. 1. ]] SLAMing on 64.863133365 meters Centerline goodness : 0.098136 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.09, Z:-0.28 [[ 0.99993656 0.006138 -0.00944464 -0.36566173] [-0.00611153 0.99997732 0.00282893 0.093551 ] [ 0.00946179 -0.00277103 0.9999514 -0.27739156] [ 0. 0. 0. 1. ]] SLAMing on 64.893133365 meters Centerline goodness : 0.124702 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.09, Z:-0.28 [[ 0.99993347 0.00623324 -0.00970619 -0.3646073 ] [-0.0062077 0.9999772 0.00265884 0.09476809] [ 0.00972254 -0.00259841 0.99994936 -0.27828514] [ 0. 0. 0. 1. ]] SLAMing on 64.923133365 meters Centerline goodness : 0.105269 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.10, Z:-0.28 [[ 0.99993353 0.00624896 -0.00968897 -0.36457897] [-0.0062238 0.99997719 0.0026249 0.0951198 ] [ 0.00970515 -0.00256442 0.99994962 -0.27841728] [ 0. 0. 0. 1. ]] SLAMing on 64.953133365 meters Centerline goodness : 0.126422 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.99993596 0.00619402 -0.00947113 -0.36521339] [-0.00617094 0.99997792 0.00246462 0.09597554] [ 0.00948619 -0.00240602 0.99995211 -0.27827434] [ 0. 0. 0. 1. ]] SLAMing on 64.983133365 meters Centerline goodness : 0.147901 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.99993693 0.00611717 -0.00941936 -0.36542787] [-0.00609545 0.9999787 0.00233293 0.09646444] [ 0.00943343 -0.00227536 0.99995292 -0.27814869] [ 0. 0. 0. 1. ]] SLAMing on 65.01313336499999 meters Centerline goodness : 0.100446 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.99993714 0.00603958 -0.0094466 -0.36526779] [-0.00601902 0.99997946 0.00220317 0.09696215] [ 0.00945971 -0.00214618 0.99995295 -0.27832659] [ 0. 0. 0. 1. ]] SLAMing on 65.04313336499999 meters Centerline goodness : 0.120324 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.10, Z:-0.28 [[ 0.99993763 0.00592706 -0.00946575 -0.36482574] [-0.00590765 0.99998039 0.00207723 0.09750672] [ 0.00947787 -0.00202118 0.99995304 -0.27895339] [ 0. 0. 0. 1. ]] SLAMing on 65.07313336499999 meters Centerline goodness : 0.089540 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.9999389 0.00590753 -0.00934316 -0.36516922] [-0.0058881 0.99998045 0.00210621 0.09737831] [ 0.00935542 -0.00205106 0.99995413 -0.27882026] [ 0. 0. 0. 1. ]] SLAMing on 65.10313336499999 meters Centerline goodness : 0.101779 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.99994181 0.00584551 -0.00906689 -0.36610349] [-0.00582599 0.99998066 0.00217834 0.09682853] [ 0.00907945 -0.00212539 0.99995652 -0.2782689 ] [ 0. 0. 0. 1. ]] SLAMing on 65.13313336499999 meters Centerline goodness : 0.096505 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.99995833 0.00194423 -0.00891967 -0.36672541] [-0.00195875 0.99999677 -0.00161968 0.09712555] [ 0.00891649 0.00163708 0.99995891 -0.27790842] [ 0. 0. 0. 1. ]] SLAMing on 65.163133365 meters Centerline goodness : 0.169280 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.99995661 0.00193158 -0.00911315 -0.3659523 ] [-0.00194519 0.99999701 -0.0014852 0.09626893] [ 0.00911026 0.00150286 0.99995737 -0.27837021] [ 0. 0. 0. 1. ]] SLAMing on 65.193133365 meters Centerline goodness : 0.138338 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99928725e-01 8.39066814e-04 -1.19096938e-02 -4.09144383e-01] [-8.63979433e-04 9.99997449e-01 -2.08680257e-03 9.22605287e-02] [ 1.19079124e-02 2.09694357e-03 9.99926900e-01 -2.79158731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.223133365 meters Centerline goodness : 0.106813 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99929309e-01 8.77296921e-04 -1.18577695e-02 -4.09435157e-01] [-9.00523357e-04 9.99997686e-01 -1.95355523e-03 9.16030606e-02] [ 1.18560282e-02 1.96409533e-03 9.99927786e-01 -2.78885278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.253133365 meters Centerline goodness : 0.109330 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99929617e-01 9.35709800e-04 -1.18273188e-02 -4.09607449e-01] [-9.56978903e-04 9.99997935e-01 -1.79277153e-03 9.08204099e-02] [ 1.18256169e-02 1.80396384e-03 9.99928448e-01 -2.78694973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.283133365 meters Centerline goodness : 0.100987 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99929556e-01 9.73418434e-04 -1.18294134e-02 -4.09608440e-01] [-9.93397373e-04 9.99998090e-01 -1.68316200e-03 9.01871480e-02] [ 1.18277524e-02 1.69479474e-03 9.99928613e-01 -2.78687980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.313133365 meters Centerline goodness : 0.104868 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 0.99993031 0.00111407 -0.0117533 -0.40957896] [-0.00112945 0.99999851 -0.00130238 0.08816011] [ 0.01175183 0.00131556 0.99993008 -0.27897753] [ 0. 0. 0. 1. ]] SLAMing on 65.343133365 meters Centerline goodness : 0.130222 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99931784e-01 1.32266686e-03 -1.16050482e-02 -4.09705540e-01] [-1.33377587e-03 9.99998660e-01 -9.49569556e-04 8.69100319e-02] [ 1.16037767e-02 9.64983314e-04 9.99932208e-01 -2.79327894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.373133365 meters Centerline goodness : 0.107656 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99932630e-01 1.39728250e-03 -1.15231371e-02 -4.09822237e-01] [-1.40806119e-03 9.99998579e-01 -9.27335672e-04 8.70904461e-02] [ 1.15218249e-02 9.43498480e-04 9.99933176e-01 -2.79502792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40313336499999 meters Centerline goodness : 0.097985 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 0.99993265 0.00143636 -0.01151651 -0.40978003] [-0.00144798 0.99999845 -0.00100079 0.08761966] [ 0.01151506 0.0010174 0.99993318 -0.27964897] [ 0. 0. 0. 1. ]] SLAMing on 65.43313336499999 meters Centerline goodness : 0.121452 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 0.99993322 0.00146891 -0.0114629 -0.40992496] [-0.00148153 0.99999831 -0.00109314 0.08834711] [ 0.01146127 0.00111005 0.9999337 -0.27966212] [ 0. 0. 0. 1. ]] SLAMing on 65.46313336499999 meters Centerline goodness : 0.100239 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 0.99993793 0.0018914 -0.01097985 -0.41115889] [-0.00190351 0.99999759 -0.00109339 0.08998518] [ 0.01097776 0.00111422 0.99993912 -0.27967506] [ 0. 0. 0. 1. ]] SLAMing on 65.49313336499999 meters Centerline goodness : 0.100790 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 0.9999383 0.00189916 -0.01094489 -0.41105559] [-0.00191417 0.99999724 -0.00136074 0.09171161] [ 0.01094227 0.0013816 0.99993918 -0.2800671 ] [ 0. 0. 0. 1. ]] SLAMing on 65.52313336499999 meters Centerline goodness : 0.101945 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993201 0.00207383 -0.01147499 -0.40937226] [-0.00209552 0.99999604 -0.00187786 0.09561295] [ 0.01147105 0.00190178 0.9999324 -0.2810261 ] [ 0. 0. 0. 1. ]] SLAMing on 65.553133365 meters Centerline goodness : 0.089484 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993374 0.00191554 -0.01135092 -0.40973256] [-0.00194118 0.99999559 -0.00224806 0.09714788] [ 0.01134656 0.00226995 0.99993305 -0.28098496] [ 0. 0. 0. 1. ]] SLAMing on 65.583133365 meters Centerline goodness : 0.101666 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993685 0.00179792 -0.01109369 -0.410715 ] [-0.00182522 0.99999533 -0.00245094 0.09781429] [ 0.01108924 0.00247103 0.99993546 -0.28041439] [ 0. 0. 0. 1. ]] SLAMing on 65.613133365 meters Centerline goodness : 0.099290 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99994892 0.00154725 -0.00998859 -0.41437457] [-0.00157287 0.99999549 -0.00255852 0.09791378] [ 0.00998458 0.0025741 0.99994684 -0.27868841] [ 0. 0. 0. 1. ]] SLAMing on 65.643133365 meters Centerline goodness : 0.099309 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99995008 0.0015527 -0.00987029 -0.41477721] [-0.001577 0.99999574 -0.00245524 0.09738963] [ 0.00986643 0.00247068 0.99994827 -0.27844426] [ 0. 0. 0. 1. ]] SLAMing on 65.673133365 meters Centerline goodness : 0.138611 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99994823 0.00153237 -0.01005951 -0.41411687] [-0.00155562 0.99999614 -0.00230413 0.09630024] [ 0.01005594 0.00231966 0.99994675 -0.27873223] [ 0. 0. 0. 1. ]] SLAMing on 65.703133365 meters Centerline goodness : 0.098832 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 9.99931972e-01 7.31711259e-04 -1.16411260e-02 -4.09292462e-01] [-7.63975865e-04 9.99995879e-01 -2.76739982e-03 9.53306213e-02] [ 1.16390531e-02 2.77610510e-03 9.99928410e-01 -2.80269949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.733133365 meters Centerline goodness : 0.116761 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99930070e-01 7.88010977e-04 -1.17997868e-02 -4.08857739e-01] [-8.17717143e-04 9.99996508e-01 -2.51290420e-03 9.39963678e-02] [ 1.17977655e-02 2.52237736e-03 9.99927223e-01 -2.80321364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76313336499999 meters Centerline goodness : 0.098142 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99937908e-01 7.35083334e-04 -1.11193546e-02 -4.10969354e-01] [-7.57119580e-04 9.99997758e-01 -1.97771216e-03 9.05649471e-02] [ 1.11178759e-02 1.98600804e-03 9.99936222e-01 -2.79277179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79313336499999 meters Centerline goodness : 0.112689 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99941016e-01 7.88680995e-04 -1.08324442e-02 -4.12142714e-01] [-8.05776887e-04 9.99998437e-01 -1.57393811e-03 8.81271931e-02] [ 1.08311860e-02 1.58257381e-03 9.99940089e-01 -2.78374379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82313336499999 meters Centerline goodness : 0.092894 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99941878e-01 9.05263768e-04 -1.07433835e-02 -4.12571977e-01] [-9.17366337e-04 9.99998950e-01 -1.12163925e-03 8.56681860e-02] [ 1.07423568e-02 1.13142968e-03 9.99941659e-01 -2.77941170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85313336499999 meters Centerline goodness : 0.175339 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.08, Z:-0.28 [[ 9.99941533e-01 1.22958848e-03 -1.07433415e-02 -4.12031323e-01] [-1.23294160e-03 9.99999193e-01 -3.05493252e-04 8.17756058e-02] [ 1.07429572e-02 3.18721304e-04 9.99942242e-01 -2.78730726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88313336499999 meters SLAMing on 65.913133365 meters SLAMing on 65.943133365 meters Centerline goodness : 0.130147 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.08, Z:-0.28 [[ 9.99934166e-01 1.53136120e-03 -1.13718706e-02 -4.09660914e-01] [-1.53144680e-03 9.99998827e-01 1.18041984e-06 8.07645266e-02] [ 1.13718591e-02 1.62350727e-05 9.99935338e-01 -2.80212756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.973133365 meters Centerline goodness : 0.169629 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.08, Z:-0.28 [[ 9.99927636e-01 2.10182989e-03 -1.18450654e-02 -4.08102853e-01] [-2.10034521e-03 9.99997785e-01 1.37779692e-04 8.17145119e-02] [ 1.18453287e-02 -1.12890995e-04 9.99929835e-01 -2.81126646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.003133365 meters Centerline goodness : 0.097584 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.08, Z:-0.28 [[ 9.99926970e-01 2.19180018e-03 -1.18848945e-02 -4.07909448e-01] [-2.19318901e-03 9.99997590e-01 -1.03824173e-04 8.34489677e-02] [ 1.18846383e-02 1.29882410e-04 9.99929367e-01 -2.81438772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.033133365 meters Centerline goodness : 0.102544 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99923404e-01 2.80053027e-03 -1.20558445e-02 -4.06822147e-01] [-2.80484854e-03 9.99996008e-01 -3.41295807e-04 8.71853235e-02] [ 1.20548406e-02 3.75084482e-04 9.99927267e-01 -2.82895723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.063133365 meters Centerline goodness : 0.118376 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99921182e-01 2.73849851e-03 -1.22527557e-02 -4.06032517e-01] [-2.74940666e-03 9.99995839e-01 -8.73504898e-04 8.99777130e-02] [ 1.22503127e-02 9.07123859e-04 9.99924551e-01 -2.83674986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.093133365 meters Centerline goodness : 0.101393 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 0.99991541 0.00321198 -0.0126038 -0.40513627] [-0.003227 0.99999411 -0.00117151 0.09436498] [ 0.01259996 0.00121209 0.99991988 -0.28420068] [ 0. 0. 0. 1. ]] SLAMing on 66.123133365 meters Centerline goodness : 0.166862 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.9999157 0.00313217 -0.01260128 -0.40516608] [-0.0031517 0.99999386 -0.00153046 0.0965401 ] [ 0.01259641 0.00157004 0.99991943 -0.28427403] [ 0. 0. 0. 1. ]] SLAMing on 66.15313336499999 meters Centerline goodness : 0.142273 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99991772 0.00297991 -0.012477 -0.40562809] [-0.0030036 0.99999372 -0.00188033 0.0981792 ] [ 0.01247132 0.00191765 0.99992039 -0.28404714] [ 0. 0. 0. 1. ]] SLAMing on 66.18313336499999 meters Centerline goodness : 0.166861 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992308 0.00261788 -0.01212379 -0.40696052] [-0.00264706 0.99999364 -0.00239174 0.10001372] [ 0.01211745 0.00242365 0.99992364 -0.28330217] [ 0. 0. 0. 1. ]] SLAMing on 66.21313336499999 meters Centerline goodness : 0.092151 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992508 0.00254296 -0.01197369 -0.40750087] [-0.00257344 0.99999349 -0.00253081 0.10090357] [ 0.01196717 0.00256144 0.99992511 -0.28302836] [ 0. 0. 0. 1. ]] SLAMing on 66.24313336499999 meters Centerline goodness : 0.158590 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992736 0.00250609 -0.01178937 -0.40805433] [-0.0025374 0.99999329 -0.00264172 0.10185422] [ 0.01178267 0.00267144 0.99992701 -0.28282769] [ 0. 0. 0. 1. ]] SLAMing on 66.27313336499999 meters Centerline goodness : 0.099038 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993589 0.0021248 -0.01112222 -0.40994601] [-0.00215831 0.99999317 -0.00300191 0.10297981] [ 0.01111576 0.00302572 0.99993364 -0.28222028] [ 0. 0. 0. 1. ]] SLAMing on 66.303133365 meters Centerline goodness : 0.145149 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993635 0.00196681 -0.01110947 -0.41026329] [-0.00200125 0.99999323 -0.0030894 0.10285228] [ 0.01110332 0.00311143 0.99993352 -0.28167463] [ 0. 0. 0. 1. ]] SLAMing on 66.333133365 meters Centerline goodness : 0.141837 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993421 0.00188273 -0.01131541 -0.40991547] [-0.00191782 0.99999338 -0.00309098 0.10260422] [ 0.01130951 0.00311248 0.9999312 -0.28139838] [ 0. 0. 0. 1. ]] SLAMing on 66.363133365 meters Centerline goodness : 0.097890 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993038 0.00184895 -0.01165379 -0.40904688] [-0.00188396 0.99999375 -0.0029932 0.10204891] [ 0.01164818 0.00301495 0.99992761 -0.28144153] [ 0. 0. 0. 1. ]] SLAMing on 66.393133365 meters Centerline goodness : 0.098654 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992002 0.0011925 -0.01259125 -0.40632158] [-0.00123235 0.99999426 -0.00315732 0.10061228] [ 0.01258741 0.00317258 0.99991574 -0.28203324] [ 0. 0. 0. 1. ]] SLAMing on 66.423133365 meters Centerline goodness : 0.123788 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99991855 0.00105581 -0.01271956 -0.40590763] [-0.00109426 0.99999485 -0.00301632 0.09903813] [ 0.01271631 0.00302999 0.99991455 -0.28206679] [ 0. 0. 0. 1. ]] SLAMing on 66.453133365 meters Centerline goodness : 0.146510 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 9.99928811e-01 7.49801556e-04 -1.19084181e-02 -4.07968687e-01] [-7.81854215e-04 9.99996084e-01 -2.68716936e-03 9.59228587e-02] [ 1.19063566e-02 2.69628871e-03 9.99925482e-01 -2.81588362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.483133365 meters Centerline goodness : 0.102479 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99930974e-01 8.60393906e-04 -1.17177704e-02 -4.08448621e-01] [-8.88046626e-04 9.99996833e-01 -2.35489739e-03 9.43975897e-02] [ 1.17157072e-02 2.36514077e-03 9.99928572e-01 -2.81473856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51313336499999 meters SLAMing on 66.54313336499999 meters Centerline goodness : 0.090921 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99928654e-01 7.97485086e-04 -1.19185481e-02 -4.07495577e-01] [-8.25177008e-04 9.99996971e-01 -2.31869386e-03 9.33533089e-02] [ 1.19166629e-02 2.32836334e-03 9.99926283e-01 -2.82165906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57313336499999 meters SLAMing on 66.60313336499999 meters Centerline goodness : 0.114934 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99991899 0.00119497 -0.01267234 -0.40527696] [-0.00122605 0.99999626 -0.00244508 0.09577471] [ 0.01266938 0.00246042 0.99991671 -0.28307485] [ 0. 0. 0. 1. ]] SLAMing on 66.63313336499999 meters Centerline goodness : 0.144324 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992004 0.00132523 -0.01257617 -0.40562463] [-0.00135996 0.99999528 -0.00275327 0.09820641] [ 0.01257246 0.00277015 0.99991713 -0.28302627] [ 0. 0. 0. 1. ]] SLAMing on 66.663133365 meters Centerline goodness : 0.103802 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.10, Z:-0.28 [[ 0.99990109 -0.00633267 -0.01255837 -0.38793394] [ 0.00631244 0.99997872 -0.00164948 0.10402234] [ 0.01256855 0.00157004 0.99991978 -0.2810973 ] [ 0. 0. 0. 1. ]] SLAMing on 66.693133365 meters Centerline goodness : 0.103849 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.10, Z:-0.28 [[ 0.99990427 -0.006293 -0.01232272 -0.38856255] [ 0.00627405 0.99997908 -0.00157606 0.1037619 ] [ 0.01233238 0.00149859 0.99992283 -0.28102205] [ 0. 0. 0. 1. ]] SLAMing on 66.723133365 meters Centerline goodness : 0.100868 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.10, Z:-0.28 [[ 0.99990419 -0.00628423 -0.01233382 -0.38823293] [ 0.00626589 0.99997921 -0.0015251 0.10340975] [ 0.01234315 0.00144767 0.99992277 -0.28149786] [ 0. 0. 0. 1. ]] SLAMing on 66.753133365 meters SLAMing on 66.783133365 meters Centerline goodness : 0.096039 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.10, Z:-0.28 [[ 0.99990197 -0.00626796 -0.01252036 -0.38727851] [ 0.0062498 0.99997936 -0.00148897 0.10311999] [ 0.01252944 0.00141057 0.99992051 -0.28231313] [ 0. 0. 0. 1. ]] SLAMing on 66.813133365 meters SLAMing on 66.843133365 meters Centerline goodness : 0.092034 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.10, Z:-0.28 [[ 0.99990262 -0.00609217 -0.01255562 -0.38724497] [ 0.00607471 0.99998053 -0.00142844 0.10381658] [ 0.01256408 0.00135203 0.99992015 -0.28231192] [ 0. 0. 0. 1. ]] SLAMing on 66.873133365 meters Centerline goodness : 0.110099 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99991885 0.00256603 -0.01247873 -0.4075097 ] [-0.00259279 0.99999437 -0.00212852 0.09936665] [ 0.0124732 0.0021607 0.99991987 -0.28410109] [ 0. 0. 0. 1. ]] SLAMing on 66.90313336499999 meters Centerline goodness : 0.171281 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99991954 0.00254187 -0.01242753 -0.40749533] [-0.00256972 0.99999422 -0.00222551 0.09974325] [ 0.01242181 0.00225727 0.9999203 -0.28437484] [ 0. 0. 0. 1. ]] SLAMing on 66.93313336499999 meters Centerline goodness : 0.099948 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992192 0.00248516 -0.01224644 -0.40798997] [-0.00251406 0.99999409 -0.00234574 0.09996184] [ 0.01224054 0.00237635 0.99992226 -0.28434849] [ 0. 0. 0. 1. ]] SLAMing on 66.96313336499999 meters Centerline goodness : 0.172124 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992296 0.00248999 -0.01216037 -0.40815656] [-0.00251897 0.99999402 -0.00236885 0.10018432] [ 0.0121544 0.0023993 0.99992325 -0.28444745] [ 0. 0. 0. 1. ]] SLAMing on 66.99313336499999 meters Centerline goodness : 0.173046 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992389 0.00249542 -0.01208214 -0.40827723] [-0.00252447 0.99999396 -0.00239012 0.10040308] [ 0.01207611 0.00242044 0.99992415 -0.28459498] [ 0. 0. 0. 1. ]] SLAMing on 67.02313336499999 meters Centerline goodness : 0.110663 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992551 0.00248161 -0.01195027 -0.40868329] [-0.0025093 0.9999942 -0.00230288 0.09959608] [ 0.01194448 0.00233269 0.99992594 -0.2844533 ] [ 0. 0. 0. 1. ]] SLAMing on 67.053133365 meters Centerline goodness : 0.180216 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992478 0.00249453 -0.0120089 -0.40866525] [-0.00252036 0.99999454 -0.00213636 0.09854378] [ 0.01200351 0.00216646 0.99992561 -0.28419167] [ 0. 0. 0. 1. ]] SLAMing on 67.083133365 meters Centerline goodness : 0.177197 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.9999215 0.00254405 -0.01226835 -0.40801876] [-0.00256778 0.99999486 -0.00191887 0.09742119] [ 0.01226341 0.00195022 0.9999229 -0.28418342] [ 0. 0. 0. 1. ]] SLAMing on 67.113133365 meters SLAMing on 67.143133365 meters Centerline goodness : 0.177749 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.9999178 0.00261087 -0.01255324 -0.40709719] [-0.00263299 0.99999501 -0.00174562 0.09660493] [ 0.01254862 0.00177853 0.99991968 -0.2845174 ] [ 0. 0. 0. 1. ]] SLAMing on 67.173133365 meters Centerline goodness : 0.180282 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992937 0.00285898 -0.01153605 -0.40988337] [-0.00287958 0.99999429 -0.0017699 0.09776364] [ 0.01153093 0.00180299 0.99993189 -0.28393484] [ 0. 0. 0. 1. ]] SLAMing on 67.203133365 meters Centerline goodness : 0.181127 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993416 0.00291599 -0.01109831 -0.41110936] [-0.0029373 0.99999387 -0.00190426 0.0989001 ] [ 0.01109269 0.00193673 0.9999366 -0.28368459] [ 0. 0. 0. 1. ]] SLAMing on 67.233133365 meters Centerline goodness : 0.176673 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993524 0.0028925 -0.01100647 -0.41130835] [-0.00291667 0.99999337 -0.00218036 0.10045373] [ 0.01100009 0.00221232 0.99993705 -0.2838368 ] [ 0. 0. 0. 1. ]] SLAMing on 67.26313336499999 meters Centerline goodness : 0.091740 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993384 0.00286286 -0.01114059 -0.4108471 ] [-0.0028906 0.99999276 -0.00247487 0.10210924] [ 0.01113342 0.00250691 0.99993488 -0.28419095] [ 0. 0. 0. 1. ]] SLAMing on 67.29313336499999 meters Centerline goodness : 0.158154 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.29 [[ 0.9999253 0.0029987 -0.01184926 -0.40867445] [-0.00303194 0.99999152 -0.00278808 0.10431177] [ 0.0118408 0.0028238 0.99992591 -0.28518643] [ 0. 0. 0. 1. ]] SLAMing on 67.32313336499999 meters Centerline goodness : 0.158182 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.29 [[ 0.99992448 0.00294621 -0.01193125 -0.40841184] [-0.00298144 0.99999124 -0.0029366 0.10495039] [ 0.0119225 0.00297195 0.99992451 -0.28536363] [ 0. 0. 0. 1. ]] SLAMing on 67.35313336499999 meters Centerline goodness : 0.165220 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.11, Z:-0.29 [[ 0.99992279 0.00290244 -0.01208231 -0.40803944] [-0.00293894 0.99999117 -0.00300439 0.10514269] [ 0.01207348 0.00303967 0.99992249 -0.28536535] [ 0. 0. 0. 1. ]] SLAMing on 67.38313336499999 meters Centerline goodness : 0.178697 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.11, Z:-0.29 [[ 0.99992097 0.00284182 -0.01224669 -0.4075349 ] [-0.00288068 0.99999087 -0.00315598 0.10605476] [ 0.01223761 0.003191 0.99992003 -0.28556788] [ 0. 0. 0. 1. ]] SLAMing on 67.413133365 meters Centerline goodness : 0.181288 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.11, Z:-0.29 [[ 0.99992248 0.00279071 -0.01213425 -0.40779846] [-0.00283119 0.99999048 -0.00331974 0.10702279] [ 0.01212487 0.00335384 0.99992087 -0.28558237] [ 0. 0. 0. 1. ]] SLAMing on 67.443133365 meters Centerline goodness : 0.162123 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99991681 -0.00491329 -0.0119263 -0.38917239] [ 0.00488502 0.99998519 -0.00239899 0.11582321] [ 0.01193791 0.00234053 0.999926 -0.28425687] [ 0. 0. 0. 1. ]] SLAMing on 67.473133365 meters Centerline goodness : 0.174861 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99991545 -0.00500327 -0.01200264 -0.38904189] [ 0.00497235 0.99998425 -0.00260413 0.1167967 ] [ 0.01201548 0.00254423 0.99992457 -0.28417757] [ 0. 0. 0. 1. ]] SLAMing on 67.503133365 meters Centerline goodness : 0.175795 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99991361 -0.00511243 -0.01210891 -0.38876466] [ 0.00507868 0.99998314 -0.00281643 0.11772483] [ 0.01212311 0.00275469 0.99992272 -0.28421892] [ 0. 0. 0. 1. ]] SLAMing on 67.533133365 meters SLAMing on 67.563133365 meters Centerline goodness : 0.164597 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990808 -0.00542486 -0.01242611 -0.38795217] [ 0.00538259 0.99997962 -0.00343206 0.12070356] [ 0.01244448 0.00336486 0.9999169 -0.28431321] [ 0. 0. 0. 1. ]] SLAMing on 67.593133365 meters SLAMing on 67.623133365 meters Centerline goodness : 0.094423 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990728 -0.00569459 -0.01236905 -0.38856071] [ 0.0056471 0.99997656 -0.00387122 0.12274774] [ 0.01239081 0.00380101 0.99991601 -0.28356551] [ 0. 0. 0. 1. ]] SLAMing on 67.65313336499999 meters SLAMing on 67.68313336499999 meters Centerline goodness : 0.118321 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990956 -0.00586431 -0.01210312 -0.38972007] [ 0.00581701 0.99997532 -0.00393988 0.12277338] [ 0.01212592 0.00386912 0.99991899 -0.2825837 ] [ 0. 0. 0. 1. ]] SLAMing on 67.71313336499999 meters Centerline goodness : 0.152028 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990959 -0.00584981 -0.01210752 -0.38981835] [ 0.00580379 0.99997581 -0.00383276 0.12226236] [ 0.01212965 0.00376214 0.99991936 -0.28234707] [ 0. 0. 0. 1. ]] SLAMing on 67.74313336499999 meters Centerline goodness : 0.121777 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990656 -0.00589398 -0.01233443 -0.38917405] [ 0.00584938 0.99997624 -0.00364853 0.12104829] [ 0.01235564 0.00357604 0.99991727 -0.28239113] [ 0. 0. 0. 1. ]] SLAMing on 67.77313336499999 meters Centerline goodness : 0.106852 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990527 -0.00588418 -0.01244322 -0.38874593] [ 0.00584021 0.99997658 -0.00356712 0.12050117] [ 0.01246392 0.00349411 0.99991622 -0.28264363] [ 0. 0. 0. 1. ]] SLAMing on 67.803133365 meters Centerline goodness : 0.106852 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990527 -0.00588418 -0.01244322 -0.38874593] [ 0.00584021 0.99997658 -0.00356712 0.12050117] [ 0.01246392 0.00349411 0.99991622 -0.28264363] [ 0. 0. 0. 1. ]] SLAMing on 67.833133365 meters Centerline goodness : 0.109796 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990449 -0.00594005 -0.0124791 -0.38850304] [ 0.00589451 0.99997585 -0.0036829 0.1208601 ] [ 0.01250067 0.00360899 0.99991535 -0.28292177] [ 0. 0. 0. 1. ]] SLAMing on 67.863133365 meters SLAMing on 67.893133365 meters Centerline goodness : 0.092541 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.9999055 -0.00595381 -0.01239103 -0.38857152] [ 0.00590595 0.99997497 -0.00389489 0.12214761] [ 0.01241391 0.00382135 0.99991564 -0.28323446] [ 0. 0. 0. 1. ]] SLAMing on 67.923133365 meters Centerline goodness : 0.106973 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990572 -0.00605079 -0.01232666 -0.38864562] [ 0.00599876 0.99997296 -0.00425342 0.12386847] [ 0.01235206 0.00417908 0.99991498 -0.2834562 ] [ 0. 0. 0. 1. ]] SLAMing on 67.953133365 meters Centerline goodness : 0.098932 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990574 -0.00604911 -0.01232579 -0.38860228] [ 0.005996 0.9999726 -0.00434131 0.12448601] [ 0.01235171 0.004267 0.99991461 -0.28359044] [ 0. 0. 0. 1. ]] SLAMing on 67.983133365 meters Centerline goodness : 0.107324 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.28 [[ 0.99990765 -0.00603888 -0.01217478 -0.38893377] [ 0.00598541 0.9999723 -0.00442406 0.125193 ] [ 0.01220116 0.00435078 0.9999161 -0.28368687] [ 0. 0. 0. 1. ]] SLAMing on 68.01313336499999 meters Centerline goodness : 0.116858 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.28 [[ 0.99991328 -0.00603209 -0.01170656 -0.39021439] [ 0.00598002 0.99997209 -0.00447781 0.12560478] [ 0.01173324 0.00440741 0.99992145 -0.28349435] [ 0. 0. 0. 1. ]] SLAMing on 68.04313336499999 meters Centerline goodness : 0.125979 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.28 [[ 0.99991339 -0.00606434 -0.01168048 -0.39031603] [ 0.00601194 0.99997173 -0.00451538 0.12558453] [ 0.01170753 0.00444476 0.99992159 -0.28339628] [ 0. 0. 0. 1. ]] SLAMing on 68.07313336499999 meters Centerline goodness : 0.110897 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.28 [[ 0.99991077 -0.00612606 -0.01187146 -0.38974845] [ 0.00606953 0.9999701 -0.00479189 0.12699248] [ 0.01190046 0.00471941 0.99991805 -0.28371236] [ 0. 0. 0. 1. ]] SLAMing on 68.10313336499999 meters SLAMing on 68.13313336499999 meters Centerline goodness : 0.107741 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.28 [[ 0.99990637 -0.00600308 -0.01229687 -0.38838451] [ 0.00594155 0.99996968 -0.00503389 0.12917152] [ 0.01232672 0.00496035 0.99991172 -0.28443689] [ 0. 0. 0. 1. ]] SLAMing on 68.163133365 meters Centerline goodness : 0.148937 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.28 [[ 0.99990413 -0.00595626 -0.01249984 -0.38769146] [ 0.00588939 0.99996819 -0.00537897 0.13139118] [ 0.01253148 0.00530484 0.99990741 -0.28496535] [ 0. 0. 0. 1. ]] SLAMing on 68.193133365 meters SLAMing on 68.223133365 meters SLAMing on 68.253133365 meters Centerline goodness : 0.144333 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.13, Z:-0.29 [[ 0.99988251 0.00311034 -0.01500993 -0.4069187 ] [-0.00320197 0.99997636 -0.00608446 0.12979397] [ 0.01499065 0.00613181 0.99986883 -0.28602777] [ 0. 0. 0. 1. ]] SLAMing on 68.283133365 meters Centerline goodness : 0.114323 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.13, Z:-0.29 [[ 0.99988407 0.00309785 -0.01490785 -0.40720141] [-0.00319141 0.99997533 -0.00625655 0.13083853] [ 0.0148881 0.0063034 0.9998693 -0.28601213] [ 0. 0. 0. 1. ]] SLAMing on 68.313133365 meters Centerline goodness : 0.110771 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.14, Z:-0.29 [[ 0.99991154 -0.00221187 -0.01311571 -0.38587353] [ 0.00217234 0.99999306 -0.0030273 0.13602421] [ 0.01312232 0.00299854 0.9999094 -0.28623579] [ 0. 0. 0. 1. ]] SLAMing on 68.343133365 meters SLAMing on 68.373133365 meters Centerline goodness : 0.149911 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.14, Z:-0.29 [[ 0.99991726 -0.00212868 -0.01268615 -0.38717951] [ 0.00209004 0.99999314 -0.00305832 0.13688299] [ 0.01269258 0.00303155 0.99991485 -0.28589671] [ 0. 0. 0. 1. ]] SLAMing on 68.40313336499999 meters Centerline goodness : 0.110278 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.14, Z:-0.29 [[ 0.99991806 -0.00212823 -0.01262336 -0.38721625] [ 0.00209002 0.9999932 -0.00303949 0.13672381] [ 0.01262974 0.00301286 0.9999157 -0.28608234] [ 0. 0. 0. 1. ]] SLAMing on 68.43313336499999 meters SLAMing on 68.46313336499999 meters Centerline goodness : 0.104200 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.29 [[ 0.99991445 -0.00227508 -0.01288102 -0.38630331] [ 0.00223898 0.99999353 -0.00281658 0.13460983] [ 0.01288734 0.0027875 0.99991307 -0.2864393 ] [ 0. 0. 0. 1. ]] SLAMing on 68.49313336499999 meters Centerline goodness : 0.132864 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.29 [[ 0.99991513 -0.0022265 -0.01283636 -0.38652538] [ 0.00219136 0.99999381 -0.00275108 0.13453241] [ 0.01284241 0.00272272 0.99991383 -0.28621304] [ 0. 0. 0. 1. ]] SLAMing on 68.52313336499999 meters Centerline goodness : 0.102752 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.29 [[ 0.99991591 -0.00223455 -0.0127738 -0.38670611] [ 0.00219957 0.9999938 -0.00275136 0.13446243] [ 0.01277986 0.00272303 0.99991463 -0.28616275] [ 0. 0. 0. 1. ]] SLAMing on 68.553133365 meters Centerline goodness : 0.119977 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.29 [[ 0.9999131 -0.00230362 -0.01297995 -0.38594924] [ 0.00226602 0.9999932 -0.00291059 0.13493234] [ 0.01298657 0.00288092 0.99991152 -0.28663142] [ 0. 0. 0. 1. ]] SLAMing on 68.583133365 meters Centerline goodness : 0.130636 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.14, Z:-0.29 [[ 0.99991245 -0.00232835 -0.01302577 -0.3857129 ] [ 0.002289 0.99999277 -0.0030351 0.13559166] [ 0.01303274 0.00300502 0.99991055 -0.28693467] [ 0. 0. 0. 1. ]] SLAMing on 68.613133365 meters Centerline goodness : 0.119400 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.14, Z:-0.29 [[ 0.99991276 -0.00230418 -0.01300632 -0.38567982] [ 0.00226366 0.99999254 -0.00312932 0.13633939] [ 0.01301343 0.0030996 0.99991052 -0.28711911] [ 0. 0. 0. 1. ]] SLAMing on 68.643133365 meters SLAMing on 68.673133365 meters SLAMing on 68.703133365 meters Centerline goodness : 0.099915 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.13, Z:-0.29 [[ 0.99990629 0.00571586 -0.01243949 -0.40623039] [-0.00577737 0.99997123 -0.00491451 0.13483535] [ 0.01241104 0.00498591 0.99991055 -0.28910675] [ 0. 0. 0. 1. ]] SLAMing on 68.733133365 meters Centerline goodness : 0.107944 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.14, Z:-0.29 [[ 0.99992059 -0.00199814 -0.01244288 -0.42611575] [ 0.00195219 0.99999123 -0.00370408 0.14139792] [ 0.01245018 0.0036795 0.99991572 -0.29124313] [ 0. 0. 0. 1. ]] SLAMing on 68.76313336499999 meters Centerline goodness : 0.151143 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.14, Z:-0.29 [[ 0.99992088 -0.0020628 -0.01240867 -0.426194 ] [ 0.0020138 0.99999013 -0.00396034 0.14290026] [ 0.01241672 0.00393503 0.99991517 -0.2913058 ] [ 0. 0. 0. 1. ]] SLAMing on 68.79313336499999 meters Centerline goodness : 0.106044 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.14, Z:-0.29 [[ 0.9999217 -0.00219026 -0.01232041 -0.42646877] [ 0.00213706 0.99998834 -0.00432971 0.14477063] [ 0.01232975 0.00430304 0.99991473 -0.2912699 ] [ 0. 0. 0. 1. ]] SLAMing on 68.82313336499999 meters Centerline goodness : 0.143191 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.15, Z:-0.29 [[ 0.99991948 -0.00252626 -0.01243575 -0.42638918] [ 0.00246215 0.99998361 -0.00516855 0.1487102 ] [ 0.0124486 0.00513751 0.99990932 -0.29109809] [ 0. 0. 0. 1. ]] SLAMing on 68.85313336499999 meters Centerline goodness : 0.148779 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99988329 -0.00217235 -0.01512248 -0.47052577] [ 0.00209398 0.9999843 -0.00519667 0.14775626] [ 0.01513353 0.00516439 0.99987214 -0.29102502] [ 0. 0. 0. 1. ]] SLAMing on 68.88313336499999 meters SLAMing on 68.913133365 meters Centerline goodness : 0.092755 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99987808 -0.00252524 -0.01540965 -0.46995901] [ 0.0024294 0.99997761 -0.00623526 0.15358039] [ 0.01542505 0.00619706 0.99986182 -0.29102636] [ 0. 0. 0. 1. ]] SLAMing on 68.943133365 meters Centerline goodness : 0.104061 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99987623 -0.00262944 -0.01551134 -0.47005091] [ 0.00253047 0.99997634 -0.0063972 0.15431608] [ 0.01552779 0.00635715 0.99985923 -0.2904846 ] [ 0. 0. 0. 1. ]] SLAMing on 68.973133365 meters Centerline goodness : 0.096326 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99987564 -0.00267689 -0.01554176 -0.47017017] [ 0.00257778 0.99997624 -0.00639346 0.15430323] [ 0.0155585 0.0063526 0.99985878 -0.29009586] [ 0. 0. 0. 1. ]] SLAMing on 69.003133365 meters Centerline goodness : 0.097348 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99986866 -0.00309948 -0.01590786 -0.4692835 ] [ 0.0029982 0.99997511 -0.00638693 0.15293323] [ 0.01592726 0.00633839 0.99985306 -0.28993458] [ 0. 0. 0. 1. ]] SLAMing on 69.033133365 meters Centerline goodness : 0.112166 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99986549 -0.00315125 -0.01609554 -0.468636 ] [ 0.00305279 0.9999765 -0.00613811 0.15113719] [ 0.01611451 0.00608815 0.99985162 -0.29012016] [ 0. 0. 0. 1. ]] SLAMing on 69.063133365 meters Centerline goodness : 0.100212 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99986568 -0.00308763 -0.01609636 -0.468634 ] [ 0.00299564 0.99997907 -0.00573545 0.14893371] [ 0.01611373 0.00568646 0.999854 -0.29000391] [ 0. 0. 0. 1. ]] SLAMing on 69.093133365 meters Centerline goodness : 0.093789 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99988133 -0.00321074 -0.015067 -0.47164672] [ 0.0031327 0.99998157 -0.00520021 0.1454083 ] [ 0.01508342 0.00515239 0.99987296 -0.28882527] [ 0. 0. 0. 1. ]] SLAMing on 69.123133365 meters Centerline goodness : 0.121257 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99988301 -0.00312134 -0.0149739 -0.47210149] [ 0.00304863 0.99998346 -0.00487619 0.14367808] [ 0.01498887 0.00482997 0.99987599 -0.28837827] [ 0. 0. 0. 1. ]] SLAMing on 69.15313336499999 meters Centerline goodness : 0.110520 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99988584 -0.00294203 -0.01482096 -0.47224875] [ 0.00287842 0.99998656 -0.00431144 0.14056318] [ 0.01483344 0.00426829 0.99988087 -0.28862539] [ 0. 0. 0. 1. ]] SLAMing on 69.18313336499999 meters Centerline goodness : 0.104062 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99988728 -0.00279947 -0.01475071 -0.47231748] [ 0.00274023 0.9999881 -0.00403518 0.13940743] [ 0.01476183 0.00399431 0.99988306 -0.28876096] [ 0. 0. 0. 1. ]] SLAMing on 69.21313336499999 meters Centerline goodness : 0.102265 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99988705 -0.00270165 -0.01478478 -0.47207399] [ 0.00264452 0.99998897 -0.00388231 0.13886621] [ 0.0147951 0.00384277 0.99988316 -0.28903718] [ 0. 0. 0. 1. ]] SLAMing on 69.24313336499999 meters Centerline goodness : 0.143433 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987367 -0.00242474 -0.01570899 -0.46933055] [ 0.00236353 0.99998955 -0.00391367 0.13958362] [ 0.01571832 0.00387604 0.99986895 -0.29015612] [ 0. 0. 0. 1. ]] SLAMing on 69.27313336499999 meters Centerline goodness : 0.103945 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99986881 -0.00240353 -0.01601842 -0.46830852] [ 0.00233781 0.99998878 -0.00412043 0.14068597] [ 0.01602814 0.00408244 0.99986321 -0.29074947] [ 0. 0. 0. 1. ]] SLAMing on 69.303133365 meters Centerline goodness : 0.091999 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987263 -0.00196921 -0.01583832 -0.4687353 ] [ 0.00190405 0.99998967 -0.0041277 0.14201778] [ 0.01584629 0.00409702 0.99986605 -0.29100629] [ 0. 0. 0. 1. ]] SLAMing on 69.333133365 meters Centerline goodness : 0.151859 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987401 -0.00191716 -0.01575741 -0.4688923 ] [ 0.00185113 0.99998945 -0.00420401 0.14274127] [ 0.0157653 0.00417431 0.99986701 -0.29118037] [ 0. 0. 0. 1. ]] SLAMing on 69.363133365 meters Centerline goodness : 0.148794 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987452 -0.00185866 -0.01573186 -0.46891067] [ 0.00179247 0.99998949 -0.00422063 0.14308665] [ 0.01573954 0.0041919 0.99986734 -0.29132533] [ 0. 0. 0. 1. ]] SLAMing on 69.393133365 meters Centerline goodness : 0.108390 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987563 -0.00172858 -0.01567598 -0.46907215] [ 0.00166742 0.99999095 -0.00391353 0.14166918] [ 0.01568261 0.00388691 0.99986947 -0.29127846] [ 0. 0. 0. 1. ]] SLAMing on 69.423133365 meters Centerline goodness : 0.145307 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987713 -0.0016612 -0.01558764 -0.46933302] [ 0.00160419 0.99999198 -0.00366909 0.14035713] [ 0.01559361 0.00364364 0.99987177 -0.29115917] [ 0. 0. 0. 1. ]] SLAMing on 69.453133365 meters Centerline goodness : 0.097105 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99988446 -0.0017702 -0.01509768 -0.47041578] [ 0.00172067 0.9999931 -0.00329317 0.1376648 ] [ 0.01510341 0.00326682 0.9998806 -0.29106784] [ 0. 0. 0. 1. ]] SLAMing on 69.483133365 meters Centerline goodness : 0.107591 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99988467 -0.00169083 -0.01509273 -0.47034426] [ 0.00164504 0.99999401 -0.00304603 0.13650396] [ 0.01509779 0.00302086 0.99988146 -0.29113098] [ 0. 0. 0. 1. ]] SLAMing on 69.51313336499999 meters Centerline goodness : 0.091904 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99988403 -0.00161398 -0.01514332 -0.47017391] [ 0.00157033 0.99999458 -0.00289418 0.13594099] [ 0.01514791 0.00287006 0.99988114 -0.29120865] [ 0. 0. 0. 1. ]] SLAMing on 69.54313336499999 meters Centerline goodness : 0.112020 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987468 -0.00150828 -0.015759 -0.46821607] [ 0.00146184 0.99999456 -0.0029581 0.13679213] [ 0.01576337 0.00293469 0.99987144 -0.29212386] [ 0. 0. 0. 1. ]] SLAMing on 69.57313336499999 meters Centerline goodness : 0.108859 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987275 -0.0014985 -0.01588231 -0.46765963] [ 0.00145042 0.99999433 -0.00303815 0.13735051] [ 0.01588678 0.00301473 0.99986925 -0.29262782] [ 0. 0. 0. 1. ]] SLAMing on 69.60313336499999 meters Centerline goodness : 0.151939 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987331 -0.00152929 -0.01584376 -0.46757668] [ 0.00147878 0.99999379 -0.00319913 0.13820486] [ 0.01584855 0.0031753 0.99986936 -0.29302206] [ 0. 0. 0. 1. ]] SLAMing on 69.63313336499999 meters Centerline goodness : 0.109477 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987327 -0.00151426 -0.01584795 -0.46745331] [ 0.00146351 0.99999377 -0.00321295 0.13834035] [ 0.01585272 0.00318935 0.99986925 -0.29322548] [ 0. 0. 0. 1. ]] SLAMing on 69.663133365 meters Centerline goodness : 0.107482 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.9998733 -0.00150629 -0.01584662 -0.46744619] [ 0.00145535 0.99999374 -0.00322583 0.13852074] [ 0.01585138 0.00320236 0.99986923 -0.29326776] [ 0. 0. 0. 1. ]] SLAMing on 69.693133365 meters Centerline goodness : 0.106681 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.9998716 -0.00144307 -0.01595923 -0.46723001] [ 0.00139219 0.99999392 -0.0031986 0.13893321] [ 0.01596375 0.00317597 0.99986753 -0.29323829] [ 0. 0. 0. 1. ]] SLAMing on 69.723133365 meters Centerline goodness : 0.106681 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.9998716 -0.00144307 -0.01595923 -0.46723001] [ 0.00139219 0.99999392 -0.0031986 0.13893321] [ 0.01596375 0.00317597 0.99986753 -0.29323829] [ 0. 0. 0. 1. ]] SLAMing on 69.753133365 meters Centerline goodness : 0.092197 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987088 -0.0014774 -0.01600151 -0.46706358] [ 0.00142494 0.99999358 -0.00328923 0.1393244 ] [ 0.01600627 0.003266 0.99986656 -0.29337492] [ 0. 0. 0. 1. ]] SLAMing on 69.783133365 meters Centerline goodness : 0.146844 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987342 -0.00160384 -0.01582954 -0.46746192] [ 0.0015484 0.99999263 -0.00351428 0.14018393] [ 0.01583506 0.00348932 0.99986853 -0.29342342] [ 0. 0. 0. 1. ]] SLAMing on 69.813133365 meters Centerline goodness : 0.114667 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.14, Z:-0.29 [[ 0.99985647 0.00654806 -0.0156258 -0.48658472] [-0.00662242 0.99996697 -0.00471235 0.13529685] [ 0.01559443 0.00481515 0.99986681 -0.29498674] [ 0. 0. 0. 1. ]] SLAMing on 69.843133365 meters Centerline goodness : 0.105695 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 9.99872410e-01 -1.05327115e-03 -1.59391055e-02 -4.68722720e-01] [ 9.99904250e-04 9.99993869e-01 -3.35577337e-03 1.41829422e-01] [ 1.59425423e-02 3.33940762e-03 9.99867333e-01 -2.92849554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87313336499999 meters Centerline goodness : 0.107477 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99986768 -0.00122191 -0.0162215 -0.46752983] [ 0.00116126 0.9999923 -0.00374805 0.14362132] [ 0.01622596 0.00372872 0.9998614 -0.29371944] [ 0. 0. 0. 1. ]] SLAMing on 69.90313336499999 meters Centerline goodness : 0.109658 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99986641 -0.00130049 -0.01629331 -0.46724425] [ 0.00123701 0.99999161 -0.00390607 0.14426767] [ 0.01629825 0.00388539 0.99985963 -0.29392594] [ 0. 0. 0. 1. ]] SLAMing on 69.93313336499999 meters Centerline goodness : 0.108030 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99986877 -0.0013601 -0.01614312 -0.46777575] [ 0.00129512 0.99999102 -0.00403487 0.14492807] [ 0.01614846 0.00401343 0.99986155 -0.29368085] [ 0. 0. 0. 1. ]] SLAMing on 69.96313336499999 meters Centerline goodness : 0.109246 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99987414 -0.00149038 -0.01579526 -0.46926827] [ 0.00142268 0.99998976 -0.00429656 0.14629023] [ 0.0158015 0.00427354 0.99986602 -0.29260699] [ 0. 0. 0. 1. ]] SLAMing on 69.99313336499999 meters Centerline goodness : 0.096199 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99987434 -0.0015677 -0.01577512 -0.46945687] [ 0.00149775 0.999989 -0.00444504 0.14693748] [ 0.01578191 0.00442086 0.99986568 -0.29237648] [ 0. 0. 0. 1. ]] SLAMing on 70.02313336499999 meters Centerline goodness : 0.147668 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99987276 -0.00165043 -0.01586654 -0.46907365] [ 0.00157725 0.99998807 -0.00462406 0.14775057] [ 0.01587399 0.00459845 0.99986343 -0.29267475] [ 0. 0. 0. 1. ]] SLAMing on 70.053133365 meters Centerline goodness : 0.107650 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.9998741 -0.00180586 -0.01576489 -0.46946055] [ 0.00172663 0.99998582 -0.0050376 0.1499382 ] [ 0.01577376 0.00500974 0.99986304 -0.29255072] [ 0. 0. 0. 1. ]] SLAMing on 70.083133365 meters Centerline goodness : 0.108177 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99987805 -0.0018624 -0.01550518 -0.47036115] [ 0.00178111 0.99998461 -0.00525491 0.15123117] [ 0.01551473 0.00522665 0.99986598 -0.29216671] [ 0. 0. 0. 1. ]] SLAMing on 70.113133365 meters Centerline goodness : 0.112374 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99988359 -0.00203249 -0.01512225 -0.47190105] [ 0.00194608 0.99998171 -0.00572653 0.15374623] [ 0.01513361 0.00569644 0.99986925 -0.2912654 ] [ 0. 0. 0. 1. ]] SLAMing on 70.143133365 meters Centerline goodness : 0.222118 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99988278 -0.00215296 -0.015159 -0.47180853] [ 0.00206236 0.99997993 -0.00598992 0.15485762] [ 0.0151716 0.00595796 0.99986715 -0.29129266] [ 0. 0. 0. 1. ]] SLAMing on 70.173133365 meters SLAMing on 70.203133365 meters Centerline goodness : 0.057886 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.16, Z:-0.29 [[ 0.99988029 -0.00226646 -0.01530608 -0.4713378 ] [ 0.00216943 0.99997746 -0.0063533 0.15688208] [ 0.01532014 0.00631933 0.99986267 -0.29160106] [ 0. 0. 0. 1. ]] SLAMing on 70.233133365 meters Centerline goodness : 0.113702 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.16, Z:-0.29 [[ 0.99987742 -0.0022574 -0.01549333 -0.47042803] [ 0.0021572 0.99997667 -0.00648072 0.15813934] [ 0.0155076 0.0064465 0.99985897 -0.29230681] [ 0. 0. 0. 1. ]] SLAMing on 70.26313336499999 meters SLAMing on 70.29313336499999 meters Centerline goodness : 0.091830 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.16, Z:-0.29 [[ 0.99986581 -0.00258528 -0.0161763 -0.46844379] [ 0.00246481 0.99996911 -0.00746316 0.16239403] [ 0.01619509 0.00742229 0.9998413 -0.29305035] [ 0. 0. 0. 1. ]] SLAMing on 70.32313336499999 meters Centerline goodness : 0.112089 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.17, Z:-0.29 [[ 0.99986291 -0.00260084 -0.01635212 -0.46796612] [ 0.00247146 0.99996552 -0.00792736 0.16526621] [ 0.01637217 0.00788586 0.99983487 -0.29330738] [ 0. 0. 0. 1. ]] SLAMing on 70.35313336499999 meters Centerline goodness : 0.095813 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.17, Z:-0.29 [[ 0.99986278 -0.00248015 -0.01637924 -0.46808271] [ 0.0023437 0.99996244 -0.00834474 0.16853362] [ 0.01639932 0.00830521 0.99983103 -0.29325943] [ 0. 0. 0. 1. ]] SLAMing on 70.38313336499999 meters Centerline goodness : 0.099102 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.17, Z:-0.29 [[ 0.99986741 0.00107 -0.01624889 -0.46845227] [-0.00115983 0.99998409 -0.00551981 0.17338203] [ 0.01624272 0.00553792 0.99985274 -0.29326114] [ 0. 0. 0. 1. ]] SLAMing on 70.413133365 meters Centerline goodness : 0.144613 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99867073e-01 8.93495643e-04 -1.62799654e-02 -4.68497580e-01] [-9.91546436e-04 9.99981414e-01 -6.01571277e-03 1.75626015e-01] [ 1.62742878e-02 6.03105547e-03 9.99849376e-01 -2.93201267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.443133365 meters Centerline goodness : 0.113166 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99869583e-01 7.00147090e-04 -1.61346553e-02 -4.69189419e-01] [-8.05366973e-04 9.99978448e-01 -6.51578461e-03 1.77972976e-01] [ 1.61297456e-02 6.52792916e-03 9.99848597e-01 -2.92791684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.473133365 meters Centerline goodness : 0.094204 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99871095e-01 6.98098136e-04 -1.60407744e-02 -4.69553269e-01] [-8.02450761e-04 9.99978553e-01 -6.49994534e-03 1.77935534e-01] [ 1.60358928e-02 6.51197940e-03 9.99850211e-01 -2.92564130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.503133365 meters Centerline goodness : 0.164574 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99871585e-01 6.87387807e-04 -1.60106299e-02 -4.69608188e-01] [-7.90785724e-04 9.99978869e-01 -6.45264399e-03 1.77546351e-01] [ 1.60058561e-02 6.46447635e-03 9.99851000e-01 -2.92539240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.533133365 meters Centerline goodness : 0.112171 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99868510e-01 6.00107677e-04 -1.62050190e-02 -4.68971260e-01] [-7.03640158e-04 9.99979375e-01 -6.38396886e-03 1.76550178e-01] [ 1.62008537e-02 6.39453194e-03 9.99848310e-01 -2.92752168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.563133365 meters Centerline goodness : 0.237781 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99866098e-01 6.57029463e-04 -1.63510041e-02 -4.68589313e-01] [-7.59296085e-04 9.99980186e-01 -6.24903327e-03 1.75993402e-01] [ 1.63465743e-02 6.26061176e-03 9.99846785e-01 -2.92749695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.593133365 meters Centerline goodness : 0.146879 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99863988e-01 7.31878442e-04 -1.64763226e-02 -4.68254916e-01] [-8.33095744e-04 9.99980820e-01 -6.13717220e-03 1.75753497e-01] [ 1.64715149e-02 6.15006382e-03 9.99845421e-01 -2.92839431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62313336499999 meters SLAMing on 70.65313336499999 meters Centerline goodness : 0.091899 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.17, Z:-0.29 [[ 9.99868327e-01 8.29892527e-04 -1.62061941e-02 -4.69395373e-01] [-9.25229344e-04 9.99982307e-01 -5.87612800e-03 1.74346942e-01] [ 1.62010309e-02 5.89034871e-03 9.99851404e-01 -2.91995319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68313336499999 meters Centerline goodness : 0.111161 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.17, Z:-0.29 [[ 9.99872120e-01 8.55650949e-04 -1.59690661e-02 -4.70202299e-01] [-9.49430980e-04 9.99982344e-01 -5.86594884e-03 1.74430433e-01] [ 1.59637650e-02 5.88036023e-03 9.99855279e-01 -2.91690203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71313336499999 meters Centerline goodness : 0.153062 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.17, Z:-0.29 [[ 9.99875197e-01 8.84670381e-04 -1.57736529e-02 -4.70795820e-01] [-9.77065798e-04 9.99982406e-01 -5.85083501e-03 1.74541336e-01] [ 1.57681993e-02 5.86551670e-03 9.99858470e-01 -2.91528191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74313336499999 meters Centerline goodness : 0.166130 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99876196e-01 8.70725852e-04 -1.57109974e-02 -4.70955648e-01] [-9.63900972e-04 9.99981989e-01 -5.92396941e-03 1.75013378e-01] [ 1.57055563e-02 5.93837984e-03 9.99859026e-01 -2.91560415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77313336499999 meters Centerline goodness : 0.152308 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99874945e-01 8.67531709e-04 -1.57905545e-02 -4.70431037e-01] [-9.62629302e-04 9.99981441e-01 -6.01583128e-03 1.75722810e-01] [ 1.57850425e-02 6.03027943e-03 9.99857224e-01 -2.92108459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.803133365 meters SLAMing on 70.833133365 meters Centerline goodness : 0.150355 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99884771e-01 6.92923457e-04 -1.51645980e-02 -4.72671900e-01] [-7.85084403e-04 9.99981255e-01 -6.07226577e-03 1.75150582e-01] [ 1.51601062e-02 6.08347155e-03 9.99866572e-01 -2.90853549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.863133365 meters Centerline goodness : 0.123834 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99881681e-01 7.05048124e-04 -1.53664298e-02 -4.72065519e-01] [-7.98267850e-04 9.99981312e-01 -6.06116403e-03 1.75073858e-01] [ 1.53618693e-02 6.07271340e-03 9.99863558e-01 -2.91054557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.893133365 meters Centerline goodness : 0.146684 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99873804e-01 6.75150520e-04 -1.58719821e-02 -4.70413924e-01] [-7.74211805e-04 9.99980257e-01 -6.23595166e-03 1.75969278e-01] [ 1.58674585e-02 6.24745299e-03 9.99854586e-01 -2.91814400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.923133365 meters Centerline goodness : 0.148205 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99863985e-01 6.18902149e-04 -1.64811776e-02 -4.68239871e-01] [-7.28746613e-04 9.99977559e-01 -6.65967173e-03 1.78390475e-01] [ 1.64766861e-02 6.67077652e-03 9.99841997e-01 -2.93106868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.953133365 meters Centerline goodness : 0.297085 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99867721e-01 5.86813822e-04 -1.62541142e-02 -4.69119097e-01] [-6.97198640e-04 9.99976729e-01 -6.78635871e-03 1.79196269e-01] [ 1.62497536e-02 6.79679337e-03 9.99844863e-01 -2.92612884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.983133365 meters Centerline goodness : 0.170689 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.18, Z:-0.29 [[ 0.99988879 -0.00703671 -0.01314873 -0.45220001] [ 0.00697293 0.99996373 -0.00489012 0.18311583] [ 0.01318267 0.00479789 0.99990159 -0.29021069] [ 0. 0. 0. 1. ]] SLAMing on 71.01313336499999 meters Centerline goodness : 0.256313 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.18, Z:-0.29 [[ 0.99988617 -0.00708742 -0.0133199 -0.45170283] [ 0.00702582 0.99996443 -0.00466557 0.18144827] [ 0.01335249 0.00457145 0.9999004 -0.29019762] [ 0. 0. 0. 1. ]] SLAMing on 71.04313336499999 meters Centerline goodness : 0.075743 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.18, Z:-0.29 [[ 0.99987308 -0.00734038 -0.01414028 -0.44915574] [ 0.00727701 0.99996327 -0.00452784 0.17929672] [ 0.014173 0.00442436 0.99988977 -0.29096475] [ 0. 0. 0. 1. ]] SLAMing on 71.07313336499999 meters SLAMing on 71.10313336499999 meters Centerline goodness : 0.104328 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.17, Z:-0.29 [[ 0.99982544 -0.0113923 -0.01480901 -0.44687704] [ 0.0112864 0.99991028 -0.00721503 0.1696595 ] [ 0.01488987 0.00704663 0.99986431 -0.29140725] [ 0. 0. 0. 1. ]] SLAMing on 71.13313336499999 meters Centerline goodness : 0.140249 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.16, Z:-0.29 [[ 0.99983647 -0.01152244 -0.01393821 -0.44925919] [ 0.0114341 0.99991414 -0.00640121 0.16333715] [ 0.01401077 0.00624079 0.99988237 -0.29053783] [ 0. 0. 0. 1. ]] SLAMing on 71.163133365 meters Centerline goodness : 0.124616 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.16, Z:-0.29 [[ 0.9999042 -0.00336515 -0.0134267 -0.46748935] [ 0.00326785 0.99996829 -0.00726253 0.15518311] [ 0.01345071 0.00721795 0.99988348 -0.29281362] [ 0. 0. 0. 1. ]] SLAMing on 71.193133365 meters Centerline goodness : 0.093731 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.29 [[ 0.9998875 -0.00283169 -0.01473005 -0.46327363] [ 0.00273381 0.99997408 -0.00666094 0.15301067] [ 0.01474853 0.00661992 0.99986932 -0.2946937 ] [ 0. 0. 0. 1. ]] SLAMing on 71.223133365 meters Centerline goodness : 0.091063 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.30 [[ 0.99987472 -0.00251588 -0.01562765 -0.46055189] [ 0.00241457 0.99997597 -0.00649854 0.1529573 ] [ 0.01564363 0.00646 0.99985676 -0.29579133] [ 0. 0. 0. 1. ]] SLAMing on 71.253133365 meters Centerline goodness : 0.108794 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.30 [[ 0.99987015 -0.00233566 -0.01594482 -0.45966497] [ 0.00223239 0.99997644 -0.00649186 0.15333526] [ 0.0159596 0.00645542 0.9998518 -0.29616255] [ 0. 0. 0. 1. ]] SLAMing on 71.283133365 meters Centerline goodness : 0.090438 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.30 [[ 0.99987286 -0.00218151 -0.0157958 -0.46015344] [ 0.00207993 0.99997707 -0.00644481 0.15348885] [ 0.0158095 0.00641114 0.99985447 -0.29602252] [ 0. 0. 0. 1. ]] SLAMing on 71.313133365 meters Centerline goodness : 0.111068 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.30 [[ 0.99988156 -0.00182279 -0.01528227 -0.46161291] [ 0.00172879 0.99997952 -0.00616219 0.15275358] [ 0.01529319 0.00613504 0.99986423 -0.29581793] [ 0. 0. 0. 1. ]] SLAMing on 71.343133365 meters SLAMing on 71.37313336499999 meters Centerline goodness : 0.103765 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.30 [[ 0.99988615 -0.00142582 -0.01502152 -0.46208464] [ 0.00134386 0.99998416 -0.00546491 0.15015802] [ 0.01502908 0.0054441 0.99987224 -0.29607422] [ 0. 0. 0. 1. ]] SLAMing on 71.40313336499999 meters Centerline goodness : 0.145466 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.30 [[ 0.99988746 -0.00135771 -0.01494067 -0.46234456] [ 0.00127901 0.99998526 -0.00527601 0.14911305] [ 0.01494761 0.0052563 0.99987446 -0.29595886] [ 0. 0. 0. 1. ]] SLAMing on 71.43313336499999 meters Centerline goodness : 0.107551 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.30 [[ 0.99988773 -0.00128832 -0.01492872 -0.46240212] [ 0.00121208 0.99998618 -0.00511485 0.14824105] [ 0.0149351 0.00509618 0.99987548 -0.29588368] [ 0. 0. 0. 1. ]] SLAMing on 71.46313336499999 meters Centerline goodness : 0.103592 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.14, Z:-0.29 [[ 9.99856712e-01 -5.45058705e-04 -1.69191544e-02 -5.09055429e-01] [ 4.65448576e-04 9.99988805e-01 -4.70890677e-03 1.43605729e-01] [ 1.69215316e-02 4.70035705e-03 9.99845772e-01 -2.94989039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49313336499999 meters Centerline goodness : 0.092719 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.14, Z:-0.29 [[ 9.99858240e-01 -4.72619614e-04 -1.68308036e-02 -5.09382786e-01] [ 3.95408349e-04 9.99989385e-01 -4.59052957e-03 1.43317021e-01] [ 1.68327945e-02 4.58322378e-03 9.99847814e-01 -2.94787086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52313336499999 meters Centerline goodness : 0.091982 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.14, Z:-0.29 [[ 9.99859378e-01 -3.99161609e-04 -1.67649695e-02 -5.09698656e-01] [ 3.24364217e-04 9.99989984e-01 -4.46401088e-03 1.42893464e-01] [ 1.67665834e-02 4.45794519e-03 9.99849493e-01 -2.94517875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.553133365 meters Centerline goodness : 0.098927 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.14, Z:-0.29 [[ 9.99865950e-01 -4.05249891e-04 -1.63682051e-02 -5.10960548e-01] [ 3.32429579e-04 9.99990037e-01 -4.45136391e-03 1.42606162e-01] [ 1.63698459e-02 4.44532593e-03 9.99856123e-01 -2.94009906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.583133365 meters Centerline goodness : 0.103358 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.14, Z:-0.29 [[ 9.99868090e-01 -4.38929965e-04 -1.62360878e-02 -5.11429998e-01] [ 3.65405151e-04 9.99989667e-01 -4.53117038e-03 1.42801399e-01] [ 1.62379089e-02 4.52463992e-03 9.99857919e-01 -2.93787453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.613133365 meters Centerline goodness : 0.103358 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.14, Z:-0.29 [[ 9.99868090e-01 -4.38929965e-04 -1.62360878e-02 -5.11429998e-01] [ 3.65405151e-04 9.99989667e-01 -4.53117038e-03 1.42801399e-01] [ 1.62379089e-02 4.52463992e-03 9.99857919e-01 -2.93787453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.643133365 meters Centerline goodness : 0.135338 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.14, Z:-0.29 [[ 9.99872973e-01 -3.18568205e-04 -1.59353934e-02 -5.12049030e-01] [ 2.43000841e-04 9.99988718e-01 -4.74382002e-03 1.44808270e-01] [ 1.59367249e-02 4.73934511e-03 9.99861770e-01 -2.94126683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.673133365 meters Centerline goodness : 0.106719 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.15, Z:-0.29 [[ 9.99873543e-01 -3.18994512e-04 -1.58995869e-02 -5.11955630e-01] [ 2.40537427e-04 9.99987788e-01 -4.93620415e-03 1.46101627e-01] [ 1.59009673e-02 4.93175548e-03 9.99861409e-01 -2.94519175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.703133365 meters Centerline goodness : 0.090714 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.15, Z:-0.29 [[ 9.99874554e-01 -4.13270046e-04 -1.58336846e-02 -5.11924839e-01] [ 3.30317292e-04 9.99986210e-01 -5.24126212e-03 1.47569111e-01] [ 1.58356323e-02 5.23537448e-03 9.99860902e-01 -2.94895186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.733133365 meters Centerline goodness : 0.168521 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.15, Z:-0.30 [[ 9.99871781e-01 -6.11369152e-04 -1.60014781e-02 -5.11350137e-01] [ 5.20054897e-04 9.99983562e-01 -5.71015286e-03 1.49391989e-01] [ 1.60047061e-02 5.70109906e-03 9.99855663e-01 -2.95323317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76313336499999 meters Centerline goodness : 0.121785 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.15, Z:-0.30 [[ 9.99869344e-01 -6.32767509e-04 -1.61522226e-02 -5.10933394e-01] [ 5.39851793e-04 9.99983287e-01 -5.75621562e-03 1.49559589e-01] [ 1.61555950e-02 5.74674373e-03 9.99852975e-01 -2.95425775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79313336499999 meters SLAMing on 71.82313336499999 meters Centerline goodness : 0.143270 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.15, Z:-0.29 [[ 0.99984305 -0.009635 -0.01486735 -0.49096248] [ 0.00955795 0.99994057 -0.0052449 0.15250672] [ 0.014917 0.00510198 0.99987572 -0.29456393] [ 0. 0. 0. 1. ]] SLAMing on 71.85313336499999 meters SLAMing on 71.88313336499999 meters Centerline goodness : 0.147903 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.15, Z:-0.30 [[ 9.99896212e-01 -6.91210498e-04 -1.43905504e-02 -5.11869562e-01] [ 6.12153468e-04 9.99984702e-01 -5.49735682e-03 1.46826120e-01] [ 1.43941301e-02 5.48797703e-03 9.99881339e-01 -2.95434020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.913133365 meters SLAMing on 71.943133365 meters Centerline goodness : 0.102323 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.15, Z:-0.30 [[ 9.99881567e-01 -3.58843853e-04 -1.53858286e-02 -5.09208003e-01] [ 2.64790570e-04 9.99981271e-01 -6.11458274e-03 1.51399629e-01] [ 1.53877346e-02 6.10978455e-03 9.99862935e-01 -2.96366790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.973133365 meters Centerline goodness : 0.134374 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.15, Z:-0.30 [[ 9.99874118e-01 -4.05774465e-04 -1.58614064e-02 -5.07967356e-01] [ 3.00380222e-04 9.99977867e-01 -6.64651489e-03 1.54316367e-01] [ 1.58637524e-02 6.64091376e-03 9.99852109e-01 -2.96778839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.003133365 meters Centerline goodness : 0.106344 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.16, Z:-0.30 [[ 9.99863731e-01 -3.32734358e-04 -1.65048362e-02 -5.06182634e-01] [ 2.15870512e-04 9.99974900e-01 -7.08185833e-03 1.57207408e-01] [ 1.65067783e-02 7.07733038e-03 9.99838706e-01 -2.97436096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.033133365 meters SLAMing on 72.063133365 meters SLAMing on 72.093133365 meters SLAMing on 72.12313336499999 meters Centerline goodness : 0.132258 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99843886e-01 6.29967670e-04 -1.76580548e-02 -5.03755626e-01] [-7.64251434e-04 9.99970835e-01 -7.59895854e-03 1.71179523e-01] [ 1.76527528e-02 7.61126743e-03 9.99815207e-01 -2.97269851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15313336499999 meters Centerline goodness : 0.164859 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99841103e-01 6.23046206e-04 -1.78151586e-02 -5.03449037e-01] [-7.57333562e-04 9.99971347e-01 -7.53206154e-03 1.71118247e-01] [ 1.78099553e-02 7.54435673e-03 9.99812927e-01 -2.97043752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18313336499999 meters Centerline goodness : 0.093131 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99834589e-01 1.64180539e-04 -1.81870001e-02 -5.02177307e-01] [-3.04096071e-04 9.99970380e-01 -7.69066329e-03 1.70825499e-01] [ 1.81851988e-02 7.69492177e-03 9.99805024e-01 -2.97438705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21313336499999 meters SLAMing on 72.24313336499999 meters SLAMing on 72.27313336499999 meters SLAMing on 72.303133365 meters SLAMing on 72.333133365 meters Centerline goodness : 0.274905 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99837815e-01 2.60284911e-05 -1.80095423e-02 -5.02270266e-01] [-1.69413157e-04 9.99968303e-01 -7.96011423e-03 1.72212966e-01] [ 1.80087643e-02 7.96187427e-03 9.99806128e-01 -2.97867567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.363133365 meters SLAMing on 72.393133365 meters SLAMing on 72.423133365 meters SLAMing on 72.453133365 meters SLAMing on 72.483133365 meters SLAMing on 72.51313336499999 meters SLAMing on 72.54313336499999 meters SLAMing on 72.57313336499999 meters SLAMing on 72.60313336499999 meters SLAMing on 72.63313336499999 meters Centerline goodness : 0.346095 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99836732e-01 -9.03696317e-04 -1.80469528e-02 -5.03842830e-01] [ 7.27112681e-04 9.99951824e-01 -9.78884438e-03 1.82230876e-01] [ 1.80549296e-02 9.77412400e-03 9.99789221e-01 -2.95754207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.663133365 meters SLAMing on 72.693133365 meters SLAMing on 72.723133365 meters Centerline goodness : 0.232536 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99831339e-01 -5.96915766e-04 -1.83558547e-02 -5.02627406e-01] [ 4.26925743e-04 9.99957003e-01 -9.26333130e-03 1.80040477e-01] [ 1.83605949e-02 9.25393235e-03 9.99788604e-01 -2.96523569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.753133365 meters Centerline goodness : 0.346569 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99834426e-01 -5.47931141e-04 -1.81884645e-02 -5.03043898e-01] [ 3.80437288e-04 9.99957506e-01 -9.21097872e-03 1.79846803e-01] [ 1.81927386e-02 9.20253406e-03 9.99792147e-01 -2.96544452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.783133365 meters Centerline goodness : 0.155788 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99835359e-01 -4.98032283e-04 -1.81385667e-02 -5.03070842e-01] [ 3.32197547e-04 9.99958133e-01 -9.14452513e-03 1.79578826e-01] [ 1.81423615e-02 9.13699398e-03 9.99793664e-01 -2.96738897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.813133365 meters Centerline goodness : 0.169276 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99832460e-01 -3.65199015e-04 -1.83007958e-02 -5.02666510e-01] [ 2.02404793e-04 9.99960405e-01 -8.89653515e-03 1.78560295e-01] [ 1.83033201e-02 8.89134045e-03 9.99792945e-01 -2.96772838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.843133365 meters Centerline goodness : 0.249804 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99834165e-01 -2.83234842e-04 -1.82088762e-02 -5.03015173e-01] [ 1.27029133e-04 9.99963191e-01 -8.57913186e-03 1.76681350e-01] [ 1.82106358e-02 8.57539608e-03 9.99797397e-01 -2.96510818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87313336499999 meters Centerline goodness : 0.088497 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.18, Z:-0.30 [[ 0.99980418 -0.00847968 -0.01788003 -0.48406916] [ 0.00834949 0.99993818 -0.00734353 0.18115709] [ 0.0179412 0.0071928 0.99981317 -0.29526087] [ 0. 0. 0. 1. ]] SLAMing on 72.90313336499999 meters Centerline goodness : 0.168772 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99842423e-01 -2.29350285e-04 -1.77503814e-02 -5.02038104e-01] [ 8.18925714e-05 9.99965488e-01 -8.30757939e-03 1.74119257e-01] [ 1.77516741e-02 8.30481668e-03 9.99807936e-01 -2.97261332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93313336499999 meters Centerline goodness : 0.275664 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99843068e-01 -1.48148415e-04 -1.77149045e-02 -5.01981522e-01] [ 4.00390230e-06 9.99966897e-01 -8.13666466e-03 1.73447997e-01] [ 1.77155235e-02 8.13531682e-03 9.99809970e-01 -2.97460082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96313336499999 meters Centerline goodness : 0.310110 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99843985e-01 -1.36429647e-04 -1.76631416e-02 -5.02325064e-01] [-5.24573451e-06 9.99967834e-01 -8.02066684e-03 1.72504801e-01] [ 1.76636677e-02 8.01950815e-03 9.99811823e-01 -2.97056266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99313336499999 meters Centerline goodness : 0.162527 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99841466e-01 -1.41043887e-04 -1.78051595e-02 -5.02166187e-01] [-2.92950307e-06 9.99967310e-01 -8.08576385e-03 1.72822812e-01] [ 1.78057179e-02 8.08453413e-03 9.99808780e-01 -2.96838256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02313336499999 meters Centerline goodness : 0.159436 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99838909e-01 -1.15504226e-04 -1.79483306e-02 -5.01703214e-01] [-3.12492663e-05 9.99966576e-01 -8.17594686e-03 1.73685471e-01] [ 1.79486751e-02 8.17519066e-03 9.99805487e-01 -2.97065000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.053133365 meters SLAMing on 73.083133365 meters Centerline goodness : 0.162929 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99826269e-01 -3.22808714e-05 -1.86394966e-02 -4.99773881e-01] [-1.27015826e-04 9.99963483e-01 -8.54494385e-03 1.76219491e-01] [ 1.86390918e-02 8.54582684e-03 9.99789754e-01 -2.97665998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.113133365 meters SLAMing on 73.143133365 meters Centerline goodness : 0.094508 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99817891e-01 -1.56855687e-04 -1.90829767e-02 -4.98705974e-01] [-2.20738648e-05 9.99956046e-01 -9.37582434e-03 1.80762852e-01] [ 1.90836086e-02 9.37453815e-03 9.99773941e-01 -2.97943549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.173133365 meters SLAMing on 73.203133365 meters Centerline goodness : 0.165062 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99828698e-01 -4.91239808e-04 -1.85022727e-02 -5.00730222e-01] [ 3.07584023e-04 9.99950672e-01 -9.92765844e-03 1.82737154e-01] [ 1.85062369e-02 9.92026680e-03 9.99779529e-01 -2.96924096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.233133365 meters SLAMing on 73.26313336499999 meters Centerline goodness : 0.180373 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.19, Z:-0.30 [[ 0.99981385 0.00332874 -0.01900477 -0.49938564] [-0.00345397 0.99997251 -0.00656048 0.18591346] [ 0.01898241 0.0066249 0.99979787 -0.29713656] [ 0. 0. 0. 1. ]] SLAMing on 73.29313336499999 meters SLAMing on 73.32313336499999 meters Centerline goodness : 0.139276 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.19, Z:-0.30 [[ 0.99980186 0.00598694 -0.01898404 -0.49804186] [-0.0060833 0.99996888 -0.00502228 0.19398501] [ 0.01895338 0.00513677 0.99980717 -0.2987552 ] [ 0. 0. 0. 1. ]] SLAMing on 73.35313336499999 meters Centerline goodness : 0.160277 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.20, Z:-0.30 [[ 0.99980557 0.00588564 -0.01881958 -0.49873347] [-0.00599058 0.99996679 -0.00552471 0.19687035] [ 0.01878644 0.00563637 0.99980763 -0.29842733] [ 0. 0. 0. 1. ]] SLAMing on 73.38313336499999 meters Centerline goodness : 0.089893 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.20, Z:-0.30 [[ 0.99981132 0.00584427 -0.01852505 -0.49978418] [-0.0059557 0.99996447 -0.00596554 0.19975213] [ 0.01848953 0.00607474 0.9998106 -0.29800702] [ 0. 0. 0. 1. ]] SLAMing on 73.413133365 meters SLAMing on 73.443133365 meters Centerline goodness : 0.118343 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.21, Z:-0.30 [[ 0.99980896 0.00554894 -0.01874179 -0.49944926] [-0.00568649 0.99995723 -0.00729409 0.20941782] [ 0.01870052 0.00739927 0.99979775 -0.29798613] [ 0. 0. 0. 1. ]] SLAMing on 73.473133365 meters SLAMing on 73.503133365 meters Centerline goodness : 0.124007 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 9.99880328e-01 -1.16795762e-04 -1.54698693e-02 -5.19028834e-01] [ 2.16110799e-05 9.99981070e-01 -6.15293223e-03 2.21519996e-01] [ 1.54702951e-02 6.15186157e-03 9.99861403e-01 -3.00790597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.533133365 meters Centerline goodness : 0.124007 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 9.99880328e-01 -1.16795762e-04 -1.54698693e-02 -5.19028834e-01] [ 2.16110799e-05 9.99981070e-01 -6.15293223e-03 2.21519996e-01] [ 1.54702951e-02 6.15186157e-03 9.99861403e-01 -3.00790597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.563133365 meters Centerline goodness : 0.090149 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 9.99879650e-01 -7.29760600e-04 -1.54968993e-02 -5.19555210e-01] [ 6.25253681e-04 9.99977040e-01 -6.74750548e-03 2.23226461e-01] [ 1.55014675e-02 6.73700393e-03 9.99857148e-01 -2.99696673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.593133365 meters Centerline goodness : 0.101070 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 9.99874831e-01 -8.75605254e-04 -1.57973599e-02 -5.18907668e-01] [ 7.67646206e-04 9.99976321e-01 -6.83876296e-03 2.23320005e-01] [ 1.58029739e-02 6.82578017e-03 9.99851826e-01 -2.99454506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62313336499999 meters Centerline goodness : 0.171199 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 9.99871272e-01 -9.74303155e-04 -1.60153001e-02 -5.18529237e-01] [ 8.64803834e-04 9.99976215e-01 -6.84267361e-03 2.23127745e-01] [ 1.60215861e-02 6.82794267e-03 9.99848332e-01 -2.99073057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65313336499999 meters Centerline goodness : 0.119481 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 0.99987538 -0.00153585 -0.01571226 -0.51965804] [ 0.00142705 0.99997494 -0.00693394 0.22198168] [ 0.01572252 0.00691065 0.99985251 -0.29812316] [ 0. 0. 0. 1. ]] SLAMing on 73.68313336499999 meters Centerline goodness : 0.121243 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 0.99988098 -0.00162967 -0.0153418 -0.52065521] [ 0.00152555 0.99997575 -0.00679555 0.22077339] [ 0.01535251 0.00677134 0.99985921 -0.29780331] [ 0. 0. 0. 1. ]] SLAMing on 73.71313336499999 meters Centerline goodness : 0.184238 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 0.99988632 -0.00189879 -0.01495819 -0.52159347] [ 0.0017983 0.99997575 -0.00672856 0.21906346] [ 0.01497061 0.0067009 0.99986548 -0.29761754] [ 0. 0. 0. 1. ]] SLAMing on 73.74313336499999 meters Centerline goodness : 0.119305 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 0.99988548 -0.00184526 -0.01502048 -0.5213846 ] [ 0.00174662 0.99997684 -0.00657787 0.21827885] [ 0.01503227 0.00655088 0.99986555 -0.29769286] [ 0. 0. 0. 1. ]] SLAMing on 73.77313336499999 meters Centerline goodness : 0.121558 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 0.99988251 -0.00178391 -0.01522463 -0.5207627 ] [ 0.00168601 0.99997783 -0.00644129 0.21757399] [ 0.01523578 0.00641487 0.99986335 -0.29790228] [ 0. 0. 0. 1. ]] SLAMing on 73.803133365 meters Centerline goodness : 0.263470 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 0.99987868 -0.00169555 -0.01548397 -0.51988266] [ 0.00159904 0.99997923 -0.00624292 0.2165655 ] [ 0.01549424 0.0062174 0.99986063 -0.29833299] [ 0. 0. 0. 1. ]] SLAMing on 73.833133365 meters Centerline goodness : 0.225304 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.21, Z:-0.30 [[ 0.99987332 -0.00148745 -0.01584689 -0.51889897] [ 0.00139743 0.99998284 -0.00568962 0.21371586] [ 0.01585508 0.00566675 0.99985824 -0.29847739] [ 0. 0. 0. 1. ]] SLAMing on 73.863133365 meters Centerline goodness : 0.118217 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.21, Z:-0.30 [[ 0.99987034 -0.00124793 -0.0160543 -0.51803238] [ 0.00117006 0.99998751 -0.00485918 0.20935158] [ 0.01606016 0.00483976 0.99985931 -0.29893255] [ 0. 0. 0. 1. ]] SLAMing on 73.893133365 meters Centerline goodness : 0.276618 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.21, Z:-0.30 [[ 0.99986978 -0.00108094 -0.01610168 -0.51766552] [ 0.0010111 0.99999005 -0.00434477 0.20671518] [ 0.01610622 0.00432792 0.99986092 -0.29923606] [ 0. 0. 0. 1. ]] SLAMing on 73.923133365 meters Centerline goodness : 0.306959 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.20, Z:-0.30 [[ 9.99871595e-01 -9.45404778e-04 -1.59968922e-02 -5.17746483e-01] [ 8.84260977e-04 9.99992279e-01 -3.82887156e-03 2.03807626e-01] [ 1.60003885e-02 3.81423449e-03 9.99864710e-01 -2.99433541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.953133365 meters Centerline goodness : 0.294659 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.20, Z:-0.30 [[ 9.99873438e-01 -7.18818316e-04 -1.58931310e-02 -5.18197487e-01] [ 6.71442462e-04 9.99995316e-01 -2.98603631e-03 1.98817603e-01] [ 1.58952030e-02 2.97498707e-03 9.99869237e-01 -2.99046118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.983133365 meters Centerline goodness : 0.258265 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.20, Z:-0.30 [[ 9.99873328e-01 -4.94720276e-04 -1.59086123e-02 -5.18282775e-01] [ 4.55247395e-04 9.99996809e-01 -2.48475285e-03 1.96644108e-01] [ 1.59097908e-02 2.47719575e-03 9.99870363e-01 -2.98782822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01313336499999 meters SLAMing on 74.04313336499999 meters SLAMing on 74.07313336499999 meters Centerline goodness : 0.237287 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.19, Z:-0.30 [[ 9.99880618e-01 2.58792148e-04 -1.54493461e-02 -5.18492067e-01] [-2.69715491e-04 9.99999715e-01 -7.04963034e-04 1.85263505e-01] [ 1.54491593e-02 7.09045802e-04 9.99880403e-01 -2.99856306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10313336499999 meters SLAMing on 74.13313336499999 meters SLAMing on 74.163133365 meters SLAMing on 74.193133365 meters SLAMing on 74.223133365 meters SLAMing on 74.253133365 meters SLAMing on 74.283133365 meters SLAMing on 74.313133365 meters SLAMing on 74.343133365 meters Centerline goodness : 0.166953 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.19, Z:-0.30 [[ 0.99981622 0.0068725 -0.01789672 -0.51169706] [-0.00681111 0.99997072 0.00348877 0.18552071] [ 0.01792018 -0.00336624 0.99983375 -0.30078367] [ 0. 0. 0. 1. ]] SLAMing on 74.37313336499999 meters SLAMing on 74.40313336499999 meters SLAMing on 74.43313336499999 meters SLAMing on 74.46313336499999 meters SLAMing on 74.49313336499999 meters SLAMing on 74.52313336499999 meters SLAMing on 74.553133365 meters SLAMing on 74.583133365 meters SLAMing on 74.613133365 meters SLAMing on 74.643133365 meters SLAMing on 74.673133365 meters Centerline goodness : 0.221171 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.19, Z:-0.30 [[ 9.99773020e-01 -1.54179415e-02 -1.47036219e-02 -5.16393872e-01] [ 1.54313627e-02 9.99880610e-01 7.99754956e-04 1.89918824e-01] [ 1.46895359e-02 -1.02647035e-03 9.99891576e-01 -2.98768595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.703133365 meters Centerline goodness : 0.120207 Centerline is valid? [False, False] Translation: X:-0.53, Y:0.18, Z:-0.30 [[ 9.99851821e-01 -7.24842193e-03 -1.56139843e-02 -5.32819111e-01] [ 7.24485802e-03 9.99973715e-01 -2.84803679e-04 1.80363204e-01] [ 1.56156383e-02 1.71640378e-04 9.99878054e-01 -3.01739089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.733133365 meters SLAMing on 74.76313336499999 meters SLAMing on 74.79313336499999 meters SLAMing on 74.82313336499999 meters SLAMing on 74.85313336499999 meters SLAMing on 74.88313336499999 meters Centerline goodness : 0.115663 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.16, Z:-0.31 [[ 9.99895128e-01 -6.17978883e-04 -1.44689833e-02 -5.50331691e-01] [ 6.07950524e-04 9.99999572e-01 -6.97481748e-04 1.59758330e-01] [ 1.44694081e-02 6.88612176e-04 9.99895076e-01 -3.05282705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.913133365 meters SLAMing on 74.943133365 meters SLAMing on 74.973133365 meters SLAMing on 75.003133365 meters SLAMing on 75.033133365 meters Centerline goodness : 0.146442 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.31 [[ 9.99893338e-01 -2.83679020e-04 -1.46024649e-02 -5.49344281e-01] [ 2.89354801e-04 9.99999883e-01 3.86575227e-04 1.52003793e-01] [ 1.46023535e-02 -3.90759288e-04 9.99893304e-01 -3.06107387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.063133365 meters SLAMing on 75.093133365 meters Centerline goodness : 0.087798 Centerline is valid? [False, False] Translation: X:-0.53, Y:0.15, Z:-0.30 [[ 0.99988408 0.00708302 -0.0134778 -0.53078652] [-0.00709779 0.99997426 -0.00104828 0.14655558] [ 0.01347002 0.00114382 0.99990862 -0.30388186] [ 0. 0. 0. 1. ]] SLAMing on 75.12313336499999 meters Centerline goodness : 0.144753 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.30 [[ 9.99909751e-01 -1.37200090e-03 -1.33644311e-02 -5.53180874e-01] [ 1.36623370e-03 9.99998970e-01 -4.40653793e-04 1.49192043e-01] [ 1.33650219e-02 4.22355089e-04 9.99910595e-01 -3.04639212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15313336499999 meters Centerline goodness : 0.118288 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.30 [[ 9.99912153e-01 -1.26119737e-03 -1.31945530e-02 -5.53408013e-01] [ 1.25864168e-03 9.99999188e-01 -2.01994377e-04 1.48269886e-01] [ 1.31947970e-02 1.85369418e-04 9.99912928e-01 -3.04893620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18313336499999 meters SLAMing on 75.21313336499999 meters Centerline goodness : 0.147559 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.30 [[ 9.99916299e-01 -1.30675952e-03 -1.28719912e-02 -5.54281544e-01] [ 1.30338373e-03 9.99999114e-01 -2.70643736e-04 1.48132426e-01] [ 1.28723335e-02 2.53843939e-04 9.99917116e-01 -3.04787896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24313336499999 meters Centerline goodness : 0.142953 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.15, Z:-0.30 [[ 9.99923703e-01 -8.22111930e-04 -1.23252901e-02 -5.56081708e-01] [ 8.20966354e-04 9.99999658e-01 -9.80043905e-05 1.49405050e-01] [ 1.23253664e-02 8.78782645e-05 9.99924036e-01 -3.04195646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27313336499999 meters SLAMing on 75.303133365 meters Centerline goodness : 0.147848 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.31 [[ 9.99918251e-01 -5.11920409e-04 -1.27761057e-02 -5.54533807e-01] [ 5.07937770e-04 9.99999821e-01 -3.14968516e-04 1.51921149e-01] [ 1.27762646e-02 3.08453301e-04 9.99918333e-01 -3.05176412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.333133365 meters Centerline goodness : 0.158654 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.31 [[ 9.99916470e-01 -6.58434308e-04 -1.29081449e-02 -5.53825749e-01] [ 6.47559320e-04 9.99999432e-01 -8.46651891e-04 1.54120597e-01] [ 1.29086951e-02 8.38222381e-04 9.99916328e-01 -3.06077678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.363133365 meters Centerline goodness : 0.092335 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.31 [[ 9.99915203e-01 -6.50653050e-04 -1.30063200e-02 -5.53576805e-01] [ 6.38758183e-04 9.99999374e-01 -9.18678323e-04 1.54665290e-01] [ 1.30069096e-02 9.10292528e-04 9.99914992e-01 -3.06154724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.393133365 meters SLAMing on 75.423133365 meters SLAMing on 75.453133365 meters Centerline goodness : 0.090044 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.31 [[ 9.99917066e-01 -6.00870656e-04 -1.28647071e-02 -5.53931024e-01] [ 5.89965044e-04 9.99999463e-01 -8.51493732e-04 1.54652905e-01] [ 1.28652119e-02 8.43833386e-04 9.99916884e-01 -3.06142544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.483133365 meters Centerline goodness : 0.088088 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.31 [[ 9.99915743e-01 -5.86603032e-04 -1.29677509e-02 -5.53600101e-01] [ 5.76760396e-04 9.99999543e-01 -7.62735522e-04 1.54092673e-01] [ 1.29681924e-02 7.55191971e-04 9.99915624e-01 -3.06260060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51313336499999 meters SLAMing on 75.54313336499999 meters SLAMing on 75.57313336499999 meters Centerline goodness : 0.216848 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.15, Z:-0.31 [[ 9.99877391e-01 -1.12846215e-03 -1.56182306e-02 -5.98710021e-01] [ 1.11877393e-03 9.99999176e-01 -6.29037612e-04 1.46144285e-01] [ 1.56189276e-02 6.11487217e-04 9.99877830e-01 -3.05001843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60313336499999 meters SLAMing on 75.63313336499999 meters Centerline goodness : 0.113078 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.14, Z:-0.31 [[ 9.99872391e-01 -1.84385700e-03 -1.58682961e-02 -5.97746762e-01] [ 1.83537831e-03 9.99998165e-01 -5.48862960e-04 1.41794528e-01] [ 1.58692790e-02 5.19668594e-04 9.99873940e-01 -3.05347800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.663133365 meters SLAMing on 75.693133365 meters Centerline goodness : 0.169794 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.14, Z:-0.30 [[ 9.99880474e-01 -1.80078225e-03 -1.53556205e-02 -5.99515690e-01] [ 1.79853636e-03 9.99998370e-01 -1.60066738e-04 1.39790053e-01] [ 1.53558838e-02 1.32429964e-04 9.99882083e-01 -3.04292417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.723133365 meters SLAMing on 75.753133365 meters SLAMing on 75.783133365 meters SLAMing on 75.813133365 meters SLAMing on 75.843133365 meters Centerline goodness : 0.159699 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.13, Z:-0.30 [[ 0.99986408 -0.00683604 -0.01500301 -0.60037156] [ 0.00678779 0.99997164 -0.0032642 0.12520798] [ 0.0150249 0.00316192 0.99988212 -0.30378456] [ 0. 0. 0. 1. ]] SLAMing on 75.87313336499999 meters Centerline goodness : 0.154422 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.12, Z:-0.30 [[ 0.99987004 -0.00667969 -0.01467234 -0.60123523] [ 0.00664244 0.99997459 -0.00258621 0.12151346] [ 0.01468924 0.00248842 0.99988901 -0.30351817] [ 0. 0. 0. 1. ]] SLAMing on 75.90313336499999 meters Centerline goodness : 0.153617 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.12, Z:-0.30 [[ 0.99988206 -0.00619527 -0.01405268 -0.60296429] [ 0.0061764 0.99997997 -0.00138581 0.11624697] [ 0.01406098 0.00129885 0.9999003 -0.30295073] [ 0. 0. 0. 1. ]] SLAMing on 75.93313336499999 meters Centerline goodness : 0.100149 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.11, Z:-0.30 [[ 9.99887043e-01 -5.89525410e-03 -1.38256168e-02 -6.03301708e-01] [ 5.88604749e-03 9.99982427e-01 -7.06506068e-04 1.12894700e-01] [ 1.38295389e-02 6.25048026e-04 9.99904172e-01 -3.03220390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96313336499999 meters SLAMing on 75.99313336499999 meters SLAMing on 76.02313336499999 meters SLAMing on 76.053133365 meters Centerline goodness : 0.089403 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.10, Z:-0.31 [[ 9.99872269e-01 3.37935215e-03 -1.56213151e-02 -6.20899751e-01] [-3.39277552e-03 9.99993898e-01 -8.32876803e-04 1.01454567e-01] [ 1.56184052e-02 8.85770035e-04 9.99877633e-01 -3.05597977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.083133365 meters SLAMing on 76.113133365 meters Centerline goodness : 0.111673 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.30 [[ 9.99881667e-01 -5.01204497e-03 -1.45440979e-02 -6.01987471e-01] [ 5.01683574e-03 9.99987373e-01 2.92930469e-04 1.01372995e-01] [ 1.45424461e-02 -3.65861156e-04 9.99894186e-01 -3.04466754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.143133365 meters Centerline goodness : 0.099505 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.30 [[ 9.99881209e-01 -4.85194695e-03 -1.46296742e-02 -6.01562012e-01] [ 4.86261974e-03 9.99987937e-01 6.94047353e-04 9.95680232e-02] [ 1.46261303e-02 -7.65103449e-04 9.99892740e-01 -3.04767512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.173133365 meters Centerline goodness : 0.115253 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.31 [[ 0.99987943 -0.00472027 -0.01479364 -0.60098948] [ 0.00473634 0.99998823 0.001051 0.09782925] [ 0.0147885 -0.00112094 0.99989002 -0.30500043] [ 0. 0. 0. 1. ]] SLAMing on 76.203133365 meters SLAMing on 76.233133365 meters Centerline goodness : 0.101854 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.09, Z:-0.31 [[ 0.99987102 -0.00451151 -0.01541407 -0.59906801] [ 0.00453884 0.99998819 0.00173879 0.0939724 ] [ 0.01540604 -0.00180853 0.99987968 -0.30562679] [ 0. 0. 0. 1. ]] SLAMing on 76.26313336499999 meters SLAMing on 76.29313336499999 meters Centerline goodness : 0.129738 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.09, Z:-0.31 [[ 0.99987599 -0.00428718 -0.01515324 -0.59936803] [ 0.00432043 0.99998833 0.00216221 0.0921867 ] [ 0.01514379 -0.00222741 0.99988285 -0.30615759] [ 0. 0. 0. 1. ]] SLAMing on 76.32313336499999 meters Centerline goodness : 0.096286 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.09, Z:-0.31 [[ 0.99987674 -0.00427678 -0.01510661 -0.59959021] [ 0.00431093 0.99998822 0.00222883 0.0916578 ] [ 0.0150969 -0.00229368 0.9998834 -0.30600601] [ 0. 0. 0. 1. ]] SLAMing on 76.35313336499999 meters SLAMing on 76.38313336499999 meters SLAMing on 76.413133365 meters Centerline goodness : 0.121047 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.09, Z:-0.31 [[ 0.99987419 -0.00421815 -0.01529071 -0.59920598] [ 0.00425196 0.99998859 0.00217941 0.09250895] [ 0.01528134 -0.00224415 0.99988072 -0.30602531] [ 0. 0. 0. 1. ]] SLAMing on 76.443133365 meters SLAMing on 76.473133365 meters Centerline goodness : 0.102137 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.09, Z:-0.31 [[ 0.99987987 0.00458624 -0.01480593 -0.62070391] [-0.0045656 0.99998856 0.00142733 0.0913726 ] [ 0.0148123 -0.00135956 0.99988937 -0.3065072 ] [ 0. 0. 0. 1. ]] SLAMing on 76.503133365 meters Centerline goodness : 0.066553 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.31 [[ 0.99989736 -0.00333932 -0.01393263 -0.60256398] [ 0.00337169 0.99999167 0.00230023 0.09815787] [ 0.01392483 -0.00234697 0.99990029 -0.3050928 ] [ 0. 0. 0. 1. ]] SLAMing on 76.533133365 meters SLAMing on 76.563133365 meters Centerline goodness : 0.087959 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.30 [[ 0.99989929 -0.0035411 -0.01374276 -0.60358027] [ 0.00356489 0.99999219 0.00170693 0.10144546] [ 0.01373661 -0.00175575 0.99990411 -0.30439097] [ 0. 0. 0. 1. ]] SLAMing on 76.593133365 meters SLAMing on 76.62313336499999 meters Centerline goodness : 0.141437 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.30 [[ 0.99990166 -0.00360658 -0.01355192 -0.60438432] [ 0.00363033 0.99999192 0.00172834 0.10126558] [ 0.01354558 -0.00177737 0.99990667 -0.30377378] [ 0. 0. 0. 1. ]] SLAMing on 76.65313336499999 meters SLAMing on 76.68313336499999 meters Centerline goodness : 0.087236 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.30 [[ 0.99990107 -0.00440635 -0.01335797 -0.60470068] [ 0.00443073 0.99998857 0.00179551 0.09745577] [ 0.01334991 -0.00185451 0.99990917 -0.30365449] [ 0. 0. 0. 1. ]] SLAMing on 76.71313336499999 meters Centerline goodness : 0.087692 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.30 [[ 0.99989967 -0.00435487 -0.01347908 -0.60430726] [ 0.00438426 0.99998807 0.00215201 0.09546161] [ 0.01346955 -0.00221089 0.99990684 -0.3037513 ] [ 0. 0. 0. 1. ]] SLAMing on 76.74313336499999 meters SLAMing on 76.77313336499999 meters SLAMing on 76.803133365 meters Centerline goodness : 0.096800 Centerline is valid? [False, False] Translation: X:-0.61, Y:0.09, Z:-0.30 [[ 0.99990441 -0.00432471 -0.01313279 -0.60522117] [ 0.00436407 0.99998607 0.00296956 0.08914554] [ 0.01311976 -0.00302659 0.99990935 -0.30335935] [ 0. 0. 0. 1. ]] SLAMing on 76.833133365 meters SLAMing on 76.863133365 meters SLAMing on 76.893133365 meters Centerline goodness : 0.088344 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.08, Z:-0.30 [[ 0.99988477 0.00530863 -0.01422177 -0.58220657] [-0.00526242 0.99998076 0.00328487 0.08420835] [ 0.01423894 -0.00320965 0.99989347 -0.30312653] [ 0. 0. 0. 1. ]] SLAMing on 76.923133365 meters Centerline goodness : 0.159930 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.08, Z:-0.30 [[ 0.99988313 0.00534831 -0.01432232 -0.58162692] [-0.00530005 0.99998016 0.00340573 0.08336706] [ 0.01434025 -0.00332943 0.99989163 -0.3037121 ] [ 0. 0. 0. 1. ]] SLAMing on 76.953133365 meters Centerline goodness : 0.097549 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.09, Z:-0.30 [[ 0.99989758 -0.00276781 -0.01404202 -0.56155295] [ 0.00282721 0.99998713 0.004212 0.0869452 ] [ 0.01403018 -0.00425127 0.99989253 -0.30321556] [ 0. 0. 0. 1. ]] SLAMing on 76.983133365 meters Centerline goodness : 0.125758 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.09, Z:-0.30 [[ 0.99989875 -0.00265513 -0.01398022 -0.56163238] [ 0.00271865 0.99998606 0.00452668 0.08532667] [ 0.013968 -0.00456423 0.99989203 -0.30330125] [ 0. 0. 0. 1. ]] SLAMing on 77.01313336499999 meters Centerline goodness : 0.163126 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.08, Z:-0.30 [[ 0.99989853 0.0036458 -0.01377104 -0.58401221] [-0.00361722 0.99999125 0.00209964 0.07904948] [ 0.01377858 -0.00204961 0.99990297 -0.30335829] [ 0. 0. 0. 1. ]] SLAMing on 77.04313336499999 meters SLAMing on 77.07313336499999 meters Centerline goodness : 0.129370 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.07, Z:-0.30 [[ 0.99990924 0.00243147 -0.01325117 -0.53711679] [-0.00240698 0.99999537 0.00186401 0.07433058] [ 0.01325564 -0.00183194 0.99991046 -0.30417198] [ 0. 0. 0. 1. ]] SLAMing on 77.10313336499999 meters Centerline goodness : 0.161942 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.07, Z:-0.30 [[ 0.99986965 0.00213229 -0.0160041 -0.58172584] [-0.00210538 0.99999634 0.00169827 0.06935725] [ 0.01600766 -0.00166435 0.99987048 -0.30382555] [ 0. 0. 0. 1. ]] SLAMing on 77.13313336499999 meters Centerline goodness : 0.095851 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.07, Z:-0.30 [[ 0.99986882 0.00225471 -0.01603957 -0.58162143] [-0.00222562 0.99999585 0.0018317 0.06891681] [ 0.01604364 -0.00179576 0.99986968 -0.30390928] [ 0. 0. 0. 1. ]] SLAMing on 77.163133365 meters SLAMing on 77.193133365 meters Centerline goodness : 0.170038 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.07, Z:-0.30 [[ 0.99986966 0.00310478 -0.01584365 -0.5818069 ] [-0.00306811 0.99999256 0.00233829 0.06885317] [ 0.01585079 -0.00228938 0.99987175 -0.3045323 ] [ 0. 0. 0. 1. ]] SLAMing on 77.223133365 meters Centerline goodness : 0.168904 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.07, Z:-0.30 [[ 0.99987136 0.00311755 -0.01573346 -0.58216877] [-0.00308039 0.99999241 0.00238565 0.06850705] [ 0.01574078 -0.00233688 0.99987338 -0.30444214] [ 0. 0. 0. 1. ]] SLAMing on 77.253133365 meters Centerline goodness : 0.109550 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.07, Z:-0.30 [[ 0.99987226 0.00315615 -0.01566845 -0.58243836] [-0.00311624 0.99999184 0.0025712 0.06739447] [ 0.01567644 -0.00252205 0.99987394 -0.30424213] [ 0. 0. 0. 1. ]] SLAMing on 77.283133365 meters Centerline goodness : 0.098672 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.06, Z:-0.30 [[ 9.99881851e-01 -5.03181735e-04 -1.53632839e-02 -5.83308879e-01] [ 4.93293118e-04 9.99999669e-01 -6.47435341e-04 6.44302834e-02] [ 1.53636046e-02 6.39780245e-04 9.99881768e-01 -3.04057676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.313133365 meters Centerline goodness : 0.169789 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.06, Z:-0.30 [[ 9.99882570e-01 -3.41502125e-04 -1.53208873e-02 -5.83377736e-01] [ 3.40233236e-04 9.99999938e-01 -8.54272629e-05 6.15248185e-02] [ 1.53209156e-02 8.02045561e-05 9.99882625e-01 -3.03987375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.343133365 meters Centerline goodness : 0.169789 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.06, Z:-0.30 [[ 9.99882570e-01 -3.41502125e-04 -1.53208873e-02 -5.83377736e-01] [ 3.40233236e-04 9.99999938e-01 -8.54272629e-05 6.15248185e-02] [ 1.53209156e-02 8.02045561e-05 9.99882625e-01 -3.03987375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37313336499999 meters SLAMing on 77.40313336499999 meters Centerline goodness : 0.166598 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.06, Z:-0.30 [[ 9.99892229e-01 -7.59098356e-05 -1.46807526e-02 -5.84916030e-01] [ 9.06894834e-05 9.99999490e-01 1.00607327e-03 5.54228146e-02] [ 1.46806687e-02 -1.00729624e-03 9.99891726e-01 -3.03734336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43313336499999 meters Centerline goodness : 0.148801 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.05, Z:-0.30 [[ 9.99891215e-01 1.77011958e-05 -1.47498758e-02 -5.84678226e-01] [ 1.14729414e-06 9.99999184e-01 1.27786504e-03 5.39548396e-02] [ 1.47498864e-02 -1.27774295e-03 9.99890398e-01 -3.03811659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46313336499999 meters Centerline goodness : 0.154754 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.05, Z:-0.30 [[ 9.99890485e-01 1.05691157e-04 -1.47988916e-02 -5.84493038e-01] [-8.33344794e-05 9.99998855e-01 1.51130797e-03 5.27298640e-02] [ 1.47990344e-02 -1.50990921e-03 9.99889348e-01 -3.03891510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49313336499999 meters Centerline goodness : 0.159086 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.05, Z:-0.31 [[ 9.99866473e-01 7.90432789e-03 -1.43023559e-02 -6.03643929e-01] [-7.89691232e-03 9.99968654e-01 5.74887736e-04 4.53143536e-02] [ 1.43064516e-02 -4.61866523e-04 9.99897551e-01 -3.05842168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52313336499999 meters Centerline goodness : 0.151847 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.05, Z:-0.31 [[ 9.99902943e-01 1.39652606e-04 -1.39314310e-02 -5.84298336e-01] [-1.15372594e-04 9.99998473e-01 1.74361099e-03 4.82528908e-02] [ 1.39316533e-02 -1.74183446e-03 9.99901433e-01 -3.05276896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.553133365 meters Centerline goodness : 0.152436 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.05, Z:-0.31 [[ 9.99902379e-01 1.79100502e-04 -1.39714223e-02 -5.83980820e-01] [-1.52786334e-04 9.99998213e-01 1.88447263e-03 4.73910473e-02] [ 1.39717348e-02 -1.88215402e-03 9.99900619e-01 -3.05611601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.583133365 meters Centerline goodness : 0.153042 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.05, Z:-0.31 [[ 9.99902788e-01 2.44478069e-04 -1.39411309e-02 -5.84114179e-01] [-2.15436063e-04 9.99997804e-01 2.08465240e-03 4.62509907e-02] [ 1.39416099e-02 -2.08144632e-03 9.99900645e-01 -3.05503068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.613133365 meters Centerline goodness : 0.162230 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.04, Z:-0.30 [[ 9.99908458e-01 3.54782175e-04 -1.35259181e-02 -5.85340169e-01] [-3.18026862e-04 9.99996252e-01 2.71945281e-03 4.25430257e-02] [ 1.35268322e-02 -2.71490226e-03 9.99904823e-01 -3.04960715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.643133365 meters Centerline goodness : 0.155566 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.04, Z:-0.30 [[ 9.99909112e-01 4.32836355e-04 -1.34752035e-02 -5.85425459e-01] [-3.90242775e-04 9.99994920e-01 3.16335478e-03 3.99904506e-02] [ 1.34765043e-02 -3.15780866e-03 9.99904201e-01 -3.04887886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.673133365 meters Centerline goodness : 0.159417 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.04, Z:-0.30 [[ 9.99906963e-01 5.14534524e-04 -1.36308416e-02 -5.84949626e-01] [-4.64392041e-04 9.99993115e-01 3.68151480e-03 3.69840728e-02] [ 1.36326421e-02 -3.67484223e-03 9.99900318e-01 -3.04932618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.703133365 meters Centerline goodness : 0.161705 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.03, Z:-0.31 [[ 0.99988918 -0.00161766 -0.01479889 -0.58017261] [ 0.00165301 0.99999581 0.00237638 0.02999616] [ 0.01479498 -0.00240058 0.99988767 -0.30716726] [ 0. 0. 0. 1. ]] SLAMing on 77.733133365 meters Centerline goodness : 0.157314 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.03, Z:-0.31 [[ 0.99988051 -0.0014851 -0.01538676 -0.57830974] [ 0.00153101 0.99999441 0.00297293 0.02671393] [ 0.01538226 -0.00299613 0.9998772 -0.30776505] [ 0. 0. 0. 1. ]] SLAMing on 77.76313336499999 meters Centerline goodness : 0.212496 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.02, Z:-0.31 [[ 0.99987553 -0.00126257 -0.0157269 -0.57721731] [ 0.00132058 0.99999236 0.003679 0.02308347] [ 0.01572213 -0.00369931 0.99986956 -0.30808873] [ 0. 0. 0. 1. ]] SLAMing on 77.79313336499999 meters Centerline goodness : 0.159781 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.02, Z:-0.31 [[ 0.99987469 -0.00103741 -0.01579677 -0.57697273] [ 0.00110728 0.99998964 0.00441491 0.01923857] [ 0.01579203 -0.00443185 0.99986548 -0.30805762] [ 0. 0. 0. 1. ]] SLAMing on 77.82313336499999 meters Centerline goodness : 0.093134 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.02, Z:-0.31 [[ 9.99874932e-01 -8.24908412e-04 -1.57936886e-02 -5.77037124e-01] [ 9.05296855e-04 9.99986669e-01 5.08343667e-03 1.57386680e-02] [ 1.57892847e-02 -5.09709887e-03 9.99862350e-01 -3.07852828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85313336499999 meters Centerline goodness : 0.169368 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:-0.31 [[ 9.99876084e-01 -4.80779996e-04 -1.57348196e-02 -5.77144987e-01] [ 5.75192146e-04 9.99981857e-01 5.99623001e-03 1.12322194e-02] [ 1.57316512e-02 -6.00453753e-03 9.99858220e-01 -3.07760225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88313336499999 meters Centerline goodness : 0.157710 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:-0.31 [[ 0.99984406 0.00793901 -0.01577434 -0.55700244] [-0.0078598 0.99995622 0.00507683 0.00716751] [ 0.01581395 -0.00495206 0.99986269 -0.30630294] [ 0. 0. 0. 1. ]] SLAMing on 77.913133365 meters Centerline goodness : 0.157915 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:-0.31 [[ 9.99868906e-01 -3.55307868e-04 -1.61877902e-02 -5.76261801e-01] [ 4.59175630e-04 9.99979330e-01 6.41316137e-03 1.00794976e-02] [ 1.61851770e-02 -6.41975368e-03 9.99848402e-01 -3.08148166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.943133365 meters Centerline goodness : 0.185892 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:-0.31 [[ 9.99869875e-01 -3.06205469e-04 -1.61288224e-02 -5.76411784e-01] [ 4.09724089e-04 9.99979338e-01 6.41532466e-03 1.02838914e-02] [ 1.61265248e-02 -6.42109823e-03 9.99849341e-01 -3.08194284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.973133365 meters Centerline goodness : 0.159353 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:-0.31 [[ 9.99876687e-01 -2.16981741e-04 -1.57023779e-02 -5.77801518e-01] [ 3.19255726e-04 9.99978752e-01 6.51106651e-03 1.01242406e-02] [ 1.57006315e-02 -6.51527668e-03 9.99855510e-01 -3.07627261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.003133365 meters Centerline goodness : 0.154330 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:-0.31 [[ 9.99880066e-01 -2.10561303e-04 -1.54857860e-02 -5.78639341e-01] [ 3.12762030e-04 9.99978187e-01 6.59752168e-03 9.52938025e-03] [ 1.54840591e-02 -6.60157378e-03 9.99858322e-01 -3.07079381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.033133365 meters Centerline goodness : 0.143631 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:-0.31 [[ 0.99986975 0.00775806 -0.01415224 -0.56033118] [-0.00768827 0.99995805 0.00497862 0.00579501] [ 0.01419027 -0.00486917 0.99988746 -0.30516358] [ 0. 0. 0. 1. ]] SLAMing on 78.063133365 meters Centerline goodness : 0.138962 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:-0.31 [[ 0.99990547 -0.00112693 -0.01370367 -0.58188465] [ 0.00120586 0.99998273 0.00575277 0.00805722] [ 0.01369695 -0.00576875 0.99988955 -0.30634245] [ 0. 0. 0. 1. ]] SLAMing on 78.093133365 meters Centerline goodness : 0.136099 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:-0.31 [[ 9.99910823e-01 -9.28113212e-04 -1.33223051e-02 -5.82868968e-01] [ 1.01174390e-03 9.99979818e-01 6.27212712e-03 5.86976550e-03] [ 1.33162150e-02 -6.28504656e-03 9.99891582e-01 -3.06138974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12313336499999 meters Centerline goodness : 0.145930 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99911669e-01 -8.57265751e-04 -1.32634663e-02 -5.83109362e-01] [ 9.43934233e-04 9.99978237e-01 6.52949673e-03 4.49071680e-03] [ 1.32575801e-02 -6.54143981e-03 9.99890717e-01 -3.05901610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15313336499999 meters Centerline goodness : 0.135295 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99911477e-01 -8.29666141e-04 -1.32797133e-02 -5.83081124e-01] [ 9.19194046e-04 9.99976884e-01 6.73702148e-03 3.12353828e-03] [ 1.32738168e-02 -6.74863172e-03 9.99889125e-01 -3.05797006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18313336499999 meters Centerline goodness : 0.148448 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99909479e-01 -8.35578587e-04 -1.34289297e-02 -5.82509860e-01] [ 9.27630131e-04 9.99976109e-01 6.84995300e-03 2.17145469e-03] [ 1.34228852e-02 -6.86179001e-03 9.99886365e-01 -3.06090431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21313336499999 meters Centerline goodness : 0.133509 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99904806e-01 -7.86102542e-04 -1.37753624e-02 -5.81016346e-01] [ 8.83130241e-04 9.99974837e-01 7.03890095e-03 1.07064955e-03] [ 1.37694824e-02 -7.05039633e-03 9.99880339e-01 -3.07148143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24313336499999 meters Centerline goodness : 0.147604 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99905044e-01 -7.33963409e-04 -1.37610021e-02 -5.80996161e-01] [ 8.31894898e-04 9.99974362e-01 7.11222283e-03 9.21797445e-04] [ 1.37554291e-02 -7.12299518e-03 9.99880018e-01 -3.07220613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27313336499999 meters Centerline goodness : 0.148020 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99906140e-01 -7.28451780e-04 -1.36813654e-02 -5.81098360e-01] [ 8.25591730e-04 9.99974483e-01 7.09585955e-03 1.06617425e-03] [ 1.36758473e-02 -7.10648876e-03 9.99881227e-01 -3.07374931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.303133365 meters Centerline goodness : 0.117843 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99904522e-01 -7.92780619e-04 -1.37956186e-02 -5.80635413e-01] [ 8.89095212e-04 9.99975267e-01 6.97680286e-03 1.38626395e-03] [ 1.37897463e-02 -6.98840234e-03 9.99880495e-01 -3.07674663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.333133365 meters Centerline goodness : 0.143903 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99898976e-01 -8.51534873e-04 -1.41884975e-02 -5.79046517e-01] [ 9.48746951e-04 9.99976115e-01 6.84614921e-03 1.71716783e-03] [ 1.41823288e-02 -6.85891888e-03 9.99875901e-01 -3.08805105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.363133365 meters Centerline goodness : 0.148122 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99898889e-01 -7.98685782e-04 -1.41976398e-02 -5.78844268e-01] [ 8.96775860e-04 9.99975766e-01 6.90387706e-03 1.63922968e-03] [ 1.41917817e-02 -6.91591110e-03 9.99875374e-01 -3.09141706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.393133365 meters Centerline goodness : 0.145055 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:-0.31 [[ 0.9998867 0.00672072 -0.01346902 -0.59787315] [-0.00664095 0.9999602 0.00595864 -0.00489664] [ 0.01350853 -0.00586852 0.99989153 -0.31115329] [ 0. 0. 0. 1. ]] SLAMing on 78.423133365 meters Centerline goodness : 0.145042 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 0.99991255 0.00288269 -0.01290702 -0.5992793 ] [-0.00285248 0.99999315 0.00235844 -0.00620878] [ 0.01291373 -0.00232142 0.99991392 -0.3110861 ] [ 0. 0. 0. 1. ]] SLAMing on 78.453133365 meters Centerline goodness : 0.143741 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 0.99991005 0.00287818 -0.01309982 -0.59856514] [-0.00284404 0.99999251 0.00262367 -0.00808585] [ 0.01310727 -0.00258617 0.99991075 -0.31144994] [ 0. 0. 0. 1. ]] SLAMing on 78.483133365 meters Centerline goodness : 0.147065 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 0.99990269 0.00286115 -0.013654 -0.59685934] [-0.00282181 0.99999182 0.00289937 -0.00997527] [ 0.01366218 -0.00286056 0.99990258 -0.31200761] [ 0. 0. 0. 1. ]] SLAMing on 78.51313336499999 meters Centerline goodness : 0.147718 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.01, Z:-0.31 [[ 0.9998926 0.00304674 -0.01433534 -0.59475808] [-0.00299326 0.99998849 0.00375058 -0.01453115] [ 0.0143466 -0.00370727 0.99989021 -0.31264492] [ 0. 0. 0. 1. ]] SLAMing on 78.54313336499999 meters Centerline goodness : 0.145630 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99989435 0.00323832 -0.01417031 -0.59527431] [-0.00317794 0.99998579 0.00428113 -0.01706069] [ 0.01418397 -0.00423564 0.99989043 -0.31238529] [ 0. 0. 0. 1. ]] SLAMing on 78.57313336499999 meters Centerline goodness : 0.134621 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99989812 0.00341308 -0.01385967 -0.59628585] [-0.00334691 0.9999829 0.00479511 -0.01964593] [ 0.0138758 -0.00474824 0.99989245 -0.31186563] [ 0. 0. 0. 1. ]] SLAMing on 78.60313336499999 meters Centerline goodness : 0.142062 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99989926 0.00356931 -0.01373762 -0.5968247 ] [-0.00349767 0.99998018 0.00523528 -0.02190476] [ 0.01375603 -0.00518671 0.99989193 -0.31142436] [ 0. 0. 0. 1. ]] SLAMing on 78.63313336499999 meters Centerline goodness : 0.134194 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99989443 0.00374347 -0.01403961 -0.59590554] [-0.00366473 0.99997744 0.00563007 -0.02408918] [ 0.01406037 -0.00557803 0.99988559 -0.31175115] [ 0. 0. 0. 1. ]] SLAMing on 78.663133365 meters Centerline goodness : 0.137616 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99989395 0.00382315 -0.01405234 -0.59586313] [-0.00374284 0.99997654 0.00573672 -0.0246169 ] [ 0.01407394 -0.00568351 0.9998848 -0.31181502] [ 0. 0. 0. 1. ]] SLAMing on 78.693133365 meters Centerline goodness : 0.132097 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99989854 0.00391722 -0.01369535 -0.59682565] [-0.00383806 0.9999758 0.00580186 -0.02469394] [ 0.01371774 -0.00574871 0.99988938 -0.31168133] [ 0. 0. 0. 1. ]] SLAMing on 78.723133365 meters Centerline goodness : 0.132446 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99990581 0.00407793 -0.0131054 -0.59858791] [-0.00400013 0.99997426 0.00595702 -0.02498418] [ 0.01312936 -0.00590404 0.99989638 -0.31118018] [ 0. 0. 0. 1. ]] SLAMing on 78.753133365 meters Centerline goodness : 0.132239 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99991872 0.00435045 -0.0119845 -0.60168015] [-0.00427749 0.9999722 0.00610725 -0.02489613] [ 0.01201073 -0.00605549 0.99990953 -0.31059255] [ 0. 0. 0. 1. ]] SLAMing on 78.783133365 meters Centerline goodness : 0.135067 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.9999205 0.00435403 -0.01183365 -0.602061 ] [-0.00428291 0.99997265 0.00602908 -0.02438028] [ 0.01185958 -0.00597792 0.9999118 -0.31062612] [ 0. 0. 0. 1. ]] SLAMing on 78.813133365 meters Centerline goodness : 0.112198 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99992179 0.00433353 -0.01173185 -0.60220833] [-0.00426418 0.99997333 0.00592963 -0.02386454] [ 0.01175724 -0.00587914 0.9999136 -0.31084026] [ 0. 0. 0. 1. ]] SLAMing on 78.843133365 meters Centerline goodness : 0.115537 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99992366 0.00432745 -0.01157381 -0.60240918] [-0.00425868 0.99997317 0.00595935 -0.02423719] [ 0.01159929 -0.00590961 0.99991526 -0.31115762] [ 0. 0. 0. 1. ]] SLAMing on 78.87313336499999 meters Centerline goodness : 0.130577 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99992525 0.00434603 -0.01142802 -0.60286737] [-0.00427671 0.99997235 0.00608334 -0.02495938] [ 0.01145414 -0.00603401 0.99991619 -0.3109891 ] [ 0. 0. 0. 1. ]] SLAMing on 78.90313336499999 meters Centerline goodness : 0.121815 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.02, Z:-0.31 [[ 0.99992815 -0.0048103 -0.01098012 -0.6247447 ] [ 0.00488541 0.99996478 0.0068241 -0.0230078 ] [ 0.0109469 -0.00687726 0.99991643 -0.31204725] [ 0. 0. 0. 1. ]] SLAMing on 78.93313336499999 meters Centerline goodness : 0.131689 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.03, Z:-0.31 [[ 0.99994596 0.00307426 -0.00993124 -0.60591689] [-0.00302247 0.99998178 0.00522509 -0.02659926] [ 0.00994713 -0.00519479 0.99993703 -0.31066439] [ 0. 0. 0. 1. ]] SLAMing on 78.96313336499999 meters Centerline goodness : 0.135509 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.03, Z:-0.31 [[ 0.99991603 -0.00664917 -0.01112306 -0.62790582] [ 0.00670868 0.99996334 0.00532097 -0.02539067] [ 0.01108727 -0.00539515 0.99992398 -0.31124017] [ 0. 0. 0. 1. ]] SLAMing on 78.99313336499999 meters Centerline goodness : 0.133109 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.03, Z:-0.31 [[ 0.99993527 0.0017453 -0.01124345 -0.60770623] [-0.00170178 0.99999103 0.00387974 -0.02658353] [ 0.01125012 -0.00386036 0.99992926 -0.30995325] [ 0. 0. 0. 1. ]] SLAMing on 79.02313336499999 meters Centerline goodness : 0.135151 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.02, Z:-0.31 [[ 0.99993459 0.00160132 -0.01132443 -0.60713668] [-0.00156231 0.99999282 0.00345301 -0.0244979 ] [ 0.01132988 -0.00343509 0.99992991 -0.31064748] [ 0. 0. 0. 1. ]] SLAMing on 79.053133365 meters Centerline goodness : 0.156321 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.02, Z:-0.31 [[ 0.99993514 0.00148056 -0.01129289 -0.60709155] [-0.00144718 0.99999456 0.00296356 -0.0218507 ] [ 0.01129721 -0.00294702 0.99993184 -0.31097046] [ 0. 0. 0. 1. ]] SLAMing on 79.083133365 meters Centerline goodness : 0.147535 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.02, Z:-0.31 [[ 0.9999358 0.00142035 -0.01124201 -0.60716724] [-0.00139462 0.99999639 0.002296 -0.01745865] [ 0.01124523 -0.00228018 0.99993417 -0.31129876] [ 0. 0. 0. 1. ]] SLAMing on 79.113133365 meters Centerline goodness : 0.113699 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.02, Z:-0.31 [[ 0.99993474 0.00128524 -0.01135206 -0.60673207] [-0.00126352 0.99999736 0.00192028 -0.0154508 ] [ 0.0113545 -0.00190581 0.99993372 -0.31165899] [ 0. 0. 0. 1. ]] SLAMing on 79.143133365 meters Centerline goodness : 0.116542 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.01, Z:-0.31 [[ 0.99993192 0.00115336 -0.01161176 -0.60576885] [-0.00113429 0.999998 0.00164846 -0.01423175] [ 0.01161364 -0.00163518 0.99993122 -0.31222234] [ 0. 0. 0. 1. ]] SLAMing on 79.173133365 meters Centerline goodness : 0.113638 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99918836e-01 6.31357309e-04 -1.27248893e-02 -6.02383164e-01] [-6.19290501e-04 9.99999355e-01 9.52201973e-04 -1.23873786e-02] [ 1.27254823e-02 -9.44244285e-04 9.99918582e-01 -3.13463569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.203133365 meters Centerline goodness : 0.153801 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99915670e-01 5.10485687e-04 -1.29765755e-02 -6.01611997e-01] [-5.00893325e-04 9.99999599e-01 7.42445218e-04 -1.15465517e-02] [ 1.29769493e-02 -7.35882728e-04 9.99915525e-01 -3.13775838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.233133365 meters Centerline goodness : 0.153801 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99915670e-01 5.10485687e-04 -1.29765755e-02 -6.01611997e-01] [-5.00893325e-04 9.99999599e-01 7.42445218e-04 -1.15465517e-02] [ 1.29769493e-02 -7.35882728e-04 9.99915525e-01 -3.13775838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26313336499999 meters Centerline goodness : 0.116097 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99914784e-01 4.43056548e-04 -1.30471625e-02 -6.01439735e-01] [-4.35338854e-04 9.99999729e-01 5.94356935e-04 -1.07141337e-02] [ 1.30474223e-02 -5.88626350e-04 9.99914706e-01 -3.13817308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29313336499999 meters Centerline goodness : 0.116164 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99915170e-01 4.18301829e-04 -1.30183775e-02 -6.01707684e-01] [-4.11202450e-04 9.99999765e-01 5.48007099e-04 -1.02142221e-02] [ 1.30186037e-02 -5.42607422e-04 9.99915107e-01 -3.13503008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32313336499999 meters Centerline goodness : 0.124181 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99918806e-01 3.29528126e-04 -1.27386311e-02 -6.02855644e-01] [-3.24210399e-04 9.99999859e-01 4.19511704e-04 -9.37035422e-03] [ 1.27387676e-02 -4.15347646e-04 9.99918772e-01 -3.12694508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35313336499999 meters Centerline goodness : 0.126231 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99918447e-01 2.37539039e-04 -1.27687912e-02 -6.02723996e-01] [-2.34240839e-04 9.99999939e-01 2.59796546e-04 -8.69615719e-03] [ 1.27688521e-02 -2.56784387e-04 9.99918442e-01 -3.12822299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38313336499999 meters Centerline goodness : 0.147774 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99915754e-01 1.15352746e-04 -1.29796623e-02 -6.02015815e-01] [-1.14561922e-04 9.99999992e-01 6.16714151e-05 -7.94985387e-03] [ 1.29796693e-02 -6.01792444e-05 9.99915759e-01 -3.13164039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.413133365 meters Centerline goodness : 0.119892 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99912916e-01 2.64291554e-05 -1.31969612e-02 -6.01376662e-01] [-2.76250147e-05 9.99999996e-01 -9.04339794e-05 -7.28651906e-03] [ 1.31969587e-02 9.07906703e-05 9.99912912e-01 -3.13363855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.443133365 meters Centerline goodness : 0.127576 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99910448e-01 -1.82762159e-04 -1.33814579e-02 -6.01048417e-01] [ 1.78676172e-04 9.99999937e-01 -3.06541834e-04 -6.55953742e-03] [ 1.33815131e-02 3.04123435e-04 9.99910417e-01 -3.13139131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.473133365 meters Centerline goodness : 0.131762 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99910375e-01 -2.12848713e-04 -1.33864271e-02 -6.01219444e-01] [ 2.09322530e-04 9.99999943e-01 -2.64815299e-04 -6.94253186e-03] [ 1.33864827e-02 2.61989484e-04 9.99910363e-01 -3.12821835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.503133365 meters Centerline goodness : 0.126488 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99910435e-01 -2.51422388e-04 -1.33812875e-02 -6.01417123e-01] [ 2.48830021e-04 9.99999950e-01 -1.95395281e-04 -7.47849777e-03] [ 1.33813360e-02 1.92048114e-04 9.99910447e-01 -3.12487718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.533133365 meters Centerline goodness : 0.140652 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99910420e-01 -2.82006989e-04 -1.33817938e-02 -6.01535729e-01] [ 2.80290074e-04 9.99999952e-01 -1.30177603e-04 -7.91801818e-03] [ 1.33818299e-02 1.26415158e-04 9.99910451e-01 -3.12288369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.563133365 meters Centerline goodness : 0.134214 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99914185e-01 -4.43384433e-04 -1.30929833e-02 -6.02288304e-01] [ 4.45362338e-04 9.99999890e-01 1.48150768e-04 -1.00580420e-02] [ 1.30929162e-02 -1.53969176e-04 9.99914272e-01 -3.12057405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.593133365 meters Centerline goodness : 0.144088 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99913294e-01 -3.77561453e-04 -1.31628728e-02 -6.02184096e-01] [ 3.84529243e-04 9.99999787e-01 5.26824933e-04 -1.21725297e-02] [ 1.31626710e-02 -5.31840763e-04 9.99913227e-01 -3.11909951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62313336499999 meters Centerline goodness : 0.151298 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99914361e-01 -2.84663745e-04 -1.30839385e-02 -6.02451576e-01] [ 2.97401180e-04 9.99999484e-01 9.71581537e-04 -1.46516663e-02] [ 1.30836551e-02 -9.75389510e-04 9.99913930e-01 -3.11665229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65313336499999 meters Centerline goodness : 0.121004 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.02, Z:-0.31 [[ 0.99990115 0.00530614 -0.01302026 -0.62532584] [-0.00533154 0.99998395 -0.00191683 -0.02003659] [ 0.01300988 0.00198606 0.9999134 -0.3117633 ] [ 0. 0. 0. 1. ]] SLAMing on 79.68313336499999 meters Centerline goodness : 0.129958 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.02, Z:-0.31 [[ 0.99991955 0.00329742 -0.01224808 -0.62908569] [-0.00334229 0.99998777 -0.00364488 -0.02390893] [ 0.01223591 0.00368553 0.99991835 -0.30958641] [ 0. 0. 0. 1. ]] SLAMing on 79.71313336499999 meters Centerline goodness : 0.135442 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.02, Z:-0.31 [[ 0.99992242 0.00345492 -0.01196734 -0.62995795] [-0.00349644 0.99998794 -0.00345023 -0.02441812] [ 0.01195528 0.0034918 0.99992244 -0.30927078] [ 0. 0. 0. 1. ]] SLAMing on 79.74313336499999 meters Centerline goodness : 0.147753 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.02, Z:-0.31 [[ 9.99934137e-01 -1.52351334e-03 -1.13754579e-02 -6.08160096e-01] [ 1.52317791e-03 9.99998839e-01 -3.81513586e-05 -2.21198987e-02] [ 1.13755028e-02 2.08219996e-05 9.99935297e-01 -3.09104667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77313336499999 meters Centerline goodness : 0.151233 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.02, Z:-0.31 [[ 9.99932971e-01 -1.37418709e-03 -1.14963521e-02 -6.07687657e-01] [ 1.37349897e-03 9.99999054e-01 -6.77501321e-05 -2.14129822e-02] [ 1.14964343e-02 5.19553631e-05 9.99933912e-01 -3.09455271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.803133365 meters Centerline goodness : 0.139917 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.02, Z:-0.31 [[ 9.99925021e-01 -1.11123793e-03 -1.21949612e-02 -6.05340737e-01] [ 1.10734924e-03 9.99999334e-01 -3.25624344e-04 -2.00239823e-02] [ 1.21953149e-02 3.12095849e-04 9.99925586e-01 -3.10656032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.833133365 meters Centerline goodness : 0.137718 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.03, Z:-0.31 [[ 0.99989276 0.00688184 -0.01292728 -0.62550697] [-0.00690146 0.9999751 -0.00147418 -0.02505567] [ 0.01291682 0.00156324 0.99991535 -0.31210681] [ 0. 0. 0. 1. ]] SLAMing on 79.863133365 meters Centerline goodness : 0.135784 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99992672 0.00136081 -0.01202948 -0.60324566] [-0.00134581 0.99999831 0.00125544 -0.021846 ] [ 0.01203117 -0.00123916 0.99992686 -0.31260186] [ 0. 0. 0. 1. ]] SLAMing on 79.893133365 meters Centerline goodness : 0.140459 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.03, Z:-0.31 [[ 0.99990109 0.00167143 -0.01396479 -0.65088133] [-0.00163755 0.99999569 0.00243707 -0.02603931] [ 0.0139688 -0.00241396 0.99989952 -0.31131774] [ 0. 0. 0. 1. ]] SLAMing on 79.923133365 meters Centerline goodness : 0.139534 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.03, Z:-0.31 [[ 0.99990042 0.00169252 -0.01400995 -0.65086838] [-0.00165758 0.99999549 0.00250488 -0.02640099] [ 0.01401412 -0.0024814 0.99989872 -0.31114115] [ 0. 0. 0. 1. ]] SLAMing on 79.953133365 meters Centerline goodness : 0.136976 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.03, Z:-0.31 [[ 0.99989948 0.00167779 -0.01407862 -0.65075281] [-0.00164235 0.99999545 0.00252845 -0.02668127] [ 0.0140828 -0.00250508 0.99989769 -0.31103984] [ 0. 0. 0. 1. ]] SLAMing on 79.983133365 meters Centerline goodness : 0.138190 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.03, Z:-0.31 [[ 0.99989658 0.0016565 -0.01428552 -0.65011207] [-0.00162041 0.99999547 0.00253767 -0.02700095] [ 0.01428966 -0.00251425 0.99989474 -0.31127324] [ 0. 0. 0. 1. ]] SLAMing on 80.01313336499999 meters Centerline goodness : 0.141873 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.03, Z:-0.31 [[ 0.9998855 0.0015335 -0.01505419 -0.64749592] [-0.00150065 0.99999647 0.00219368 -0.02529556] [ 0.0150575 -0.00217084 0.99988427 -0.3125851 ] [ 0. 0. 0. 1. ]] SLAMing on 80.04313336499999 meters Centerline goodness : 0.144243 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 0.99988041 0.00150716 -0.01539144 -0.64619441] [-0.00147738 0.99999702 0.00194598 -0.02360116] [ 0.01539433 -0.00192301 0.99987965 -0.31344342] [ 0. 0. 0. 1. ]] SLAMing on 80.07313336499999 meters Centerline goodness : 0.143494 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 0.99987629 0.00144864 -0.01566195 -0.64526274] [-0.00142357 0.99999769 0.00161185 -0.02155916] [ 0.01566425 -0.00158935 0.99987604 -0.31396965] [ 0. 0. 0. 1. ]] SLAMing on 80.10313336499999 meters Centerline goodness : 0.139257 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:-0.31 [[ 9.99873888e-01 1.22752329e-03 -1.58335570e-02 -6.44903333e-01] [-1.21172672e-03 9.99998759e-01 1.00721912e-03 -1.85431676e-02] [ 1.58347737e-02 -9.87906155e-04 9.99874134e-01 -3.13991699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13313336499999 meters Centerline goodness : 0.159314 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99873828e-01 1.11842951e-03 -1.58453944e-02 -6.45274305e-01] [-1.10555424e-03 9.99999052e-01 8.21292194e-04 -1.78891011e-02] [ 1.58462979e-02 -8.03670628e-04 9.99874117e-01 -3.13347304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.163133365 meters Centerline goodness : 0.154762 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99875931e-01 1.06447150e-03 -1.57158993e-02 -6.45849013e-01] [-1.05232217e-03 9.99999141e-01 7.81309487e-04 -1.77942709e-02] [ 1.57167175e-02 -7.64674362e-04 9.99876192e-01 -3.12925131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.193133365 meters Centerline goodness : 0.126597 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99877020e-01 1.07035844e-03 -1.56460755e-02 -6.46392129e-01] [-1.05708073e-03 9.99999074e-01 8.56874356e-04 -1.80496439e-02] [ 1.56469781e-02 -8.40229813e-04 9.99877226e-01 -3.12299830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.223133365 meters Centerline goodness : 0.158362 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99877194e-01 1.06821427e-03 -1.56351072e-02 -6.46616455e-01] [-1.05439032e-03 9.99999046e-01 8.92377285e-04 -1.80632082e-02] [ 1.56360455e-02 -8.75782190e-04 9.99877366e-01 -3.11968378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.253133365 meters Centerline goodness : 0.141523 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99871985e-01 9.11660073e-04 -1.59744086e-02 -6.45505640e-01] [-8.98676453e-04 9.99999260e-01 8.19935747e-04 -1.79598435e-02] [ 1.59751443e-02 -8.05474958e-04 9.99872065e-01 -3.12347300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.283133365 meters Centerline goodness : 0.149801 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99871244e-01 8.22444048e-04 -1.60255871e-02 -6.45357781e-01] [-8.10543607e-04 9.99999391e-01 7.49071058e-04 -1.79959397e-02] [ 1.60261934e-02 -7.35985173e-04 9.99871301e-01 -3.12356339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.313133365 meters Centerline goodness : 0.158581 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99871370e-01 5.79060614e-04 -1.60283255e-02 -6.45438598e-01] [-5.72210212e-04 9.99999743e-01 4.31976323e-04 -1.70015136e-02] [ 1.60285715e-02 -4.22749186e-04 9.99871445e-01 -3.12202975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.343133365 meters Centerline goodness : 0.157064 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99871051e-01 5.23120113e-04 -1.60501402e-02 -6.45510017e-01] [-5.17664089e-04 9.99999807e-01 3.44088907e-04 -1.65507088e-02] [ 1.60503171e-02 -3.35735956e-04 9.99871129e-01 -3.11996983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37313336499999 meters Centerline goodness : 0.150104 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.02, Z:-0.31 [[ 9.99828707e-01 -3.29319135e-05 -1.85082585e-02 -6.91015830e-01] [ 4.42329057e-05 9.99999813e-01 6.10182832e-04 -1.87422822e-02] [ 1.85082349e-02 -6.10896986e-04 9.99828521e-01 -3.11217620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40313336499999 meters Centerline goodness : 0.144321 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.02, Z:-0.31 [[ 9.99813376e-01 8.03712310e-03 -1.75675143e-02 -6.71513544e-01] [-8.04885181e-03 9.99967429e-01 -5.97032726e-04 -2.14138707e-02] [ 1.75621437e-02 7.38319625e-04 9.99845501e-01 -3.09973959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43313336499999 meters Centerline goodness : 0.149026 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.02, Z:-0.31 [[ 9.99852693e-01 -9.66550336e-04 -1.71364672e-02 -6.93449500e-01] [ 9.66223755e-04 9.99999533e-01 -2.73370871e-05 -1.78742854e-02] [ 1.71364856e-02 1.07753985e-05 9.99853160e-01 -3.10457331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46313336499999 meters SLAMing on 80.49313336499999 meters Centerline goodness : 0.152503 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.02, Z:-0.31 [[ 9.99853977e-01 -1.01550963e-03 -1.70585188e-02 -6.93586775e-01] [ 1.01317734e-03 9.99999476e-01 -1.45364589e-04 -1.72087102e-02] [ 1.70586575e-02 1.28060058e-04 9.99854482e-01 -3.10528157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52313336499999 meters Centerline goodness : 0.149939 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.02, Z:-0.31 [[ 9.99852701e-01 -1.09021994e-03 -1.71285511e-02 -6.93256483e-01] [ 1.08397417e-03 9.99999343e-01 -3.73921125e-04 -1.61360855e-02] [ 1.71289475e-02 3.55299140e-04 9.99853226e-01 -3.10804471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.553133365 meters Centerline goodness : 0.148870 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.01, Z:-0.31 [[ 9.99852734e-01 -1.11248836e-03 -1.71251844e-02 -6.93269109e-01] [ 1.09832747e-03 9.99999047e-01 -8.36287230e-04 -1.36986014e-02] [ 1.71260985e-02 8.17355013e-04 9.99853004e-01 -3.10853897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.583133365 meters Centerline goodness : 0.126154 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.01, Z:-0.31 [[ 0.99985286 -0.00108632 -0.01711927 -0.69325584] [ 0.00106752 0.99999882 -0.00110697 -0.01187513] [ 0.01712045 0.00108853 0.99985284 -0.31097791] [ 0. 0. 0. 1. ]] SLAMing on 80.613133365 meters Centerline goodness : 0.141606 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.01, Z:-0.31 [[ 9.99851790e-01 -1.01005578e-03 -1.71865766e-02 -6.93101070e-01] [ 9.86457007e-04 9.99998559e-01 -1.38151560e-03 -9.91328480e-03] [ 1.71879473e-02 1.36435703e-03 9.99851345e-01 -3.11094576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.643133365 meters Centerline goodness : 0.153670 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.01, Z:-0.31 [[ 9.99858182e-01 -6.04833051e-04 -1.68300351e-02 -6.94164496e-01] [ 5.77669862e-04 9.99998523e-01 -1.61878567e-03 -6.97530623e-03] [ 1.68309893e-02 1.60883389e-03 9.99857055e-01 -3.10970880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.673133365 meters Centerline goodness : 0.155329 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.01, Z:-0.31 [[ 9.99859008e-01 -6.70590800e-04 -1.67784184e-02 -6.94362775e-01] [ 6.38778209e-04 9.99997988e-01 -1.90132967e-03 -5.46977960e-03] [ 1.67796597e-02 1.89034391e-03 9.99857425e-01 -3.10929320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.703133365 meters Centerline goodness : 0.146285 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.00, Z:-0.31 [[ 9.99859812e-01 -6.84498327e-04 -1.67298467e-02 -6.94509719e-01] [ 6.49762896e-04 9.99997622e-01 -2.08160263e-03 -4.28342133e-03] [ 1.67312317e-02 2.07044039e-03 9.99857879e-01 -3.10956988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.733133365 meters Centerline goodness : 0.139260 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.00, Z:-0.31 [[ 9.99860230e-01 -7.34848502e-04 -1.67027362e-02 -6.94650113e-01] [ 6.97250980e-04 9.99997211e-01 -2.25669175e-03 -3.25721241e-03] [ 1.67043480e-02 2.24473033e-03 9.99857953e-01 -3.10877941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76313336499999 meters Centerline goodness : 0.162634 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.00, Z:-0.31 [[ 9.99859196e-01 -8.32705299e-04 -1.67599271e-02 -6.94797049e-01] [ 7.92562002e-04 9.99996802e-01 -2.40169482e-03 -2.75244634e-03] [ 1.67618734e-02 2.38807337e-03 9.99856658e-01 -3.10433689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79313336499999 meters Centerline goodness : 0.150887 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.00, Z:-0.31 [[ 9.99856837e-01 -8.92194899e-04 -1.68970409e-02 -6.94663722e-01] [ 8.51022408e-04 9.99996652e-01 -2.44370239e-03 -2.81282927e-03] [ 1.68991646e-02 2.42897278e-03 9.99854249e-01 -3.10097003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82313336499999 meters Centerline goodness : 0.144427 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.00, Z:-0.31 [[ 9.99853882e-01 -9.53761453e-04 -1.70676392e-02 -6.94377123e-01] [ 9.10435257e-04 9.99996344e-01 -2.54608967e-03 -2.28404349e-03] [ 1.70700052e-02 2.53017866e-03 9.99851095e-01 -3.09917398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85313336499999 meters Centerline goodness : 0.151332 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.00, Z:-0.31 [[ 9.99852958e-01 -9.37061383e-04 -1.71226426e-02 -6.94312293e-01] [ 8.93359402e-04 9.99996325e-01 -2.55976251e-03 -1.83699632e-03] [ 1.71249784e-02 2.54408944e-03 9.99850120e-01 -3.09836590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88313336499999 meters Centerline goodness : 0.150243 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.00, Z:-0.31 [[ 9.99855435e-01 -9.82669078e-04 -1.69748051e-02 -6.94860505e-01] [ 9.36209484e-04 9.99995795e-01 -2.74470339e-03 -5.18793836e-04] [ 1.69774309e-02 2.72841462e-03 9.99852150e-01 -3.09511856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.913133365 meters Centerline goodness : 0.150591 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.00, Z:-0.31 [[ 9.99852339e-01 -1.13319779e-03 -1.71468686e-02 -6.94468874e-01] [ 1.08079462e-03 9.99994719e-01 -3.06509497e-03 7.59743528e-04] [ 1.71502514e-02 3.04611013e-03 9.99848284e-01 -3.09456533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.943133365 meters Centerline goodness : 0.136318 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.00, Z:-0.31 [[ 0.99984579 -0.00127817 -0.01751479 -0.69342123] [ 0.00121758 0.99999324 -0.0034698 0.00263933] [ 0.01751911 0.00344794 0.99984058 -0.30976813] [ 0. 0. 0. 1. ]] SLAMing on 80.973133365 meters Centerline goodness : 0.151731 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.01, Z:-0.31 [[ 9.99824100e-01 -1.05765715e-03 -1.87256743e-02 -6.90016116e-01] [ 9.82891390e-04 9.99991511e-01 -4.00144065e-03 7.33350099e-03] [ 1.87297475e-02 3.98233150e-03 9.99816652e-01 -3.10822442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.003133365 meters Centerline goodness : 0.092455 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.01, Z:-0.31 [[ 0.99982466 -0.00117448 -0.01868894 -0.68997478] [ 0.00109111 0.99998941 -0.00447028 0.00996946] [ 0.01869399 0.00444911 0.99981535 -0.31111833] [ 0. 0. 0. 1. ]] SLAMing on 81.033133365 meters Centerline goodness : 0.158609 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.01, Z:-0.31 [[ 0.99982834 -0.00130126 -0.01848236 -0.69062761] [ 0.00121103 0.9999873 -0.00489203 0.01229753] [ 0.01848849 0.00486881 0.99981722 -0.31097366] [ 0. 0. 0. 1. ]] SLAMing on 81.063133365 meters Centerline goodness : 0.163073 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.02, Z:-0.31 [[ 0.99983489 -0.00148583 -0.01811033 -0.69183065] [ 0.00138597 0.99998378 -0.00552508 0.01609031] [ 0.01811825 0.00549907 0.99982073 -0.31062505] [ 0. 0. 0. 1. ]] SLAMing on 81.093133365 meters Centerline goodness : 0.153019 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.02, Z:-0.31 [[ 0.99983506 -0.0015606 -0.01809443 -0.69183774] [ 0.00145714 0.99998252 -0.00572946 0.01726222] [ 0.01810305 0.00570215 0.99981987 -0.31070972] [ 0. 0. 0. 1. ]] SLAMing on 81.12313336499999 meters Centerline goodness : 0.155933 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.02, Z:-0.31 [[ 0.99983098 -0.00168056 -0.01830821 -0.69115611] [ 0.00157243 0.99998125 -0.00591863 0.01801207] [ 0.01831782 0.00588885 0.99981487 -0.31094759] [ 0. 0. 0. 1. ]] SLAMing on 81.15313336499999 meters Centerline goodness : 0.155933 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.02, Z:-0.31 [[ 0.99983098 -0.00168056 -0.01830821 -0.69115611] [ 0.00157243 0.99998125 -0.00591863 0.01801207] [ 0.01831782 0.00588885 0.99981487 -0.31094759] [ 0. 0. 0. 1. ]] SLAMing on 81.18313336499999 meters Centerline goodness : 0.151804 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.02, Z:-0.31 [[ 0.99976953 -0.00284372 -0.02127932 -0.7348147 ] [ 0.00270721 0.99997559 -0.00644144 0.01535416] [ 0.02129712 0.00638235 0.99975282 -0.31114473] [ 0. 0. 0. 1. ]] SLAMing on 81.21313336499999 meters Centerline goodness : 0.156544 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.01, Z:-0.31 [[ 0.99976772 -0.00312243 -0.02132522 -0.7347917 ] [ 0.00298599 0.99997489 -0.00642701 0.01443951] [ 0.02134475 0.00636184 0.99975193 -0.31087386] [ 0. 0. 0. 1. ]] SLAMing on 81.24313336499999 meters Centerline goodness : 0.105524 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.31 [[ 0.99977252 -0.00314689 -0.02109511 -0.7357714 ] [ 0.00301443 0.99997556 -0.00630833 0.01364997] [ 0.02111445 0.00624331 0.99975757 -0.31010866] [ 0. 0. 0. 1. ]] SLAMing on 81.27313336499999 meters Centerline goodness : 0.156795 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.31 [[ 0.99977629 -0.00310954 -0.0209212 -0.73665678] [ 0.00298154 0.99997667 -0.00614639 0.01288977] [ 0.02093982 0.00608263 0.99976223 -0.30931509] [ 0. 0. 0. 1. ]] SLAMing on 81.303133365 meters Centerline goodness : 0.153659 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.31 [[ 0.99977687 -0.00305917 -0.02090114 -0.7368148 ] [ 0.00293449 0.99997773 -0.00599365 0.01224682] [ 0.02091901 0.00593098 0.99976358 -0.30911955] [ 0. 0. 0. 1. ]] SLAMing on 81.333133365 meters Centerline goodness : 0.157118 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.31 [[ 0.99977187 -0.00300109 -0.02114724 -0.73586069] [ 0.00287916 0.99997907 -0.00579365 0.01109658] [ 0.02116418 0.00573144 0.99975959 -0.30964704] [ 0. 0. 0. 1. ]] SLAMing on 81.363133365 meters Centerline goodness : 0.164512 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.31 [[ 0.9997681 -0.00297024 -0.0213291 -0.73526904] [ 0.00285044 0.99998001 -0.00564469 0.01006846] [ 0.02134544 0.00558258 0.99975657 -0.30985927] [ 0. 0. 0. 1. ]] SLAMing on 81.393133365 meters Centerline goodness : 0.156384 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.31 [[ 0.9997693 -0.00289554 -0.02128292 -0.7353928 ] [ 0.00278044 0.99998136 -0.00543579 0.00895175] [ 0.02129826 0.00537536 0.99975872 -0.30984737] [ 0. 0. 0. 1. ]] SLAMing on 81.423133365 meters Centerline goodness : 0.145701 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.01, Z:-0.31 [[ 0.99974469 -0.01062507 -0.01994127 -0.71619216] [ 0.0105481 0.99993652 -0.00396105 0.01127856] [ 0.01998209 0.00374969 0.99979331 -0.30798287] [ 0. 0. 0. 1. ]] SLAMing on 81.453133365 meters Centerline goodness : 0.163377 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.00, Z:-0.31 [[ 0.99979961 -0.00308911 -0.01977867 -0.73463038] [ 0.00298911 0.99998261 -0.00508359 0.00388082] [ 0.01979403 0.00502346 0.99979146 -0.30985002] [ 0. 0. 0. 1. ]] SLAMing on 81.483133365 meters Centerline goodness : 0.163832 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.00, Z:-0.31 [[ 0.99979341 -0.00303843 -0.02009719 -0.73372246] [ 0.00294097 0.99998378 -0.00487725 0.002591 ] [ 0.02011168 0.00481714 0.99978613 -0.31001077] [ 0. 0. 0. 1. ]] SLAMing on 81.51313336499999 meters Centerline goodness : 0.152573 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.00, Z:-0.31 [[ 0.99972763 -0.00357398 -0.02306267 -0.7783086 ] [ 0.00346364 0.99998237 -0.00482225 -0.00225005] [ 0.02307949 0.00474106 0.99972239 -0.30967245] [ 0. 0. 0. 1. ]] SLAMing on 81.54313336499999 meters Centerline goodness : 0.158560 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.31 [[ 0.99975997 0.00282513 -0.02172601 -0.75662772] [-0.00297939 0.99997056 -0.00707116 -0.00693237] [ 0.02170539 0.00713419 0.99973896 -0.30951753] [ 0. 0. 0. 1. ]] SLAMing on 81.57313336499999 meters Centerline goodness : 0.156194 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.31 [[ 0.99976424 0.00295213 -0.02151144 -0.75727066] [-0.00309761 0.99997254 -0.00673242 -0.00853315] [ 0.02149098 0.00679747 0.99974593 -0.30929895] [ 0. 0. 0. 1. ]] SLAMing on 81.60313336499999 meters Centerline goodness : 0.160484 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.31 [[ 0.99976469 0.00304373 -0.02147786 -0.75734791] [-0.00318377 0.99997388 -0.00648901 -0.00975204] [ 0.02145755 0.00655587 0.99974827 -0.30925887] [ 0. 0. 0. 1. ]] SLAMing on 81.63313336499999 meters Centerline goodness : 0.164686 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99974514 -0.00436327 -0.02214971 -0.73725656] [ 0.0042448 0.99997645 -0.00539256 -0.00610349] [ 0.02217272 0.00529717 0.99974012 -0.30820905] [ 0. 0. 0. 1. ]] SLAMing on 81.663133365 meters Centerline goodness : 0.154481 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99974676 -0.00431385 -0.02208621 -0.73750221] [ 0.00419706 0.99997698 -0.00533124 -0.00630946] [ 0.0221087 0.00523719 0.99974186 -0.30804692] [ 0. 0. 0. 1. ]] SLAMing on 81.693133365 meters Centerline goodness : 0.152933 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.999751 -0.00423233 -0.02190951 -0.73825144] [ 0.00411842 0.99997778 -0.00524151 -0.00649536] [ 0.02193121 0.00514997 0.99974622 -0.30756149] [ 0. 0. 0. 1. ]] SLAMing on 81.723133365 meters Centerline goodness : 0.110850 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99975715 -0.00401765 -0.02166795 -0.73888786] [ 0.00390643 0.99997899 -0.00517295 -0.00611191] [ 0.02168828 0.00508704 0.99975184 -0.30754038] [ 0. 0. 0. 1. ]] SLAMing on 81.753133365 meters Centerline goodness : 0.152947 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99975713 -0.00401958 -0.02166828 -0.73876134] [ 0.00390657 0.99997856 -0.00525533 -0.00569262] [ 0.02168894 0.0051694 0.9997514 -0.30780139] [ 0. 0. 0. 1. ]] SLAMing on 81.783133365 meters Centerline goodness : 0.133914 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99975654 -0.00404139 -0.02169155 -0.73862688] [ 0.00392753 0.9999783 -0.00528929 -0.00576716] [ 0.02171246 0.00520281 0.99975072 -0.30794982] [ 0. 0. 0. 1. ]] SLAMing on 81.813133365 meters Centerline goodness : 0.116428 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99975655 -0.00399687 -0.02169938 -0.73869209] [ 0.00388512 0.99997898 -0.00518994 -0.00633117] [ 0.02171967 0.00510437 0.99975107 -0.30783511] [ 0. 0. 0. 1. ]] SLAMing on 81.843133365 meters Centerline goodness : 0.146679 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99975923 -0.00386476 -0.02159975 -0.7390319 ] [ 0.00375973 0.99998092 -0.0049008 -0.00756675] [ 0.02161828 0.00481841 0.99975469 -0.30769258] [ 0. 0. 0. 1. ]] SLAMing on 81.87313336499999 meters Centerline goodness : 0.148225 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99975958 -0.00361298 -0.02162725 -0.7389934 ] [ 0.00352474 0.99998531 -0.00411693 -0.01149956] [ 0.02164181 0.00403971 0.99975763 -0.30753803] [ 0. 0. 0. 1. ]] SLAMing on 81.90313336499999 meters Centerline goodness : 0.105179 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99975437 -0.00355471 -0.02187619 -0.73826404] [ 0.00347532 0.99998724 -0.00366612 -0.01441314] [ 0.02188894 0.00358919 0.99975397 -0.30765221] [ 0. 0. 0. 1. ]] SLAMing on 81.93313336499999 meters Centerline goodness : 0.152296 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.31 [[ 0.99974762 -0.0035088 -0.02218983 -0.73758748] [ 0.00343921 0.99998905 -0.00317342 -0.01764038] [ 0.02220072 0.0030963 0.99974874 -0.30744897] [ 0. 0. 0. 1. ]] SLAMing on 81.96313336499999 meters Centerline goodness : 0.144511 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.31 [[ 0.99974393 -0.00339129 -0.02237353 -0.73717965] [ 0.00334288 0.99999199 -0.00220054 -0.02342406] [ 0.02238081 0.00212519 0.99974726 -0.3072195 ] [ 0. 0. 0. 1. ]] SLAMing on 81.99313336499999 meters Centerline goodness : 0.151787 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.03, Z:-0.31 [[ 0.99974316 -0.00317927 -0.022439 -0.73700615] [ 0.00314302 0.9999937 -0.00165058 -0.0261015 ] [ 0.0224441 0.00157963 0.99974685 -0.30715526] [ 0. 0. 0. 1. ]] SLAMing on 82.02313336499999 meters Centerline goodness : 0.146489 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.03, Z:-0.31 [[ 0.99973278 0.0046896 -0.02263595 -0.71733844] [-0.00475468 0.99998472 -0.00282179 -0.03230932] [ 0.02262237 0.00292866 0.99973979 -0.30530812] [ 0. 0. 0. 1. ]] SLAMing on 82.053133365 meters Centerline goodness : 0.141448 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:-0.30 [[ 0.99965505 0.00386267 -0.02597808 -0.76148311] [-0.00393655 0.99998835 -0.00279355 -0.04047729] [ 0.02596699 0.00289485 0.99965861 -0.3045366 ] [ 0. 0. 0. 1. ]] SLAMing on 82.083133365 meters Centerline goodness : 0.141350 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.04, Z:-0.30 [[ 0.99965267 -0.00318169 -0.02616146 -0.74236319] [ 0.00315041 0.99999427 -0.00123684 -0.03684551] [ 0.02616525 0.00115399 0.99965697 -0.30254492] [ 0. 0. 0. 1. ]] SLAMing on 82.113133365 meters Centerline goodness : 0.142518 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:-0.30 [[ 0.99966102 0.00491504 -0.02556746 -0.76246682] [-0.00496131 0.99998617 -0.00174668 -0.04321128] [ 0.02555852 0.00187294 0.99967157 -0.30414361] [ 0. 0. 0. 1. ]] SLAMing on 82.143133365 meters Centerline goodness : 0.141534 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:-0.30 [[ 0.99966678 0.00508662 -0.02530728 -0.76317821] [-0.00512883 0.99998556 -0.00160343 -0.04347107] [ 0.02529876 0.00173269 0.99967843 -0.30401827] [ 0. 0. 0. 1. ]] SLAMing on 82.173133365 meters Centerline goodness : 0.138386 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:-0.30 [[ 0.99967691 0.00517892 -0.02488498 -0.76428833] [-0.00522049 0.99998508 -0.00160582 -0.04325348] [ 0.02487629 0.00173521 0.99968903 -0.30389486] [ 0. 0. 0. 1. ]] SLAMing on 82.203133365 meters Centerline goodness : 0.164370 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:-0.30 [[ 0.99968988 0.00540285 -0.0243097 -0.76594496] [-0.00544613 0.9999837 -0.0017144 -0.04216363] [ 0.02430004 0.00184627 0.99970301 -0.30358568] [ 0. 0. 0. 1. ]] SLAMing on 82.233133365 meters Centerline goodness : 0.121302 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:-0.30 [[ 0.9996899 0.0053691 -0.02431604 -0.76584984] [-0.00541778 0.99998345 -0.00193648 -0.04096771] [ 0.02430524 0.00206762 0.99970245 -0.30381148] [ 0. 0. 0. 1. ]] SLAMing on 82.26313336499999 meters Centerline goodness : 0.150850 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.03, Z:-0.30 [[ 9.99676679e-01 2.04107143e-04 -2.54262637e-02 -7.44172758e-01] [-1.91630929e-04 9.99999860e-01 4.93117806e-04 -3.43228956e-02] [ 2.54263608e-02 -4.88085913e-04 9.99676579e-01 -3.02970146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29313336499999 meters Centerline goodness : 0.132916 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.03, Z:-0.30 [[ 9.99681189e-01 1.15689904e-04 -2.52488902e-02 -7.44677711e-01] [-1.10161322e-04 9.99999970e-01 2.20354214e-04 -3.28551582e-02] [ 2.52489149e-02 -2.17502511e-04 9.99681172e-01 -3.02903746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32313336499999 meters Centerline goodness : 0.132418 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99685385e-01 5.21740127e-05 -2.50824379e-02 -7.45227097e-01] [-5.35072299e-05 9.99999997e-01 -5.24822685e-05 -3.12399107e-02] [ 2.50824351e-02 5.38078485e-05 9.99685385e-01 -3.02764637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35313336499999 meters Centerline goodness : 0.132305 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99689874e-01 -2.76341338e-05 -2.49029082e-02 -7.45662489e-01] [ 1.83059113e-05 9.99999930e-01 -3.74811550e-04 -2.94315136e-02] [ 2.49029168e-02 3.74239441e-04 9.99689804e-01 -3.02832487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38313336499999 meters Centerline goodness : 0.145886 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99684285e-01 -3.31243694e-04 -2.51241191e-02 -7.45145746e-01] [ 2.98998853e-04 9.99999127e-01 -1.28716753e-03 -2.50142888e-02] [ 2.51245235e-02 1.27924907e-03 9.99683511e-01 -3.02989287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.413133365 meters Centerline goodness : 0.135325 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 9.99681628e-01 -4.83424425e-04 -2.52271366e-02 -7.44965716e-01] [ 4.40127513e-04 9.99998421e-01 -1.72180746e-03 -2.28457889e-02] [ 2.52279292e-02 1.71015613e-03 9.99680262e-01 -3.02991844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.443133365 meters Centerline goodness : 0.149568 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.02, Z:-0.30 [[ 9.99725638e-01 6.35047144e-04 -2.34146572e-02 -7.00425230e-01] [-6.74720922e-04 9.99998350e-01 -1.68653793e-03 -1.61902140e-02] [ 2.34135475e-02 1.70187357e-03 9.99724417e-01 -3.02689521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.473133365 meters Centerline goodness : 0.135688 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.02, Z:-0.30 [[ 9.99731153e-01 5.77609489e-04 -2.31794621e-02 -7.01167886e-01] [-6.20855851e-04 9.99998080e-01 -1.85856581e-03 -1.50613975e-02] [ 2.31783441e-02 1.87245724e-03 9.99729593e-01 -3.02459747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.503133365 meters Centerline goodness : 0.117613 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.01, Z:-0.30 [[ 9.99751924e-01 2.40695430e-04 -2.22717771e-02 -7.04034353e-01] [-2.87111494e-04 9.99997794e-01 -2.08090128e-03 -1.45945826e-02] [ 2.22712271e-02 2.08677954e-03 9.99749788e-01 -3.01253612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.533133365 meters Centerline goodness : 0.133750 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.01, Z:-0.30 [[ 9.99753527e-01 1.58507652e-04 -2.22004494e-02 -7.04382582e-01] [-2.04194884e-04 9.99997866e-01 -2.05568999e-03 -1.49848858e-02] [ 2.22000762e-02 2.05971653e-03 9.99751426e-01 -3.00938242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.563133365 meters Centerline goodness : 0.145292 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99692484e-01 -7.91957598e-04 -2.47852752e-02 -7.49217549e-01] [ 7.41938212e-04 9.99997670e-01 -2.02723987e-03 -1.83464358e-02] [ 2.47868229e-02 2.00822732e-03 9.99690742e-01 -3.01062755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.593133365 meters Centerline goodness : 0.141476 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.01, Z:-0.30 [[ 9.99674580e-01 -1.05851192e-05 -2.55094954e-02 -7.02069915e-01] [-4.00627304e-05 9.99998029e-01 -1.98493897e-03 -1.30775045e-02] [ 2.55094662e-02 1.98531501e-03 9.99672609e-01 -3.01461806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62313336499999 meters Centerline goodness : 0.127013 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99599673e-01 -9.80353578e-04 -2.82760144e-02 -7.46310850e-01] [ 9.13740622e-04 9.99996777e-01 -2.36863621e-03 -1.57441678e-02] [ 2.82782454e-02 2.34185103e-03 9.99597347e-01 -3.02078148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65313336499999 meters Centerline goodness : 0.142358 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99598626e-01 -1.04538748e-03 -2.83106848e-02 -7.46090527e-01] [ 9.75252561e-04 9.99996422e-01 -2.49102480e-03 -1.53818641e-02] [ 2.83131876e-02 2.46241490e-03 9.99596068e-01 -3.02329830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68313336499999 meters Centerline goodness : 0.157249 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:-0.30 [[ 9.99598904e-01 -1.05950775e-03 -2.83003402e-02 -7.46175219e-01] [ 9.86910300e-04 9.99996187e-01 -2.57909477e-03 -1.48060472e-02] [ 2.83029649e-02 2.55013041e-03 9.99596138e-01 -3.02306758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71313336499999 meters Centerline goodness : 0.152052 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:-0.30 [[ 9.99598581e-01 -1.03381958e-03 -2.83126905e-02 -7.46270441e-01] [ 9.60453532e-04 9.99996146e-01 -2.60475442e-03 -1.43661855e-02] [ 2.83152743e-02 2.57651579e-03 9.99595722e-01 -3.02129671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74313336499999 meters Centerline goodness : 0.151188 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:-0.30 [[ 9.99597622e-01 -1.03991768e-03 -2.83462995e-02 -7.46202545e-01] [ 9.65193699e-04 9.99996024e-01 -2.64966563e-03 -1.40739152e-02] [ 2.83489422e-02 2.62123979e-03 9.99594651e-01 -3.02123495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77313336499999 meters Centerline goodness : 0.150581 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:-0.30 [[ 9.99593587e-01 -1.06045958e-03 -2.84874691e-02 -7.45691947e-01] [ 9.83815998e-04 9.99995859e-01 -2.70431270e-03 -1.38480358e-02] [ 2.84902189e-02 2.67518721e-03 9.99590492e-01 -3.02423022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.803133365 meters Centerline goodness : 0.107623 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.30 [[ 0.99958949 -0.00111304 -0.02862902 -0.74486492] [ 0.00103359 0.99999557 -0.00278973 -0.01363538] [ 0.028632 0.002759 0.99958621 -0.30321369] [ 0. 0. 0. 1. ]] SLAMing on 82.833133365 meters Centerline goodness : 0.162589 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:-0.30 [[ 0.99959283 -0.00113333 -0.02851129 -0.74519358] [ 0.00105463 0.99999559 -0.00277515 -0.01391366] [ 0.02851431 0.00274395 0.99958962 -0.3031374 ] [ 0. 0. 0. 1. ]] SLAMing on 82.863133365 meters Centerline goodness : 0.124293 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:-0.30 [[ 0.99959707 -0.00111147 -0.0283629 -0.74586976] [ 0.00103662 0.99999594 -0.00265363 -0.01465994] [ 0.02836574 0.00262316 0.99959417 -0.30262622] [ 0. 0. 0. 1. ]] SLAMing on 82.893133365 meters Centerline goodness : 0.123689 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 0.99959401 -0.0010762 -0.02847189 -0.74591331] [ 0.001008 0.99999659 -0.00240971 -0.01607088] [ 0.02847439 0.00238003 0.99959169 -0.30213629] [ 0. 0. 0. 1. ]] SLAMing on 82.923133365 meters Centerline goodness : 0.165610 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99585986e-01 -1.04411829e-03 -2.87535518e-02 -7.45025158e-01] [ 9.78738338e-04 9.99996904e-01 -2.28778436e-03 -1.67073815e-02] [ 2.87558515e-02 2.25869499e-03 9.99583913e-01 -3.02449152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.953133365 meters Centerline goodness : 0.147442 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 0.99957165 -0.00112466 -0.02924486 -0.74341541] [ 0.00105785 0.9999968 -0.00229999 -0.017232 ] [ 0.02924735 0.00226807 0.99956963 -0.30310955] [ 0. 0. 0. 1. ]] SLAMing on 82.983133365 meters Centerline goodness : 0.124715 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 0.99957077 -0.0011477 -0.02927372 -0.74356029] [ 0.00108035 0.99999673 -0.00231632 -0.01730065] [ 0.02927628 0.0022837 0.99956875 -0.30278005] [ 0. 0. 0. 1. ]] SLAMing on 83.01313336499999 meters Centerline goodness : 0.152568 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 0.99957242 -0.00107224 -0.02922046 -0.74406629] [ 0.00100811 0.99999705 -0.00220935 -0.01754872] [ 0.02922275 0.00217894 0.99957055 -0.30223672] [ 0. 0. 0. 1. ]] SLAMing on 83.04313336499999 meters Centerline goodness : 0.152568 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 0.99957242 -0.00107224 -0.02922046 -0.74406629] [ 0.00100811 0.99999705 -0.00220935 -0.01754872] [ 0.02922275 0.00217894 0.99957055 -0.30223672] [ 0. 0. 0. 1. ]] SLAMing on 83.07313336499999 meters Centerline goodness : 0.152326 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.01, Z:-0.30 [[ 9.99642057e-01 2.22988233e-04 -2.67527096e-02 -7.01122026e-01] [-2.64867071e-04 9.99998745e-01 -1.56187211e-03 -1.49964087e-02] [ 2.67523277e-02 1.56839897e-03 9.99640862e-01 -3.01103463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10313336499999 meters Centerline goodness : 0.142298 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99770431e-01 -4.96730980e-04 -2.14205293e-02 -7.46030161e-01] [ 4.70366639e-04 9.99999126e-01 -1.23581862e-03 -1.89150292e-02] [ 2.14211244e-02 1.22545941e-03 9.99769790e-01 -3.02968748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13313336499999 meters Centerline goodness : 0.142926 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99777362e-01 -5.44315013e-04 -2.10933468e-02 -7.47170948e-01] [ 5.19077756e-04 9.99999143e-01 -1.20191248e-03 -1.95856712e-02] [ 2.10939830e-02 1.19069580e-03 9.99776788e-01 -3.02389961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.163133365 meters Centerline goodness : 0.148410 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99781749e-01 -5.03067452e-04 -2.08854528e-02 -7.47758911e-01] [ 4.79697172e-04 9.99999253e-01 -1.12396888e-03 -2.00835728e-02] [ 2.08860026e-02 1.11370488e-03 9.99781243e-01 -3.02276432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.193133365 meters Centerline goodness : 0.161707 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99783379e-01 -4.06394577e-04 -2.08093677e-02 -7.47844009e-01] [ 3.84717544e-04 9.99999379e-01 -1.04568862e-03 -1.99576330e-02] [ 2.08097798e-02 1.03745637e-03 9.99782915e-01 -3.02468889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.223133365 meters Centerline goodness : 0.145102 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99784880e-01 -3.68478239e-04 -2.07378212e-02 -7.47901725e-01] [ 3.46157791e-04 9.99999357e-01 -1.07989535e-03 -1.95030907e-02] [ 2.07382058e-02 1.07248449e-03 9.99784365e-01 -3.02693238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.253133365 meters Centerline goodness : 0.139969 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99784268e-01 -3.86940622e-04 -2.07669684e-02 -7.47811560e-01] [ 3.63202300e-04 9.99999276e-01 -1.14684030e-03 -1.92734313e-02] [ 2.07673972e-02 1.13905028e-03 9.99783685e-01 -3.02733441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.283133365 meters Centerline goodness : 0.140341 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99783259e-01 -4.52495621e-04 -2.08141732e-02 -7.47805134e-01] [ 4.26576389e-04 9.99999128e-01 -1.24969146e-03 -1.91834247e-02] [ 2.08147206e-02 1.24054177e-03 9.99782581e-01 -3.02614904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.313133365 meters Centerline goodness : 0.141480 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99779352e-01 -4.25714449e-04 -2.10015546e-02 -7.47231326e-01] [ 3.98785128e-04 9.99999093e-01 -1.28642508e-03 -1.89681230e-02] [ 2.10020832e-02 1.27776613e-03 9.99778615e-01 -3.02898218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.343133365 meters Centerline goodness : 0.138653 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99777099e-01 -3.27961536e-04 -2.11103047e-02 -7.46741832e-01] [ 3.01975275e-04 9.99999193e-01 -1.23415117e-03 -1.86121740e-02] [ 2.11106924e-02 1.22750129e-03 9.99776391e-01 -3.03322381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37313336499999 meters Centerline goodness : 0.139735 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99776502e-01 -2.94119738e-04 -2.11390657e-02 -7.46338835e-01] [ 2.68013424e-04 9.99999198e-01 -1.23780203e-03 -1.83404073e-02] [ 2.11394128e-02 1.23185983e-03 9.99775779e-01 -3.03897255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40313336499999 meters Centerline goodness : 0.135637 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 9.99763609e-01 -3.80877544e-04 -2.17389333e-02 -7.44906802e-01] [ 3.54730834e-04 9.99999209e-01 -1.20660309e-03 -1.92442529e-02] [ 2.17393756e-02 1.19860639e-03 9.99762953e-01 -3.03938219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43313336499999 meters Centerline goodness : 0.138089 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 9.99757306e-01 -3.71727420e-04 -2.20270407e-02 -7.44428362e-01] [ 3.49971858e-04 9.99999447e-01 -9.91521872e-04 -2.06231292e-02] [ 2.20273971e-02 9.83572391e-04 9.99756884e-01 -3.03579655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46313336499999 meters Centerline goodness : 0.155355 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 9.99753725e-01 -3.19569155e-04 -2.21898044e-02 -7.44253004e-01] [ 3.03374167e-04 9.99999685e-01 -7.33201617e-04 -2.19071123e-02] [ 2.21900317e-02 7.26289235e-04 9.99753507e-01 -3.03191878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49313336499999 meters Centerline goodness : 0.144789 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99770020e-01 -3.82438852e-04 -2.14420367e-02 -7.46507547e-01] [ 3.74075296e-04 9.99999852e-01 -3.94063728e-04 -2.38079901e-02] [ 2.14421843e-02 3.85952165e-04 9.99770015e-01 -3.02275047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52313336499999 meters Centerline goodness : 0.144297 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99772498e-01 -3.64889311e-04 -2.13264961e-02 -7.46923872e-01] [ 3.59994151e-04 9.99999908e-01 -2.33372856e-04 -2.47114212e-02] [ 2.13265793e-02 2.25642349e-04 9.99772537e-01 -3.01998235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.553133365 meters Centerline goodness : 0.134051 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99771381e-01 -3.72631280e-04 -2.13786331e-02 -7.46792745e-01] [ 3.70375973e-04 9.99999925e-01 -1.09452932e-04 -2.56635086e-02] [ 2.13786723e-02 1.01509777e-04 9.99771445e-01 -3.02025558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.583133365 meters Centerline goodness : 0.135560 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99766174e-01 -4.12464824e-04 -2.16200474e-02 -7.46179932e-01] [ 4.11981904e-04 9.99999915e-01 -2.67907284e-05 -2.63812832e-02] [ 2.16200566e-02 1.78773957e-05 9.99766259e-01 -3.02033962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.613133365 meters Centerline goodness : 0.140754 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99759920e-01 -3.87547926e-04 -2.19077937e-02 -7.45622186e-01] [ 3.93589471e-04 9.99999886e-01 2.71460308e-04 -2.82011611e-02] [ 2.19076860e-02 -2.80017813e-04 9.99759959e-01 -3.01737742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.643133365 meters Centerline goodness : 0.142542 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99758431e-01 -3.87220237e-04 -2.19756692e-02 -7.45453180e-01] [ 3.95402151e-04 9.99999854e-01 3.67973011e-04 -2.89899024e-02] [ 2.19755235e-02 -3.76573347e-04 9.99758438e-01 -3.01724015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.673133365 meters Centerline goodness : 0.136839 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99760080e-01 -4.10129393e-04 -2.19000898e-02 -7.45726637e-01] [ 4.20092383e-04 9.99999810e-01 4.50330576e-04 -2.98302855e-02] [ 2.18999010e-02 -4.59422594e-04 9.99760063e-01 -3.01564295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.703133365 meters Centerline goodness : 0.133322 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99762985e-01 -3.54728771e-04 -2.17680614e-02 -7.46354935e-01] [ 3.68712455e-04 9.99999728e-01 6.38384352e-04 -3.08217827e-02] [ 2.17678290e-02 -6.46259200e-04 9.99762844e-01 -3.01079478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.733133365 meters Centerline goodness : 0.137725 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99771908e-01 -1.12158538e-04 -2.13569407e-02 -7.47733713e-01] [ 1.34739048e-04 9.99999434e-01 1.05585538e-03 -3.21940894e-02] [ 2.13568102e-02 -1.05849216e-03 9.99771357e-01 -3.00434163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76313336499999 meters Centerline goodness : 0.138125 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99777615e-01 -6.67691601e-05 -2.10883059e-02 -7.48427984e-01] [ 9.10141624e-05 9.99999336e-01 1.14873174e-03 -3.26825733e-02] [ 2.10882152e-02 -1.15039562e-03 9.99776957e-01 -3.00388295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79313336499999 meters Centerline goodness : 0.133537 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99784058e-01 -8.33154957e-05 -2.07805074e-02 -7.49198849e-01] [ 1.06551515e-04 9.99999370e-01 1.11705948e-03 -3.27775861e-02] [ 2.07804013e-02 -1.11903245e-03 9.99783438e-01 -3.00347178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82313336499999 meters Centerline goodness : 0.135782 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99796024e-01 7.23957114e-05 -2.01966782e-02 -7.50527229e-01] [-5.40330450e-05 9.99999585e-01 9.09736623e-04 -3.10165088e-02] [ 2.01967357e-02 -9.08459770e-04 9.99795612e-01 -3.00543418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85313336499999 meters Centerline goodness : 0.136148 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99793470e-01 1.50233714e-04 -2.03222644e-02 -7.50020257e-01] [-1.36928292e-04 9.99999775e-01 6.56111354e-04 -2.89953599e-02] [ 2.03223584e-02 -6.53193154e-04 9.99793266e-01 -3.00991468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88313336499999 meters Centerline goodness : 0.138350 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:-0.30 [[ 9.99742391e-01 9.36866742e-03 -2.06731461e-02 -7.27176632e-01] [-9.36918443e-03 9.99956106e-01 7.18492088e-05 -2.86543209e-02] [ 2.06729118e-02 1.21859819e-04 9.99786285e-01 -3.00712699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.913133365 meters Centerline goodness : 0.136560 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99759248e-01 1.04889671e-03 -2.19167991e-02 -7.46696280e-01] [-1.02697721e-03 9.99998961e-01 1.01135487e-03 -2.32408017e-02] [ 2.19178371e-02 -9.88603334e-04 9.99759287e-01 -3.02297325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.943133365 meters Centerline goodness : 0.139881 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99759965e-01 1.00551388e-03 -2.18861079e-02 -7.46692353e-01] [-9.96887635e-04 9.99999421e-01 4.05049052e-04 -2.00331853e-02] [ 2.18865025e-02 -3.83133836e-04 9.99760388e-01 -3.02647231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.973133365 meters Centerline goodness : 0.131179 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99759016e-01 9.65649009e-04 -2.19311764e-02 -7.46622866e-01] [-9.60263654e-04 9.99999506e-01 2.56086848e-04 -1.91985884e-02] [ 2.19314128e-02 -2.34965424e-04 9.99759450e-01 -3.02658695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.003133365 meters Centerline goodness : 0.137551 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:-0.30 [[ 9.99695361e-01 4.32747101e-04 -2.46778792e-02 -7.91703368e-01] [-4.18920986e-04 9.99999752e-01 5.65430563e-04 -2.26773820e-02] [ 2.46781178e-02 -5.54920229e-04 9.99695295e-01 -3.02435791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.033133365 meters Centerline goodness : 0.139992 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:-0.30 [[ 9.99687133e-01 3.35606338e-04 -2.50104669e-02 -7.90879907e-01] [-3.20344171e-04 9.99999760e-01 6.14235317e-04 -2.32409609e-02] [ 2.50106670e-02 -6.06031186e-04 9.99687001e-01 -3.02485149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.063133365 meters Centerline goodness : 0.136911 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:-0.30 [[ 9.99688271e-01 3.08237000e-04 -2.49652800e-02 -7.91005315e-01] [-2.88039513e-04 9.99999628e-01 8.12615030e-04 -2.46566735e-02] [ 2.49655212e-02 -8.05170728e-04 9.99687989e-01 -3.02407860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.093133365 meters Centerline goodness : 0.141081 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:-0.30 [[ 9.99703292e-01 -3.49679011e-04 -2.43558341e-02 -7.92884535e-01] [ 3.74616775e-04 9.99999410e-01 1.01933767e-03 -2.91176462e-02] [ 2.43554633e-02 -1.02815932e-03 9.99702833e-01 -3.01525630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12313336499999 meters Centerline goodness : 0.137995 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:-0.30 [[ 9.99700899e-01 -2.94120464e-04 -2.44545667e-02 -7.92741884e-01] [ 3.31789105e-04 9.99998765e-01 1.53630881e-03 -3.20128127e-02] [ 2.44540847e-02 -1.54396306e-03 9.99699762e-01 -3.01273391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15313336499999 meters Centerline goodness : 0.119657 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:-0.30 [[ 9.99689891e-01 -2.69529582e-04 -2.49007982e-02 -7.91599130e-01] [ 3.19370331e-04 9.99997954e-01 1.99761713e-03 -3.48385451e-02] [ 2.49002089e-02 -2.00495023e-03 9.99687931e-01 -3.01287840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18313336499999 meters Centerline goodness : 0.137640 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99674547e-01 -2.99772655e-04 -2.55090367e-02 -7.89990131e-01] [ 3.59848250e-04 9.99997173e-01 2.35051326e-03 -3.74275762e-02] [ 2.55082599e-02 -2.35892766e-03 9.99671828e-01 -3.01451941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21313336499999 meters Centerline goodness : 0.136604 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99653470e-01 -4.54345791e-04 -2.63198268e-02 -7.87684167e-01] [ 5.26810106e-04 9.99996090e-01 2.74635303e-03 -4.14810808e-02] [ 2.63184761e-02 -2.75926688e-03 9.99649801e-01 -3.01861410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24313336499999 meters Centerline goodness : 0.135584 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99654010e-01 -3.45002286e-04 -2.63009868e-02 -7.87697829e-01] [ 4.24131996e-04 9.99995401e-01 3.00310219e-03 -4.27501217e-02] [ 2.62998298e-02 -3.01321823e-03 9.99649558e-01 -3.01918121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27313336499999 meters Centerline goodness : 0.138830 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99656326e-01 -2.16698720e-04 -2.62141771e-02 -7.87956831e-01] [ 3.01387284e-04 9.99994749e-01 3.22673198e-03 -4.34972485e-02] [ 2.62133402e-02 -3.23352366e-03 9.99651142e-01 -3.01843513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.303133365 meters Centerline goodness : 0.136085 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99669036e-01 9.09996744e-05 -2.57256654e-02 -7.89390975e-01] [-6.31897972e-07 9.99993830e-01 3.51273418e-03 -4.39970030e-02] [ 2.57258263e-02 -3.51155534e-03 9.99662869e-01 -3.01412894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.333133365 meters Centerline goodness : 0.136332 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99672567e-01 8.89393922e-05 -2.55880944e-02 -7.89852257e-01] [ 7.72383769e-10 9.99993959e-01 3.47582066e-03 -4.39603973e-02] [ 2.55882489e-02 -3.47468258e-03 9.99666528e-01 -3.01222341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.363133365 meters Centerline goodness : 0.133851 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99673942e-01 6.84351448e-05 -2.55343894e-02 -7.90043956e-01] [ 1.96913542e-05 9.99994045e-01 3.45101932e-03 -4.40780111e-02] [ 2.55344735e-02 -3.45039689e-03 9.99667988e-01 -3.01159693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.393133365 meters Centerline goodness : 0.166239 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99673717e-01 2.83715296e-05 -2.55432585e-02 -7.89950898e-01] [ 5.88069114e-05 9.99994177e-01 3.41221494e-03 -4.42366906e-02] [ 2.55432065e-02 -3.41260371e-03 9.99667894e-01 -3.01292521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.423133365 meters Centerline goodness : 0.133290 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99672848e-01 1.04475918e-04 -2.55770766e-02 -7.89845028e-01] [-1.12058355e-05 9.99993351e-01 3.64674412e-03 -4.54676244e-02] [ 2.55772875e-02 -3.64526446e-03 9.99666201e-01 -3.01381131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.453133365 meters Centerline goodness : 0.135956 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99674608e-01 1.42783285e-04 -2.55079821e-02 -7.90186756e-01] [-4.45960303e-05 9.99992588e-01 3.84980307e-03 -4.66092592e-02] [ 2.55083428e-02 -3.84741282e-03 9.99667206e-01 -3.01083615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48313336499999 meters Centerline goodness : 0.135452 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99676573e-01 1.89049520e-04 -2.54305735e-02 -7.90668359e-01] [-8.40347936e-05 9.99991466e-01 4.13047279e-03 -4.81953375e-02] [ 2.54311373e-02 -4.12699983e-03 9.99668057e-01 -3.00584612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51313336499999 meters Centerline goodness : 0.135349 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99676945e-01 2.33861190e-04 -2.54155703e-02 -7.90943800e-01] [-1.22141342e-04 9.99990325e-01 4.39718811e-03 -4.97821733e-02] [ 2.54163528e-02 -4.39266328e-03 9.99667301e-01 -3.00137985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54313336499999 meters Centerline goodness : 0.134987 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99677996e-01 4.13065023e-04 -2.53718922e-02 -7.91208223e-01] [-2.84181879e-04 9.99987040e-01 5.08315649e-03 -5.32766052e-02] [ 2.53736630e-02 -5.07430946e-03 9.99665158e-01 -2.99781035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57313336499999 meters Centerline goodness : 0.133134 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 9.99679882e-01 5.77568662e-04 -2.52942540e-02 -7.91461257e-01] [-4.38411730e-04 9.99984742e-01 5.50672348e-03 -5.52231570e-02] [ 2.52970486e-02 -5.49387138e-03 9.99664882e-01 -2.99648783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60313336499999 meters Centerline goodness : 0.130331 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 9.99682734e-01 7.94687223e-04 -2.51753659e-02 -7.91751667e-01] [-6.42650346e-04 9.99981512e-01 6.04662813e-03 -5.80763948e-02] [ 2.51797057e-02 -6.02853079e-03 9.99664763e-01 -2.99559641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63313336499999 meters Centerline goodness : 0.112892 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 9.99682845e-01 8.20657113e-04 -2.51701540e-02 -7.91758970e-01] [-6.67040145e-04 9.99981106e-01 6.11092875e-03 -5.86030323e-02] [ 2.51746934e-02 -6.09220113e-03 9.99664504e-01 -2.99575318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.663133365 meters Centerline goodness : 0.134062 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 9.99680069e-01 8.79595774e-04 -2.52781838e-02 -7.91412417e-01] [-7.23094025e-04 9.99980521e-01 6.19965250e-03 -5.90733417e-02] [ 2.52831446e-02 -6.17939053e-03 9.99661231e-01 -2.99715907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.693133365 meters Centerline goodness : 0.131397 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 9.99677161e-01 1.01454662e-03 -2.53878678e-02 -7.90967339e-01] [-8.52849046e-04 9.99979290e-01 6.37910571e-03 -5.97651815e-02] [ 2.53938139e-02 -6.35539427e-03 9.99657323e-01 -3.00037502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.723133365 meters Centerline goodness : 0.126857 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99967512 0.00129861 -0.02545528 -0.79036411] [-0.00112616 0.99997633 0.00678795 -0.0615059 ] [ 0.02546349 -0.00675708 0.99965292 -0.30077605] [ 0. 0. 0. 1. ]] SLAMing on 84.753133365 meters Centerline goodness : 0.125629 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99967252 0.0013712 -0.02555325 -0.78994665] [-0.0011934 0.99997499 0.00697166 -0.06251968] [ 0.02556217 -0.00693888 0.99964915 -0.30105341] [ 0. 0. 0. 1. ]] SLAMing on 84.783133365 meters Centerline goodness : 0.128434 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99966701 0.00146403 -0.02576291 -0.78941646] [-0.00127884 0.99997324 0.00720303 -0.06370759] [ 0.02577277 -0.00716768 0.99964213 -0.30109938] [ 0. 0. 0. 1. ]] SLAMing on 84.813133365 meters Centerline goodness : 0.126661 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99966467 0.00158581 -0.02584624 -0.7892543 ] [-0.00139419 0.99997143 0.00742991 -0.06473302] [ 0.02585729 -0.00739138 0.99963832 -0.301027 ] [ 0. 0. 0. 1. ]] SLAMing on 84.843133365 meters SLAMing on 84.87313336499999 meters SLAMing on 84.90313336499999 meters Centerline goodness : 0.084640 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99968881 0.00198153 -0.02486678 -0.79147526] [-0.00179627 0.99997048 0.00747041 -0.06377991] [ 0.02488085 -0.00742342 0.99966286 -0.30138424] [ 0. 0. 0. 1. ]] SLAMing on 84.93313336499999 meters Centerline goodness : 0.127618 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99966959 0.00206386 -0.0256213 -0.78908649] [-0.00188757 0.99997439 0.00690264 -0.05993737] [ 0.02563489 -0.006852 0.99964789 -0.30256164] [ 0. 0. 0. 1. ]] SLAMing on 84.96313336499999 meters Centerline goodness : 0.127618 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99966959 0.00206386 -0.0256213 -0.78908649] [-0.00188757 0.99997439 0.00690264 -0.05993737] [ 0.02563489 -0.006852 0.99964789 -0.30256164] [ 0. 0. 0. 1. ]] SLAMing on 84.99313336499999 meters Centerline goodness : 0.079775 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99966066 0.00187115 -0.02598202 -0.78799912] [-0.00170689 0.99997843 0.00634279 -0.05729122] [ 0.02599333 -0.00629628 0.99964229 -0.30302692] [ 0. 0. 0. 1. ]] SLAMing on 85.02313336499999 meters Centerline goodness : 0.127026 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 0.99965658 0.001651 -0.02615338 -0.78754059] [-0.00150001 0.9999821 0.00579174 -0.0547605 ] [ 0.02616247 -0.00575052 0.99964116 -0.30323619] [ 0. 0. 0. 1. ]] SLAMing on 85.053133365 meters Centerline goodness : 0.127595 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 0.99965567 0.00149918 -0.02619727 -0.7875619 ] [-0.00135898 0.99998467 0.00536865 -0.05254824] [ 0.02620492 -0.0053312 0.99964238 -0.30317134] [ 0. 0. 0. 1. ]] SLAMing on 85.083133365 meters Centerline goodness : 0.125586 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 0.99966774 0.00136941 -0.0257397 -0.78942822] [-0.00124174 0.99998685 0.00497549 -0.04986106] [ 0.02574618 -0.00494187 0.9996563 -0.30209228] [ 0. 0. 0. 1. ]] SLAMing on 85.113133365 meters Centerline goodness : 0.124304 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 0.99968137 0.00122564 -0.02521206 -0.79112818] [-0.00110295 0.99998749 0.00487933 -0.04964423] [ 0.02521772 -0.00484997 0.99967022 -0.30137284] [ 0. 0. 0. 1. ]] SLAMing on 85.143133365 meters Centerline goodness : 0.125634 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99697077e-01 9.96382964e-04 -2.45919127e-02 -7.93100230e-01] [-8.79833995e-04 9.99988333e-01 4.74968612e-03 -4.95773623e-02] [ 2.45963583e-02 -4.72661053e-03 9.99686290e-01 -3.00577030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.173133365 meters Centerline goodness : 0.129453 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99709381e-01 7.15245709e-04 -2.40964978e-02 -7.94765271e-01] [-6.03511092e-04 9.99989035e-01 4.64391823e-03 -4.94980286e-02] [ 2.40995551e-02 -4.62802612e-03 9.99698851e-01 -2.99743726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.203133365 meters Centerline goodness : 0.131223 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99707676e-01 7.03447476e-04 -2.41674799e-02 -7.94656769e-01] [-5.89483812e-04 9.99988676e-01 4.72237977e-03 -4.99458466e-02] [ 2.41705282e-02 -4.70675297e-03 9.99696770e-01 -2.99635965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23313336499999 meters Centerline goodness : 0.126017 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99705596e-01 6.84140058e-04 -2.42539246e-02 -7.94401782e-01] [-5.66483947e-04 9.99988042e-01 4.85755221e-03 -5.09183372e-02] [ 2.42569578e-02 -4.84238267e-03 9.99694029e-01 -2.99636277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26313336499999 meters Centerline goodness : 0.114043 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:-0.30 [[ 0.99964312 -0.00132231 -0.02668123 -0.83932431] [ 0.00143192 0.99999061 0.00408946 -0.05576968] [ 0.02667558 -0.0041262 0.99963563 -0.29983562] [ 0. 0. 0. 1. ]] SLAMing on 85.29313336499999 meters Centerline goodness : 0.133315 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 9.99673630e-01 4.01647545e-03 -2.52289836e-02 -8.17975759e-01] [-4.00279095e-03 9.99991813e-01 5.92890029e-04 -5.99347846e-02] [ 2.52311583e-02 -4.91710181e-04 9.99681523e-01 -2.99422159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32313336499999 meters Centerline goodness : 0.136093 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 9.99673908e-01 4.14014519e-03 -2.51979709e-02 -8.18189261e-01] [-4.11806763e-03 9.99991090e-01 9.27992901e-04 -6.15559066e-02] [ 2.52015884e-02 -8.23923341e-04 9.99682050e-01 -2.99189523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35313336499999 meters Centerline goodness : 0.140356 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:-0.30 [[ 0.99964961 -0.00435633 -0.02610914 -0.8386367 ] [ 0.00441957 0.99998744 0.00236517 -0.06021181] [ 0.02609851 -0.00247974 0.9996563 -0.30035271] [ 0. 0. 0. 1. ]] SLAMing on 85.38313336499999 meters Centerline goodness : 0.133873 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 0.99964125 0.00458029 -0.02638931 -0.81715984] [-0.00453926 0.99998839 0.00161457 -0.06324689] [ 0.0263964 -0.00149421 0.99965044 -0.2996503 ] [ 0. 0. 0. 1. ]] SLAMing on 85.413133365 meters Centerline goodness : 0.131277 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 0.99964289 0.00455246 -0.02633173 -0.81703751] [-0.00451584 0.99998875 0.00145011 -0.0624669 ] [ 0.02633803 -0.00133068 0.99965221 -0.30012578] [ 0. 0. 0. 1. ]] SLAMing on 85.443133365 meters Centerline goodness : 0.140314 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 0.99964497 0.00453592 -0.02625552 -0.81707395] [-0.00450298 0.999989 0.00131354 -0.0617344 ] [ 0.02626119 -0.00119485 0.9996544 -0.30041514] [ 0. 0. 0. 1. ]] SLAMing on 85.473133365 meters Centerline goodness : 0.154483 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 0.99964675 0.0044992 -0.02619395 -0.81717628] [-0.00447111 0.99998937 0.00113052 -0.0607344 ] [ 0.02619876 -0.001013 0.99965624 -0.30052826] [ 0. 0. 0. 1. ]] SLAMing on 85.503133365 meters Centerline goodness : 0.155513 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 9.99648980e-01 4.42493732e-03 -2.61215922e-02 -8.17448120e-01] [-4.40487681e-03 9.99989958e-01 8.25457848e-04 -5.91201278e-02] [ 2.61249825e-02 -7.10105700e-04 9.99658432e-01 -3.00449326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.533133365 meters Centerline goodness : 0.155857 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 9.99645862e-01 4.33632074e-03 -2.62554269e-02 -8.17004340e-01] [-4.32127368e-03 9.99990465e-01 6.29814004e-04 -5.82929476e-02] [ 2.62579077e-02 -5.16134077e-04 9.99655068e-01 -3.00669527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.563133365 meters Centerline goodness : 0.136177 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 9.99640209e-01 4.26971806e-03 -2.64805976e-02 -8.16185882e-01] [-4.25829840e-03 9.99990815e-01 4.87622650e-04 -5.76315590e-02] [ 2.64824364e-02 -3.74684922e-04 9.99649209e-01 -3.01152551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.593133365 meters Centerline goodness : 0.141213 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.06, Z:-0.30 [[ 9.99554495e-01 3.00809456e-03 -2.96944764e-02 -8.61039526e-01] [-2.99944624e-03 9.99995445e-01 3.35782580e-04 -5.96854394e-02] [ 2.96953512e-02 -2.46566002e-04 9.99558965e-01 -3.01251884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62313336499999 meters Centerline goodness : 0.160131 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:-0.30 [[ 9.99594406e-01 2.90423572e-03 -2.83299837e-02 -8.16674828e-01] [-2.92594107e-03 9.99995457e-01 -7.24737395e-04 -5.47879608e-02] [ 2.83277501e-02 8.07335309e-04 9.99598363e-01 -3.00389410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65313336499999 meters Centerline goodness : 0.162237 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:-0.30 [[ 9.99595900e-01 2.87086115e-03 -2.82806598e-02 -8.17182851e-01] [-2.89344652e-03 9.99995527e-01 -7.57725383e-04 -5.46282951e-02] [ 2.82783580e-02 8.39247763e-04 9.99599735e-01 -2.99781463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68313336499999 meters Centerline goodness : 0.142609 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:-0.30 [[ 9.99597832e-01 2.87092655e-03 -2.82122626e-02 -8.17772082e-01] [-2.89167785e-03 9.99995578e-01 -6.94771094e-04 -5.48701427e-02] [ 2.82101432e-02 7.76072455e-04 9.99601713e-01 -2.99111150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71313336499999 meters Centerline goodness : 0.136222 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 9.99596660e-01 2.77527209e-03 -2.82633347e-02 -8.17898584e-01] [-2.79744081e-03 9.99995810e-01 -7.44853072e-04 -5.50072769e-02] [ 2.82611491e-02 8.23617648e-04 9.99600235e-01 -2.98684828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74313336499999 meters Centerline goodness : 0.131117 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:-0.30 [[ 9.99590959e-01 2.62668244e-03 -2.84783350e-02 -8.17218352e-01] [-2.65472337e-03 9.99996028e-01 -9.46876402e-04 -5.45475920e-02] [ 2.84757347e-02 1.02209119e-03 9.99593961e-01 -2.98951300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77313336499999 meters Centerline goodness : 0.128539 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:-0.30 [[ 0.99958719 0.0025098 -0.02862063 -0.81674165] [-0.00254487 0.99999606 -0.00118887 -0.05357113] [ 0.02861754 0.00126121 0.99958964 -0.29920426] [ 0. 0. 0. 1. ]] SLAMing on 85.803133365 meters Centerline goodness : 0.148566 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:-0.30 [[ 0.99960052 -0.00246376 -0.02815547 -0.79531706] [ 0.002518 0.99999504 0.0018912 -0.04649131] [ 0.02815067 -0.00196134 0.99960177 -0.2984324 ] [ 0. 0. 0. 1. ]] SLAMing on 85.833133365 meters Centerline goodness : 0.149088 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.9996109 -0.00250941 -0.02778031 -0.79661128] [ 0.002556 0.99999539 0.00164173 -0.04487874] [ 0.02777606 -0.0017121 0.9996127 -0.29785135] [ 0. 0. 0. 1. ]] SLAMing on 85.863133365 meters Centerline goodness : 0.127908 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.99961789 -0.00260651 -0.02751864 -0.79758952] [ 0.00264579 0.99999553 0.00139078 -0.04362056] [ 0.02751489 -0.00146306 0.99962032 -0.29736541] [ 0. 0. 0. 1. ]] SLAMing on 85.893133365 meters Centerline goodness : 0.159100 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.99962041 -0.00274363 -0.02741352 -0.79797617] [ 0.00277572 0.99999551 0.0011327 -0.04260563] [ 0.02741029 -0.00120837 0.99962354 -0.29716759] [ 0. 0. 0. 1. ]] SLAMing on 85.923133365 meters Centerline goodness : 0.147269 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 9.99612434e-01 -2.84070922e-03 -2.76931633e-02 -7.97231264e-01] [ 2.86923425e-03 9.99995393e-01 9.90356322e-04 -4.19314784e-02] [ 2.76902224e-02 -1.06943067e-03 9.99615980e-01 -2.97348094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.953133365 meters Centerline goodness : 0.148640 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.99961224 -0.00280947 -0.02770354 -0.79729223] [ 0.00284051 0.99999538 0.0010812 -0.04224107] [ 0.02770038 -0.00115947 0.9996156 -0.29720404] [ 0. 0. 0. 1. ]] SLAMing on 85.98313336499999 meters Centerline goodness : 0.160970 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 9.99650930e-01 5.07393331e-03 -2.59282260e-02 -7.78725698e-01] [-5.08473912e-03 9.99987011e-01 -3.50844858e-04 -4.55956140e-02] [ 2.59261091e-02 4.82560654e-04 9.99663745e-01 -2.95767748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01313336499999 meters SLAMing on 86.04313336499999 meters Centerline goodness : 0.162378 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 0.9996711 0.00123228 -0.02561575 -0.77920565] [-0.00133144 0.99999169 -0.00385409 -0.04710704] [ 0.02561079 0.00388693 0.99966443 -0.29611351] [ 0. 0. 0. 1. ]] SLAMing on 86.07313336499999 meters Centerline goodness : 0.118326 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 0.99966351 0.00133278 -0.0259053 -0.77811322] [-0.00142714 0.99999241 -0.00362446 -0.04799896] [ 0.02590027 0.00366021 0.99965783 -0.29673796] [ 0. 0. 0. 1. ]] SLAMing on 86.10313336499999 meters Centerline goodness : 0.161898 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 0.99965759 0.00140391 -0.02612926 -0.77725739] [-0.00149449 0.99999294 -0.00344772 -0.04881382] [ 0.02612423 0.00348559 0.99965263 -0.29721278] [ 0. 0. 0. 1. ]] SLAMing on 86.13313336499999 meters Centerline goodness : 0.124211 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 0.99965547 0.00146051 -0.02620687 -0.77680292] [-0.00154677 0.99999345 -0.00327149 -0.04982507] [ 0.02620192 0.00331089 0.99965119 -0.29760198] [ 0. 0. 0. 1. ]] SLAMing on 86.163133365 meters Centerline goodness : 0.126586 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 0.99965209 0.00157767 -0.02632882 -0.77670988] [-0.00165288 0.99999462 -0.00283512 -0.05245701] [ 0.02632421 0.00287765 0.99964932 -0.29730863] [ 0. 0. 0. 1. ]] SLAMing on 86.193133365 meters Centerline goodness : 0.116356 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.05, Z:-0.30 [[ 0.99963734 -0.00583697 -0.02628914 -0.75712046] [ 0.00579907 0.99998203 -0.00151786 -0.04900524] [ 0.02629752 0.00136486 0.99965323 -0.2954809 ] [ 0. 0. 0. 1. ]] SLAMing on 86.223133365 meters Centerline goodness : 0.113058 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.06, Z:-0.30 [[ 0.99965877 0.00148809 -0.02607947 -0.77452042] [-0.00153766 0.99999705 -0.00188074 -0.05992957] [ 0.02607659 0.0019202 0.9996581 -0.29799271] [ 0. 0. 0. 1. ]] SLAMing on 86.253133365 meters Centerline goodness : 0.145078 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.06, Z:-0.30 [[ 0.99965359 0.00160266 -0.02627046 -0.77385621] [-0.00164046 0.99999765 -0.00141742 -0.06266064] [ 0.02626813 0.00146002 0.99965387 -0.29827546] [ 0. 0. 0. 1. ]] SLAMing on 86.283133365 meters Centerline goodness : 0.147761 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.07, Z:-0.30 [[ 9.99654547e-01 1.75578306e-03 -2.62240961e-02 -7.73851985e-01] [-1.77973572e-03 9.99998020e-01 -8.90071395e-04 -6.57234172e-02] [ 2.62224814e-02 9.36435878e-04 9.99655693e-01 -2.98397479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.313133365 meters Centerline goodness : 0.152347 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.07, Z:-0.30 [[ 9.99659046e-01 1.96333815e-03 -2.60372082e-02 -7.74497508e-01] [-1.97066319e-03 9.99998026e-01 -2.55673200e-04 -6.90554935e-02] [ 2.60366548e-02 3.06896595e-04 9.99660942e-01 -2.98054112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.343133365 meters Centerline goodness : 0.144329 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99968085 -0.00598775 -0.02454277 -0.75383193] [ 0.00601806 0.99998122 0.00116099 -0.07295542] [ 0.02453535 -0.00130832 0.99969811 -0.29703529] [ 0. 0. 0. 1. ]] SLAMing on 86.37313336499999 meters Centerline goodness : 0.140040 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.08, Z:-0.30 [[ 0.99967856 -0.00574572 -0.02469321 -0.75339076] [ 0.00579388 0.99998145 0.00187919 -0.07680938] [ 0.02468195 -0.00202165 0.99969331 -0.29705869] [ 0. 0. 0. 1. ]] SLAMing on 86.40313336499999 meters Centerline goodness : 0.141503 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.08, Z:-0.30 [[ 0.99967451 -0.00556466 -0.0248981 -0.75269062] [ 0.00562852 0.99998105 0.00249533 -0.08046655] [ 0.02488375 -0.00263466 0.99968688 -0.29728992] [ 0. 0. 0. 1. ]] SLAMing on 86.43313336499999 meters Centerline goodness : 0.128802 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.30 [[ 0.99967812 -0.00525637 -0.02481978 -0.75278096] [ 0.00534471 0.99997961 0.0034941 -0.08880636] [ 0.0248009 -0.00362563 0.99968584 -0.29723361] [ 0. 0. 0. 1. ]] SLAMing on 86.46313336499999 meters Centerline goodness : 0.141091 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.30 [[ 0.99968058 -0.00499753 -0.02477436 -0.75293736] [ 0.00510122 0.99997849 0.00412396 -0.09185544] [ 0.02475322 -0.00424902 0.99968456 -0.2971084 ] [ 0. 0. 0. 1. ]] SLAMing on 86.49313336499999 meters Centerline goodness : 0.169159 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.30 [[ 0.99968017 -0.00481474 -0.02482703 -0.75269985] [ 0.00492947 0.99997744 0.00456191 -0.09401299] [ 0.0248045 -0.00468283 0.99968135 -0.29721377] [ 0. 0. 0. 1. ]] SLAMing on 86.52313336499999 meters Centerline goodness : 0.146094 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.10, Z:-0.30 [[ 0.99967886 0.0041599 -0.02499756 -0.73246386] [-0.00406965 0.99998502 0.00366003 -0.10009066] [ 0.02501241 -0.00355712 0.99968081 -0.29529778] [ 0. 0. 0. 1. ]] SLAMing on 86.553133365 meters Centerline goodness : 0.145216 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.10, Z:-0.30 [[ 0.99968459 0.00423946 -0.02475376 -0.7331723 ] [-0.00414884 0.99998451 0.0037111 -0.10033462] [ 0.02476911 -0.00360723 0.99968669 -0.29510444] [ 0. 0. 0. 1. ]] SLAMing on 86.583133365 meters Centerline goodness : 0.125669 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.10, Z:-0.30 [[ 0.99969201 0.00437542 -0.02442824 -0.73396586] [-0.00428483 0.99998375 0.00375944 -0.10025464] [ 0.02444429 -0.00365361 0.99969452 -0.29510626] [ 0. 0. 0. 1. ]] SLAMing on 86.613133365 meters Centerline goodness : 0.158758 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.10, Z:-0.30 [[ 0.99970217 0.00499942 -0.02388662 -0.73518342] [-0.00490396 0.99997976 0.00405302 -0.09979697] [ 0.0239064 -0.00393467 0.99970646 -0.295354 ] [ 0. 0. 0. 1. ]] SLAMing on 86.643133365 meters SLAMing on 86.673133365 meters Centerline goodness : 0.106266 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.10, Z:-0.30 [[ 0.99971705 0.00559463 -0.02311953 -0.73729409] [-0.00550048 0.99997633 0.00413403 -0.09797686] [ 0.02314211 -0.00400569 0.99972416 -0.2951244 ] [ 0. 0. 0. 1. ]] SLAMing on 86.703133365 meters Centerline goodness : 0.099194 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.09, Z:-0.30 [[ 0.99972422 0.00615094 -0.02266369 -0.73837585] [-0.00606162 0.9999736 0.00400768 -0.0946126 ] [ 0.02268774 -0.0038692 0.99973511 -0.2954574 ] [ 0. 0. 0. 1. ]] SLAMing on 86.73313336499999 meters Centerline goodness : 0.150619 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 9.99718712e-01 4.77624331e-05 -2.37169599e-02 -7.20700914e-01] [ 6.96338913e-05 9.99987751e-01 4.94903869e-03 -8.49368891e-02] [ 2.37169058e-02 -4.94929809e-03 9.99706463e-01 -2.93578008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76313336499999 meters SLAMing on 86.79313336499999 meters Centerline goodness : 0.150350 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99970993 0.00365591 -0.02380505 -0.72071961] [-0.00347368 0.99996438 0.00769188 -0.07867673] [ 0.02383232 -0.00760696 0.99968703 -0.2934646 ] [ 0. 0. 0. 1. ]] SLAMing on 86.82313336499999 meters Centerline goodness : 0.142432 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99971361 0.00349142 -0.02367493 -0.72103587] [-0.00332078 0.99996825 0.0072433 -0.07621737] [ 0.02369946 -0.0071626 0.99969347 -0.29356252] [ 0. 0. 0. 1. ]] SLAMing on 86.85313336499999 meters Centerline goodness : 0.142432 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99971361 0.00349142 -0.02367493 -0.72103587] [-0.00332078 0.99996825 0.0072433 -0.07621737] [ 0.02369946 -0.0071626 0.99969347 -0.29356252] [ 0. 0. 0. 1. ]] SLAMing on 86.88313336499999 meters Centerline goodness : 0.147408 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99971521 0.00331556 -0.02363285 -0.72119498] [-0.0031555 0.99997185 0.00680681 -0.07402197] [ 0.02365476 -0.0067303 0.99969753 -0.2935326 ] [ 0. 0. 0. 1. ]] SLAMing on 86.913133365 meters Centerline goodness : 0.133986 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99971416 0.00309227 -0.02370713 -0.72111059] [-0.00294197 0.99997537 0.00637206 -0.07207121] [ 0.02372625 -0.00630049 0.99969864 -0.29343319] [ 0. 0. 0. 1. ]] SLAMing on 86.943133365 meters Centerline goodness : 0.146375 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.999701 0.00262903 -0.02431042 -0.7197856 ] [-0.0024911 0.99998064 0.00570229 -0.06940426] [ 0.02432494 -0.00564003 0.9996882 -0.29334577] [ 0. 0. 0. 1. ]] SLAMing on 86.973133365 meters Centerline goodness : 0.134041 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99969807 0.00252992 -0.02444092 -0.71956542] [-0.00239453 0.99998164 0.00556711 -0.06867393] [ 0.02445455 -0.0055069 0.99968578 -0.29317701] [ 0. 0. 0. 1. ]] SLAMing on 87.003133365 meters Centerline goodness : 0.154935 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99969876 0.00247323 -0.02441871 -0.71973371] [-0.00233961 0.99998214 0.00549907 -0.06823005] [ 0.02443187 -0.00544029 0.99968669 -0.29301172] [ 0. 0. 0. 1. ]] SLAMing on 87.033133365 meters Centerline goodness : 0.136842 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99969934 0.00236797 -0.02440533 -0.7198417 ] [-0.00223647 0.99998284 0.00541392 -0.06804799] [ 0.02441773 -0.00535771 0.99968749 -0.29285461] [ 0. 0. 0. 1. ]] SLAMing on 87.063133365 meters Centerline goodness : 0.162148 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99970541 -0.00172402 -0.02420991 -0.72015286] [ 0.00175843 0.99999747 0.00140005 -0.06737468] [ 0.02420743 -0.00144221 0.99970592 -0.29309927] [ 0. 0. 0. 1. ]] SLAMing on 87.093133365 meters Centerline goodness : 0.136424 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99969677 -0.00184011 -0.02455565 -0.71924673] [ 0.00187603 0.9999972 0.00143969 -0.0681172 ] [ 0.02455293 -0.00148532 0.99969743 -0.2932119 ] [ 0. 0. 0. 1. ]] SLAMing on 87.12313336499999 meters Centerline goodness : 0.167295 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99968917 -0.00188502 -0.02485971 -0.71832543] [ 0.0019244 0.99999693 0.00156024 -0.06907978] [ 0.02485669 -0.00160759 0.99968973 -0.29350464] [ 0. 0. 0. 1. ]] SLAMing on 87.15313336499999 meters Centerline goodness : 0.113247 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.9996727 -0.00224555 -0.02548448 -0.71635962] [ 0.00228729 0.99999609 0.0016089 -0.0709249 ] [ 0.02548076 -0.00166667 0.99967392 -0.29415456] [ 0. 0. 0. 1. ]] SLAMing on 87.18313336499999 meters Centerline goodness : 0.133436 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99967254 -0.00231992 -0.02548406 -0.71631571] [ 0.00236391 0.99999577 0.0016964 -0.07200507] [ 0.02548002 -0.00175608 0.99967379 -0.29414991] [ 0. 0. 0. 1. ]] SLAMing on 87.21313336499999 meters Centerline goodness : 0.169307 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99967077 -0.0023323 -0.02555224 -0.71619056] [ 0.00237931 0.99999553 0.00180961 -0.07295494] [ 0.0255479 -0.00186981 0.99967185 -0.2940935 ] [ 0. 0. 0. 1. ]] SLAMing on 87.24313336499999 meters Centerline goodness : 0.116579 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99966785 -0.00224451 -0.02567394 -0.71587225] [ 0.00229689 0.99999534 0.00201094 -0.07380406] [ 0.0256693 -0.00206925 0.99966835 -0.29412914] [ 0. 0. 0. 1. ]] SLAMing on 87.27313336499999 meters Centerline goodness : 0.134496 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99967064 -0.0020042 -0.02558493 -0.71620523] [ 0.00206838 0.99999478 0.00248248 -0.07558514] [ 0.02557982 -0.00253458 0.99966957 -0.29387328] [ 0. 0. 0. 1. ]] SLAMing on 87.303133365 meters Centerline goodness : 0.135440 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99967601 -0.00197096 -0.0253768 -0.71699534] [ 0.00203729 0.99999458 0.00258807 -0.07627473] [ 0.02537157 -0.00263893 0.99967461 -0.29337634] [ 0. 0. 0. 1. ]] SLAMing on 87.333133365 meters Centerline goodness : 0.166681 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99968651 -0.00192742 -0.02496326 -0.71847773] [ 0.00199556 0.99999435 0.00270525 -0.07703341] [ 0.02495791 -0.00275421 0.99968471 -0.29262483] [ 0. 0. 0. 1. ]] SLAMing on 87.363133365 meters SLAMing on 87.393133365 meters Centerline goodness : 0.142804 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99970142 -0.00180379 -0.02436827 -0.72019219] [ 0.00187743 0.99999374 0.00299918 -0.07865418] [ 0.02436271 -0.00304403 0.99969855 -0.29217459] [ 0. 0. 0. 1. ]] SLAMing on 87.423133365 meters Centerline goodness : 0.140811 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99969471 -0.00175201 -0.024646 -0.7190962 ] [ 0.00182769 0.99999368 0.00304854 -0.07875311] [ 0.0246405 -0.00309265 0.99969159 -0.29289495] [ 0. 0. 0. 1. ]] SLAMing on 87.453133365 meters Centerline goodness : 0.142074 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99968831 -0.0015837 -0.02491534 -0.71808756] [ 0.00166791 0.99999297 0.00335911 -0.07980343] [ 0.02490985 -0.00339962 0.99968392 -0.2934746 ] [ 0. 0. 0. 1. ]] SLAMing on 87.48313336499999 meters Centerline goodness : 0.164518 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99968908 -0.00154799 -0.02488677 -0.71826785] [ 0.00163636 0.99999243 0.00353088 -0.0808991 ] [ 0.02488111 -0.00357051 0.99968404 -0.29328581] [ 0. 0. 0. 1. ]] SLAMing on 87.51313336499999 meters Centerline goodness : 0.143603 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99968936 -0.00155287 -0.02487516 -0.7184908 ] [ 0.00164556 0.99999178 0.00370611 -0.08225593] [ 0.0248692 -0.00374589 0.9996837 -0.29294512] [ 0. 0. 0. 1. ]] SLAMing on 87.54313336499999 meters Centerline goodness : 0.164504 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99969106 0.00643557 -0.0240077 -0.69946752] [-0.0063838 0.99997713 0.00223257 -0.08697335] [ 0.02402152 -0.00207862 0.99970928 -0.29102427] [ 0. 0. 0. 1. ]] SLAMing on 87.57313336499999 meters Centerline goodness : 0.140107 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99969009 0.00651615 -0.02402621 -0.6994389 ] [-0.00645698 0.99997593 0.0025396 -0.08856877] [ 0.02404218 -0.00238367 0.9997081 -0.29099988] [ 0. 0. 0. 1. ]] SLAMing on 87.60313336499999 meters Centerline goodness : 0.139349 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99968324 0.00672579 -0.02425265 -0.69858677] [-0.00665061 0.99997283 0.00317901 -0.09175385] [ 0.02427337 -0.00301671 0.99970081 -0.29141178] [ 0. 0. 0. 1. ]] SLAMing on 87.63313336499999 meters Centerline goodness : 0.169776 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99968135 0.0067779 -0.02431572 -0.69831007] [-0.0066973 0.99997181 0.00339435 -0.09307626] [ 0.02433804 -0.00323042 0.99969857 -0.29157666] [ 0. 0. 0. 1. ]] SLAMing on 87.663133365 meters Centerline goodness : 0.149677 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99968232 0.00679754 -0.0242702 -0.69835821] [-0.00671587 0.99997152 0.00344472 -0.09346273] [ 0.02429293 -0.00328063 0.9996995 -0.29169102] [ 0. 0. 0. 1. ]] SLAMing on 87.693133365 meters Centerline goodness : 0.139910 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99969912 0.00705988 -0.0234911 -0.70031288] [-0.00698012 0.9999696 0.00347586 -0.09243775] [ 0.02351493 -0.00331085 0.999718 -0.29153985] [ 0. 0. 0. 1. ]] SLAMing on 87.723133365 meters Centerline goodness : 0.140339 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970421 0.00708212 -0.02326678 -0.70086402] [-0.00700749 0.99997004 0.00328729 -0.0910751 ] [ 0.02328936 -0.00312328 0.99972389 -0.29155972] [ 0. 0. 0. 1. ]] SLAMing on 87.753133365 meters Centerline goodness : 0.132987 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970561 0.00702221 -0.02322439 -0.70102373] [-0.00695381 0.99997125 0.00302467 -0.08966277] [ 0.02324496 -0.00286228 0.9997257 -0.29152723] [ 0. 0. 0. 1. ]] SLAMing on 87.783133365 meters Centerline goodness : 0.142549 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970503 0.00690125 -0.0232857 -0.70072944] [-0.00683992 0.99997293 0.00271244 -0.0883536 ] [ 0.02330379 -0.00255236 0.99972517 -0.29182346] [ 0. 0. 0. 1. ]] SLAMing on 87.813133365 meters Centerline goodness : 0.141080 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970314 0.0067452 -0.02341223 -0.70020213] [-0.00669234 0.99997488 0.00233524 -0.08679877] [ 0.02342739 -0.00217786 0.99972317 -0.29225814] [ 0. 0. 0. 1. ]] SLAMing on 87.843133365 meters Centerline goodness : 0.142494 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970544 0.00669689 -0.02332768 -0.70047194] [-0.00664689 0.99997544 0.00222027 -0.08624966] [ 0.02334198 -0.00206456 0.99972541 -0.29219075] [ 0. 0. 0. 1. ]] SLAMing on 87.87313336499999 meters Centerline goodness : 0.145698 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970791 0.00670501 -0.02321951 -0.70082156] [-0.0066561 0.99997547 0.00218297 -0.08583448] [ 0.02323358 -0.00202778 0.99972801 -0.29207357] [ 0. 0. 0. 1. ]] SLAMing on 87.90313336499999 meters Centerline goodness : 0.134738 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970878 0.00670373 -0.02318235 -0.70089186] [-0.00665523 0.9999755 0.00216884 -0.08565078] [ 0.02319632 -0.00201393 0.9997289 -0.29212885] [ 0. 0. 0. 1. ]] SLAMing on 87.93313336499999 meters Centerline goodness : 0.160604 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970155 0.00666067 -0.02350401 -0.69984695] [-0.00660807 0.99997549 0.00231489 -0.08669582] [ 0.02351885 -0.00215888 0.99972106 -0.29250465] [ 0. 0. 0. 1. ]] SLAMing on 87.96313336499999 meters Centerline goodness : 0.124838 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970057 0.00668176 -0.0235398 -0.69977278] [-0.00662569 0.99997503 0.00245886 -0.08766081] [ 0.02355565 -0.00230216 0.99971988 -0.29248347] [ 0. 0. 0. 1. ]] SLAMing on 87.99313336499999 meters Centerline goodness : 0.141881 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970117 0.00669445 -0.02351074 -0.70002935] [-0.00663476 0.99997457 0.00261605 -0.08872317] [ 0.02352766 -0.00245928 0.99972016 -0.29217279] [ 0. 0. 0. 1. ]] SLAMing on 88.02313336499999 meters Centerline goodness : 0.142039 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.09, Z:-0.29 [[ 0.99973213 -0.00206054 -0.02305272 -0.7215718 ] [ 0.00215463 0.99998945 0.00405745 -0.08788043] [ 0.02304412 -0.00410603 0.99972602 -0.29341173] [ 0. 0. 0. 1. ]] SLAMing on 88.053133365 meters Centerline goodness : 0.139262 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.09, Z:-0.29 [[ 0.99973719 -0.00197492 -0.02283985 -0.72212929] [ 0.00207226 0.99998887 0.00423869 -0.08862635] [ 0.02283122 -0.0042849 0.99973015 -0.29330818] [ 0. 0. 0. 1. ]] SLAMing on 88.083133365 meters Centerline goodness : 0.162822 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99974189 0.00632761 -0.02182014 -0.70316158] [-0.00626851 0.9999765 0.00277549 -0.09235769] [ 0.02183719 -0.002638 0.99975806 -0.29188342] [ 0. 0. 0. 1. ]] SLAMing on 88.113133365 meters Centerline goodness : 0.163394 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 9.99769443e-01 3.18001906e-03 -2.12355508e-02 -7.04525736e-01] [-3.18893365e-03 9.99994841e-01 -3.85945468e-04 -9.31808847e-02] [ 2.12342139e-02 4.53575248e-04 9.99774426e-01 -2.92071355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.143133365 meters SLAMing on 88.173133365 meters Centerline goodness : 0.145104 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99709429e-01 2.32806662e-03 -2.39924388e-02 -7.48169963e-01] [-2.32580583e-03 9.99997288e-01 1.22133835e-04 -9.71764362e-02] [ 2.39926580e-02 -6.62965924e-05 9.99712133e-01 -2.93123925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.203133365 meters Centerline goodness : 0.112399 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99704936e-01 2.29436928e-03 -2.41821510e-02 -7.47469577e-01] [-2.29197309e-03 9.99997365e-01 1.26805255e-04 -9.74847835e-02] [ 2.41823782e-02 -7.13430000e-05 9.99707561e-01 -2.93518707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23313336499999 meters Centerline goodness : 0.153469 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99695347e-01 2.19824691e-03 -2.45841439e-02 -7.46624282e-01] [-2.19423566e-03 9.99997575e-01 1.90138766e-04 -9.86265834e-02] [ 2.45845023e-02 -1.36137434e-04 9.99697746e-01 -2.93387973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26313336499999 meters Centerline goodness : 0.148222 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99696804e-01 2.29966667e-03 -2.45155237e-02 -7.46949238e-01] [-2.28929899e-03 9.99997278e-01 4.50960344e-04 -9.97243080e-02] [ 2.45164941e-02 -3.94700251e-04 9.99699348e-01 -2.93152662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29313336499999 meters Centerline goodness : 0.144258 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99697684e-01 2.36273945e-03 -2.44736140e-02 -7.46921319e-01] [-2.34849707e-03 9.99997056e-01 6.10674187e-04 -1.00343672e-01] [ 2.44749848e-02 -5.53013359e-04 9.99700290e-01 -2.93358112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32313336499999 meters Centerline goodness : 0.135966 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99692619e-01 2.25033910e-03 -2.46901682e-02 -7.45793036e-01] [-2.23684937e-03 9.99997334e-01 5.73965158e-04 -1.00690937e-01] [ 2.46913940e-02 -5.18560545e-04 9.99694987e-01 -2.94301127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35313336499999 meters Centerline goodness : 0.124282 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99690004e-01 2.15943391e-03 -2.48038900e-02 -7.45456581e-01] [-2.14631535e-03 9.99997542e-01 5.55501914e-04 -1.01179585e-01] [ 2.48050286e-02 -5.02092740e-04 9.99692182e-01 -2.94400534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38313336499999 meters Centerline goodness : 0.169382 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99686304e-01 2.17504218e-03 -2.49512073e-02 -7.45241668e-01] [-2.15843233e-03 9.99997431e-01 6.92605860e-04 -1.02067028e-01] [ 2.49526497e-02 -6.38533099e-04 9.99688430e-01 -2.94201301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.413133365 meters Centerline goodness : 0.141883 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.10, Z:-0.29 [[ 9.99679415e-01 2.21397421e-03 -2.52223092e-02 -7.44723868e-01] [-2.19202179e-03 9.99997194e-01 8.97972210e-04 -1.03125810e-01] [ 2.52242265e-02 -8.42396483e-04 9.99681464e-01 -2.93980139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.443133365 meters Centerline goodness : 0.137655 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.10, Z:-0.29 [[ 0.99967232 0.00233911 -0.02549065 -0.74425304] [-0.00230663 0.99999649 0.00130353 -0.1049474 ] [ 0.02549361 -0.00124431 0.99967421 -0.29370029] [ 0. 0. 0. 1. ]] SLAMing on 88.473133365 meters Centerline goodness : 0.141318 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.11, Z:-0.29 [[ 0.99967394 0.00237206 -0.02542417 -0.7444703 ] [-0.00233686 0.99999627 0.00141442 -0.10553519] [ 0.02542743 -0.00135455 0.99967575 -0.29358605] [ 0. 0. 0. 1. ]] SLAMing on 88.503133365 meters Centerline goodness : 0.130906 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.11, Z:-0.29 [[ 0.99967966 0.00239963 -0.02519564 -0.74515577] [-0.00236435 0.99999618 0.00143004 -0.10558112] [ 0.02519898 -0.00137001 0.99968152 -0.29338711] [ 0. 0. 0. 1. ]] SLAMing on 88.533133365 meters Centerline goodness : 0.165225 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 0.9996876 0.00238173 -0.02488036 -0.74608259] [-0.00235045 0.99999641 0.00128614 -0.1047164 ] [ 0.02488333 -0.00122726 0.99968961 -0.29312327] [ 0. 0. 0. 1. ]] SLAMing on 88.563133365 meters Centerline goodness : 0.164273 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99693710e-01 2.33654042e-03 -2.46379152e-02 -7.46576408e-01] [-2.31325648e-03 9.99996851e-01 9.73503796e-04 -1.02955848e-01] [ 2.46401122e-02 -9.16211804e-04 9.99695966e-01 -2.93275197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.593133365 meters Centerline goodness : 0.142446 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99690963e-01 2.66194893e-03 -2.47162466e-02 -7.46119540e-01] [-2.64912969e-03 9.99996339e-01 5.51385397e-04 -9.94222644e-02] [ 2.47176239e-02 -4.85738456e-04 9.99694355e-01 -2.93911179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62313336499999 meters Centerline goodness : 0.165072 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99688620e-01 2.59115067e-03 -2.48183000e-02 -7.45681036e-01] [-2.58864363e-03 9.99996641e-01 1.33142908e-04 -9.71828488e-02] [ 2.48185616e-02 -6.88557156e-05 9.99691970e-01 -2.94335916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65313336499999 meters Centerline goodness : 0.142866 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99688526e-01 2.58447908e-03 -2.48228010e-02 -7.45573043e-01] [-2.58876627e-03 9.99996639e-01 -1.40578183e-04 -9.53853446e-02] [ 2.48223543e-02 2.04794827e-04 9.99691857e-01 -2.94567816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68313336499999 meters Centerline goodness : 0.140502 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.29 [[ 9.99689836e-01 2.59769472e-03 -2.47686042e-02 -7.45632648e-01] [-2.60708766e-03 9.99996541e-01 -3.46943375e-04 -9.38804047e-02] [ 2.47676172e-02 4.11409688e-04 9.99693151e-01 -2.94760882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71313336499999 meters Centerline goodness : 0.136463 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.29 [[ 9.99691669e-01 2.53020243e-03 -2.47015045e-02 -7.45694693e-01] [-2.54509347e-03 9.99996598e-01 -5.71419532e-04 -9.26747009e-02] [ 2.46999746e-02 6.34110984e-04 9.99694708e-01 -2.94959361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74313336499999 meters SLAMing on 88.77313336499999 meters SLAMing on 88.803133365 meters Centerline goodness : 0.163219 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.29 [[ 9.99696755e-01 2.37482060e-03 -2.45103859e-02 -7.46188511e-01] [-2.39573795e-03 9.99996791e-01 -8.24078245e-04 -9.20166364e-02] [ 2.45083502e-02 8.82548808e-04 9.99699236e-01 -2.94925643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.833133365 meters Centerline goodness : 0.162948 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.29 [[ 9.99697125e-01 2.38653601e-03 -2.44941392e-02 -7.46221727e-01] [-2.40855681e-03 9.99996721e-01 -8.69560442e-04 -9.15144033e-02] [ 2.44919837e-02 9.28292599e-04 9.99699595e-01 -2.94974172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.863133365 meters Centerline goodness : 0.139956 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.30 [[ 9.99697497e-01 2.38884688e-03 -2.44787295e-02 -7.46135660e-01] [-2.41280776e-03 9.99996639e-01 -9.49356101e-04 -9.07658330e-02] [ 2.44763793e-02 1.00813139e-03 9.99699900e-01 -2.95195411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.893133365 meters Centerline goodness : 0.140136 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.30 [[ 0.99969715 0.00233797 -0.02449772 -0.74595379] [-0.00236667 0.99999655 -0.00114251 -0.08966297] [ 0.02449496 0.00120014 0.99969923 -0.29540768] [ 0. 0. 0. 1. ]] SLAMing on 88.923133365 meters Centerline goodness : 0.138517 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.30 [[ 0.9997148 0.00237197 -0.0237633 -0.74797727] [-0.00241071 0.99999581 -0.00160158 -0.08669772] [ 0.0237594 0.00165841 0.99971633 -0.29503675] [ 0. 0. 0. 1. ]] SLAMing on 88.953133365 meters Centerline goodness : 0.070349 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.08, Z:-0.29 [[ 0.99972175 0.00230057 -0.02347599 -0.74879793] [-0.00234865 0.9999952 -0.00202074 -0.08432882] [ 0.02347122 0.00207532 0.99972236 -0.29490923] [ 0. 0. 0. 1. ]] SLAMing on 88.98313336499999 meters Centerline goodness : 0.058576 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.08, Z:-0.30 [[ 0.999723 0.00229367 -0.02342371 -0.7488873 ] [-0.00235175 0.99999423 -0.00245218 -0.08147969] [ 0.02341795 0.00250658 0.99972262 -0.29512819] [ 0. 0. 0. 1. ]] SLAMing on 89.01313336499999 meters Centerline goodness : 0.138211 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.08, Z:-0.30 [[ 0.99972241 0.00232258 -0.02344578 -0.74860752] [-0.00239083 0.99999299 -0.00288335 -0.07820592] [ 0.02343892 0.0029386 0.99972095 -0.2956288 ] [ 0. 0. 0. 1. ]] SLAMing on 89.04313336499999 meters Centerline goodness : 0.139780 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99972393 0.00224325 -0.02338869 -0.74859194] [-0.00232358 0.99999149 -0.0034079 -0.074994 ] [ 0.02338084 0.00346131 0.99972064 -0.29602174] [ 0. 0. 0. 1. ]] SLAMing on 89.07313336499999 meters Centerline goodness : 0.160258 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99972672 0.00212991 -0.02327977 -0.74875576] [-0.00222167 0.99998986 -0.00391606 -0.07209817] [ 0.02327119 0.00396671 0.99972132 -0.29628434] [ 0. 0. 0. 1. ]] SLAMing on 89.10313336499999 meters Centerline goodness : 0.139714 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99973204 0.0018523 -0.02307432 -0.74942009] [-0.00196247 0.99998678 -0.00475298 -0.06759613] [ 0.02306521 0.00479698 0.99972245 -0.29623545] [ 0. 0. 0. 1. ]] SLAMing on 89.13313336499999 meters Centerline goodness : 0.141290 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99973273 0.00173245 -0.02305368 -0.74966713] [-0.0018485 0.99998572 -0.00501352 -0.06627179] [ 0.02304467 0.0050548 0.99972166 -0.29592786] [ 0. 0. 0. 1. ]] SLAMing on 89.163133365 meters Centerline goodness : 0.137717 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99973175 0.00165071 -0.02310184 -0.74963367] [-0.00176932 0.99998535 -0.00511476 -0.06590055] [ 0.02309306 0.00515426 0.99972003 -0.29581115] [ 0. 0. 0. 1. ]] SLAMing on 89.193133365 meters Centerline goodness : 0.135347 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99973046 0.00151749 -0.02316685 -0.74948525] [-0.00163807 0.99998521 -0.00518655 -0.06596345] [ 0.02315863 0.0052231 0.99971816 -0.29577245] [ 0. 0. 0. 1. ]] SLAMing on 89.223133365 meters Centerline goodness : 0.135129 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99972324 0.00112194 -0.02349844 -0.74825328] [-0.00125116 0.99998417 -0.00548507 -0.06582331] [ 0.02349191 0.00551295 0.99970883 -0.29638108] [ 0. 0. 0. 1. ]] SLAMing on 89.253133365 meters Centerline goodness : 0.136479 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99971854 0.00106222 -0.0237005 -0.74769812] [-0.00119418 0.99998386 -0.00555451 -0.06556623] [ 0.02369422 0.00558125 0.99970367 -0.29648934] [ 0. 0. 0. 1. ]] SLAMing on 89.283133365 meters Centerline goodness : 0.118875 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99971601 0.00102972 -0.0238085 -0.74737682] [-0.00116396 0.9999835 -0.00562497 -0.06506253] [ 0.02380232 0.00565108 0.99970071 -0.29660044] [ 0. 0. 0. 1. ]] SLAMing on 89.313133365 meters Centerline goodness : 0.127069 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 0.99971244 0.00102323 -0.02395826 -0.74690756] [-0.00115925 0.99998329 -0.00566402 -0.06466578] [ 0.02395206 0.00569016 0.99969691 -0.29679239] [ 0. 0. 0. 1. ]] SLAMing on 89.343133365 meters Centerline goodness : 0.131159 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 0.99971009 0.00100783 -0.02405652 -0.74654481] [-0.0011458 0.99998297 -0.00572209 -0.06429278] [ 0.02405034 0.00574799 0.99969422 -0.29700531] [ 0. 0. 0. 1. ]] SLAMing on 89.37313336499999 meters Centerline goodness : 0.149621 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99706980e-01 8.64097145e-04 -2.41910712e-02 -7.46011189e-01] [-1.01168603e-03 9.99980948e-01 -6.08939168e-03 -6.26080455e-02] [ 2.41853485e-02 6.11208113e-03 9.99688807e-01 -2.97364868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40313336499999 meters Centerline goodness : 0.144903 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99705927e-01 7.86813947e-04 -2.42371846e-02 -7.45736807e-01] [-9.40280175e-04 9.99979580e-01 -6.32110484e-03 -6.14226579e-02] [ 2.42317161e-02 6.34203572e-03 9.99686252e-01 -2.97674360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43313336499999 meters Centerline goodness : 0.136820 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99705546e-01 7.22940653e-04 -2.42548626e-02 -7.45556477e-01] [-8.82116452e-04 9.99978143e-01 -6.55257714e-03 -6.01073173e-02] [ 2.42495953e-02 6.57204332e-03 9.99684333e-01 -2.97967775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46313336499999 meters Centerline goodness : 0.138177 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99707235e-01 6.50860434e-04 -2.41872106e-02 -7.45619618e-01] [-8.14220687e-04 9.99976922e-01 -6.74475862e-03 -5.90776716e-02] [ 2.41822626e-02 6.76247772e-03 9.99684694e-01 -2.98158416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49313336499999 meters Centerline goodness : 0.139927 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99718997e-01 4.77184958e-04 -2.37002152e-02 -7.47311567e-01] [-6.44687273e-04 9.99974867e-01 -7.06040627e-03 -5.77676574e-02] [ 2.36962504e-02 7.07370150e-03 9.99694178e-01 -2.97334266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52313336499999 meters Centerline goodness : 0.152097 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99729350e-01 4.56903502e-04 -2.32597978e-02 -7.48943423e-01] [-6.21284478e-04 9.99974882e-01 -7.06043548e-03 -5.77225991e-02] [ 2.32559876e-02 7.07297553e-03 9.99704522e-01 -2.96464211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.553133365 meters Centerline goodness : 0.150657 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99733171e-01 4.80405677e-04 -2.30945119e-02 -7.49754687e-01] [-6.41538938e-04 9.99975502e-01 -6.97022086e-03 -5.79621688e-02] [ 2.30905976e-02 6.98317703e-03 9.99708987e-01 -2.95796649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.583133365 meters Centerline goodness : 0.132447 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99722082e-01 5.16479106e-04 -2.35688735e-02 -7.48272931e-01] [-6.74076906e-04 9.99977466e-01 -6.67923735e-03 -5.91684566e-02] [ 2.35648927e-02 6.69326831e-03 9.99699903e-01 -2.96328801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.613133365 meters Centerline goodness : 0.148393 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99717539e-01 5.38021938e-04 -2.37603279e-02 -7.47663445e-01] [-6.92453444e-04 9.99978688e-01 -6.49180351e-03 -6.02290535e-02] [ 2.37563288e-02 6.50642275e-03 9.99696606e-01 -2.96539811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.643133365 meters Centerline goodness : 0.158871 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99717179e-01 5.28874751e-04 -2.37756826e-02 -7.47865012e-01] [-6.78777328e-04 9.99979942e-01 -6.29724143e-03 -6.16308621e-02] [ 2.37718752e-02 6.31159883e-03 9.99697485e-01 -2.96116556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.673133365 meters Centerline goodness : 0.134763 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99719300e-01 5.51795359e-04 -2.36858089e-02 -7.48473125e-01] [-6.95473608e-04 9.99981407e-01 -6.05819669e-03 -6.31365248e-02] [ 2.36820256e-02 6.07296900e-03 9.99701096e-01 -2.95442056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.703133365 meters Centerline goodness : 0.135484 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.29 [[ 9.99723714e-01 6.39279259e-04 -2.34965209e-02 -7.49199776e-01] [-7.75469363e-04 9.99982951e-01 -5.78752713e-03 -6.44926823e-02] [ 2.34924205e-02 5.80414895e-03 9.99707166e-01 -2.94983138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73313336499999 meters Centerline goodness : 0.134670 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 9.99725906e-01 7.80371855e-04 -2.33988081e-02 -7.49421050e-01] [-9.08923481e-04 9.99984551e-01 -5.48380721e-03 -6.57790511e-02] [ 2.33941672e-02 5.50357186e-03 9.99711170e-01 -2.95038984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76313336499999 meters Centerline goodness : 0.136523 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 9.99727929e-01 8.50295049e-04 -2.33097482e-02 -7.49491026e-01] [-9.74839529e-04 9.99985309e-01 -5.33217888e-03 -6.64897917e-02] [ 2.33048719e-02 5.35345141e-03 9.99714071e-01 -2.95237515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79313336499999 meters Centerline goodness : 0.137254 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 9.99722160e-01 8.74095784e-04 -2.35550234e-02 -7.48453899e-01] [-1.00277791e-03 9.99984636e-01 -5.45178604e-03 -6.61273563e-02] [ 2.35498962e-02 5.47389177e-03 9.99707677e-01 -2.95962774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82313336499999 meters Centerline goodness : 0.132549 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99714560e-01 8.76594336e-04 -2.38753209e-02 -7.47343840e-01] [-1.01306142e-03 9.99983217e-01 -5.70432638e-03 -6.46758956e-02] [ 2.38699198e-02 5.72688530e-03 9.99698669e-01 -2.96581323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85313336499999 meters Centerline goodness : 0.129270 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 0.99970457 0.0018651 -0.0242343 -0.74602686] [-0.00199681 0.99998336 -0.00541178 -0.06178301] [ 0.0242238 0.00545858 0.99969166 -0.29755858] [ 0. 0. 0. 1. ]] SLAMing on 89.88313336499999 meters Centerline goodness : 0.128446 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 0.99970136 0.0018947 -0.0243639 -0.74526768] [-0.00203637 0.99998116 -0.00579161 -0.05939548] [ 0.02435247 0.00583949 0.99968638 -0.29841144] [ 0. 0. 0. 1. ]] SLAMing on 89.913133365 meters Centerline goodness : 0.150158 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99965168 -0.00308919 -0.02621028 -0.72348327] [ 0.00299284 0.99998862 -0.00371435 -0.05261329] [ 0.02622145 0.00363462 0.99964955 -0.29804675] [ 0. 0. 0. 1. ]] SLAMing on 89.943133365 meters Centerline goodness : 0.136086 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99964895 -0.00322744 -0.0262974 -0.72295524] [ 0.00311974 0.99998658 -0.00413544 -0.05060915] [ 0.0263104 0.00405195 0.99964561 -0.2986387 ] [ 0. 0. 0. 1. ]] SLAMing on 89.973133365 meters Centerline goodness : 0.147840 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.9996517 -0.00333262 -0.02617959 -0.72317026] [ 0.00321703 0.9999849 -0.00445602 -0.04893204] [ 0.02619405 0.00437025 0.99964732 -0.2988701 ] [ 0. 0. 0. 1. ]] SLAMing on 90.003133365 meters Centerline goodness : 0.148795 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99965542 -0.00338769 -0.02603022 -0.72358897] [ 0.00326779 0.99998386 -0.00464724 -0.04778202] [ 0.02604554 0.00456058 0.99965035 -0.29885527] [ 0. 0. 0. 1. ]] SLAMing on 90.033133365 meters Centerline goodness : 0.138871 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99965004 -0.00364789 -0.02620086 -0.72316396] [ 0.00352229 0.99998209 -0.00483823 -0.04756827] [ 0.02621804 0.00474425 0.99964499 -0.29885571] [ 0. 0. 0. 1. ]] SLAMing on 90.063133365 meters Centerline goodness : 0.148819 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99963704 -0.00379301 -0.02667197 -0.72190007] [ 0.00366631 0.99998177 -0.00479762 -0.04843887] [ 0.02668968 0.00469809 0.99963273 -0.29902917] [ 0. 0. 0. 1. ]] SLAMing on 90.093133365 meters Centerline goodness : 0.152573 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99963026 -0.00379245 -0.02692512 -0.72114944] [ 0.00367105 0.99998288 -0.00455678 -0.04980742] [ 0.02694194 0.00445625 0.99962707 -0.29922124] [ 0. 0. 0. 1. ]] SLAMing on 90.12313336499999 meters Centerline goodness : 0.133771 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99962803 -0.00367474 -0.0270241 -0.72079357] [ 0.00356361 0.999985 -0.00415926 -0.05156373] [ 0.02703898 0.00406141 0.99962613 -0.29935125] [ 0. 0. 0. 1. ]] SLAMing on 90.15313336499999 meters Centerline goodness : 0.135130 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99962866 -0.00362388 -0.02700742 -0.72076633] [ 0.00352073 0.99998633 -0.00386616 -0.05308517] [ 0.02702106 0.00376964 0.99962776 -0.29936873] [ 0. 0. 0. 1. ]] SLAMing on 90.18313336499999 meters Centerline goodness : 0.135530 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99963137 -0.00364917 -0.02690375 -0.72110192] [ 0.00355099 0.99998686 -0.00369628 -0.05438661] [ 0.02691688 0.00359938 0.99963119 -0.29914546] [ 0. 0. 0. 1. ]] SLAMing on 90.21313336499999 meters Centerline goodness : 0.133715 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.06, Z:-0.30 [[ 0.99967078 0.00389616 -0.02536041 -0.70380574] [-0.00403647 0.99997682 -0.00548352 -0.05982773] [ 0.02533846 0.00558408 0.99966333 -0.29664184] [ 0. 0. 0. 1. ]] SLAMing on 90.24313336499999 meters Centerline goodness : 0.134470 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.06, Z:-0.29 [[ 0.99969741 -0.00325866 -0.02438184 -0.6860116 ] [ 0.00316724 0.99998781 -0.00378689 -0.05517742] [ 0.02439388 0.00370852 0.99969555 -0.29448641] [ 0. 0. 0. 1. ]] SLAMing on 90.27313336499999 meters Centerline goodness : 0.113156 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99970527 0.00490319 -0.02377671 -0.70724935] [-0.00500318 0.99997888 -0.00414752 -0.0609305 ] [ 0.02375587 0.00426526 0.99970869 -0.2957396 ] [ 0. 0. 0. 1. ]] SLAMing on 90.303133365 meters Centerline goodness : 0.136087 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99970822 0.00489271 -0.02365463 -0.70744488] [-0.00499277 0.99997883 -0.00417304 -0.06091987] [ 0.02363371 0.00428993 0.99971148 -0.29590642] [ 0. 0. 0. 1. ]] SLAMing on 90.333133365 meters Centerline goodness : 0.125773 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.06, Z:-0.29 [[ 0.9996801 -0.00230211 -0.02518708 -0.68798161] [ 0.0022051 0.99999005 -0.00387867 -0.05615976] [ 0.02519576 0.00382189 0.99967523 -0.29482285] [ 0. 0. 0. 1. ]] SLAMing on 90.363133365 meters Centerline goodness : 0.130331 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99966672 0.00551654 -0.02521947 -0.70733938] [-0.00564066 0.99997231 -0.00485314 -0.06169893] [ 0.02519199 0.00499378 0.99967016 -0.29697842] [ 0. 0. 0. 1. ]] SLAMing on 90.393133365 meters Centerline goodness : 0.133247 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99966577 0.00554809 -0.0252499 -0.70711912] [-0.00567368 0.99997188 -0.00490484 -0.0612313 ] [ 0.02522198 0.00504646 0.99966914 -0.29723024] [ 0. 0. 0. 1. ]] SLAMing on 90.423133365 meters Centerline goodness : 0.135805 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99966742 0.00553302 -0.02518786 -0.70710168] [-0.00566062 0.99997149 -0.00499731 -0.06076779] [ 0.0251595 0.00513823 0.99967024 -0.2975272 ] [ 0. 0. 0. 1. ]] SLAMing on 90.453133365 meters Centerline goodness : 0.136185 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.9996725 0.00551234 -0.02499013 -0.70744504] [-0.00564222 0.99997093 -0.00512971 -0.06013416] [ 0.02496112 0.00526903 0.99967454 -0.29777289] [ 0. 0. 0. 1. ]] SLAMing on 90.48313336499999 meters Centerline goodness : 0.131158 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99969309 0.00557017 -0.02413896 -0.70958099] [-0.00570172 0.99996925 -0.00538425 -0.05828844] [ 0.02410823 0.00552024 0.99969411 -0.2976754 ] [ 0. 0. 0. 1. ]] SLAMing on 90.51313336499999 meters Centerline goodness : 0.129203 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99970309 0.00555381 -0.02372539 -0.71065075] [-0.00568656 0.99996853 -0.00553152 -0.05729526] [ 0.02369392 0.00566479 0.99970321 -0.2975886 ] [ 0. 0. 0. 1. ]] SLAMing on 90.54313336499999 meters Centerline goodness : 0.129720 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99970807 0.00551374 -0.02352404 -0.71109154] [-0.0056495 0.99996775 -0.00570861 -0.05625507] [ 0.02349181 0.00583984 0.99970697 -0.2977213 ] [ 0. 0. 0. 1. ]] SLAMing on 90.57313336499999 meters Centerline goodness : 0.129855 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99970817 0.0054398 -0.0235367 -0.71079688] [-0.00558087 0.99996683 -0.00593212 -0.05513977] [ 0.02350365 0.00606174 0.99970537 -0.2981936 ] [ 0. 0. 0. 1. ]] SLAMing on 90.60313336499999 meters Centerline goodness : 0.150255 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99968999 -0.00304912 -0.02471081 -0.72933763] [ 0.00293652 0.99998515 -0.00459184 -0.05173528] [ 0.02472445 0.00451785 0.9996841 -0.30063702] [ 0. 0. 0. 1. ]] SLAMing on 90.63313336499999 meters Centerline goodness : 0.131280 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99968554 -0.00306746 -0.024888 -0.72856472] [ 0.00295247 0.9999848 -0.00465587 -0.05146252] [ 0.0249019 0.00458093 0.9996794 -0.30124338] [ 0. 0. 0. 1. ]] SLAMing on 90.663133365 meters Centerline goodness : 0.131280 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99968554 -0.00306746 -0.024888 -0.72856472] [ 0.00295247 0.9999848 -0.00465587 -0.05146252] [ 0.0249019 0.00458093 0.9996794 -0.30124338] [ 0. 0. 0. 1. ]] SLAMing on 90.693133365 meters Centerline goodness : 0.129724 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99968754 -0.00316675 -0.02479496 -0.72902858] [ 0.00304749 0.99998361 -0.004846 -0.05074718] [ 0.02480989 0.00476893 0.99968081 -0.30091195] [ 0. 0. 0. 1. ]] SLAMing on 90.723133365 meters Centerline goodness : 0.130276 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99968897 -0.00319245 -0.02473404 -0.7294614 ] [ 0.00307117 0.99998308 -0.00493969 -0.05020027] [ 0.02474939 0.00486219 0.99968186 -0.3004877 ] [ 0. 0. 0. 1. ]] SLAMing on 90.753133365 meters Centerline goodness : 0.131056 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99968792 -0.00321846 -0.02477313 -0.72933171] [ 0.00309385 0.99998238 -0.00506684 -0.0493759 ] [ 0.024789 0.00498861 0.99968026 -0.30058548] [ 0. 0. 0. 1. ]] SLAMing on 90.783133365 meters Centerline goodness : 0.129000 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99968074 -0.00323537 -0.02505891 -0.72833747] [ 0.00310372 0.99998119 -0.00529068 -0.04794582] [ 0.02507555 0.00521122 0.99967198 -0.30112227] [ 0. 0. 0. 1. ]] SLAMing on 90.813133365 meters Centerline goodness : 0.130784 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99967549 -0.00328543 -0.02526122 -0.72740361] [ 0.00314467 0.99997932 -0.00560963 -0.04607388] [ 0.02527913 0.00552837 0.99966515 -0.30192794] [ 0. 0. 0. 1. ]] SLAMing on 90.843133365 meters Centerline goodness : 0.128995 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:-0.30 [[ 0.99967451 -0.00336501 -0.02528942 -0.72713452] [ 0.00321631 0.99997731 -0.00591828 -0.04445446] [ 0.02530876 0.00583502 0.99966265 -0.30231002] [ 0. 0. 0. 1. ]] SLAMing on 90.87313336499999 meters Centerline goodness : 0.130671 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:-0.30 [[ 0.99968077 -0.00349684 -0.02502245 -0.72786384] [ 0.00333853 0.99997416 -0.00636589 -0.04216298] [ 0.02504406 0.00628032 0.99966662 -0.30231843] [ 0. 0. 0. 1. ]] SLAMing on 90.90313336499999 meters Centerline goodness : 0.130882 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:-0.30 [[ 0.99967957 -0.00356794 -0.02506062 -0.72764665] [ 0.00340417 0.99997259 -0.00657427 -0.04101628] [ 0.02508339 0.00648686 0.99966432 -0.30258656] [ 0. 0. 0. 1. ]] SLAMing on 90.93313336499999 meters Centerline goodness : 0.137391 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:-0.30 [[ 0.99967384 -0.00362073 -0.02528035 -0.72692729] [ 0.00345023 0.99997103 -0.00678476 -0.03967631] [ 0.02530419 0.00669533 0.99965738 -0.30295006] [ 0. 0. 0. 1. ]] SLAMing on 90.96313336499999 meters Centerline goodness : 0.135251 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:-0.30 [[ 0.99967253 -0.00369131 -0.02532191 -0.72667884] [ 0.00351494 0.99996928 -0.00700608 -0.03832576] [ 0.02534699 0.00691478 0.9996548 -0.30323461] [ 0. 0. 0. 1. ]] SLAMing on 90.99313336499999 meters Centerline goodness : 0.141851 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:-0.30 [[ 0.99967456 -0.00377519 -0.0252294 -0.72699253] [ 0.00359399 0.99996745 -0.00722352 -0.0371073 ] [ 0.02525585 0.00713049 0.99965559 -0.30312568] [ 0. 0. 0. 1. ]] SLAMing on 91.02313336499999 meters Centerline goodness : 0.140301 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:-0.30 [[ 0.99967996 -0.00387101 -0.02499989 -0.72775558] [ 0.00368573 0.99996543 -0.00745317 -0.03582792] [ 0.02502788 0.00735865 0.99965967 -0.30281964] [ 0. 0. 0. 1. ]] SLAMing on 91.053133365 meters Centerline goodness : 0.136860 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:-0.30 [[ 0.99968657 -0.00403797 -0.02470734 -0.72889266] [ 0.00384237 0.99996094 -0.00795911 -0.03288597] [ 0.02473851 0.00786168 0.99966304 -0.30224517] [ 0. 0. 0. 1. ]] SLAMing on 91.083133365 meters Centerline goodness : 0.139891 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:-0.30 [[ 0.99968612 -0.00415854 -0.02470583 -0.72895811] [ 0.00395498 0.99995788 -0.0082826 -0.03118804] [ 0.02473923 0.00818229 0.99966045 -0.30220304] [ 0. 0. 0. 1. ]] SLAMing on 91.113133365 meters Centerline goodness : 0.131738 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:-0.30 [[ 0.99968543 -0.0042721 -0.02471431 -0.72896915] [ 0.00406007 0.99995458 -0.0086232 -0.02938614] [ 0.02475003 0.00852015 0.99965736 -0.30221791] [ 0. 0. 0. 1. ]] SLAMing on 91.143133365 meters Centerline goodness : 0.137261 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:-0.30 [[ 0.99968594 -0.00438069 -0.02467458 -0.72931489] [ 0.00416192 0.99995164 -0.00891046 -0.02789786] [ 0.02471242 0.00880497 0.99965583 -0.30185333] [ 0. 0. 0. 1. ]] SLAMing on 91.173133365 meters Centerline goodness : 0.145517 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:-0.30 [[ 0.99968889 -0.00462482 -0.02450986 -0.72988662] [ 0.00439363 0.99994543 -0.00947798 -0.02525114] [ 0.02455236 0.00936735 0.99965466 -0.30165011] [ 0. 0. 0. 1. ]] SLAMing on 91.203133365 meters Centerline goodness : 0.147195 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 0.99969746 0.00299078 -0.02441397 -0.74862099] [-0.00325512 0.99993643 -0.01079502 -0.03002104] [ 0.02438013 0.01087122 0.99964365 -0.30373489] [ 0. 0. 0. 1. ]] SLAMing on 91.23313336499999 meters Centerline goodness : 0.133432 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 0.99969565 0.00291916 -0.02449673 -0.74835207] [-0.00318736 0.99993534 -0.01091632 -0.02942058] [ 0.02446328 0.01099108 0.99964031 -0.30388015] [ 0. 0. 0. 1. ]] SLAMing on 91.26313336499999 meters Centerline goodness : 0.136821 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 0.99969324 0.00290904 -0.02459591 -0.74808164] [-0.00317834 0.99993536 -0.01091681 -0.02939084] [ 0.02456256 0.01099163 0.99963787 -0.30394372] [ 0. 0. 0. 1. ]] SLAMing on 91.29313336499999 meters Centerline goodness : 0.141049 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 0.99969188 0.00292276 -0.02464952 -0.74802283] [-0.00318962 0.99993666 -0.0107935 -0.03006841] [ 0.02461641 0.0108688 0.99963789 -0.30383622] [ 0. 0. 0. 1. ]] SLAMing on 91.32313336499999 meters Centerline goodness : 0.142517 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 0.99969803 0.00260021 -0.02443552 -0.74878868] [-0.00286248 0.99993861 -0.01070461 -0.03191767] [ 0.02440619 0.01077132 0.99964409 -0.30329652] [ 0. 0. 0. 1. ]] SLAMing on 91.35313336499999 meters Centerline goodness : 0.146671 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 0.9997034 0.00263757 -0.02421056 -0.74945589] [-0.00288895 0.99994222 -0.01035379 -0.03393616] [ 0.02418185 0.01042067 0.99965326 -0.30304132] [ 0. 0. 0. 1. ]] SLAMing on 91.38313336499999 meters Centerline goodness : 0.148565 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:-0.30 [[ 0.99970783 0.00270778 -0.02401906 -0.75007902] [-0.00294697 0.99994637 -0.0099285 -0.03628267] [ 0.02399089 0.00999638 0.9996622 -0.30272592] [ 0. 0. 0. 1. ]] SLAMing on 91.413133365 meters Centerline goodness : 0.153655 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:-0.30 [[ 0.99971275 0.00271025 -0.02381346 -0.7507268 ] [-0.00293815 0.99995017 -0.00954058 -0.03874479] [ 0.02378641 0.00960781 0.99967089 -0.30241665] [ 0. 0. 0. 1. ]] SLAMing on 91.443133365 meters Centerline goodness : 0.154138 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:-0.30 [[ 0.99971031 0.00264937 -0.0239223 -0.75043466] [-0.00286908 0.99995398 -0.00915458 -0.04162029] [ 0.02389695 0.00922056 0.9996719 -0.30240188] [ 0. 0. 0. 1. ]] SLAMing on 91.473133365 meters Centerline goodness : 0.153819 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:-0.30 [[ 0.99970347 0.00264324 -0.02420698 -0.74955695] [-0.00285443 0.99995813 -0.00869386 -0.04479184] [ 0.02418299 0.00876038 0.99966916 -0.3026833 ] [ 0. 0. 0. 1. ]] SLAMing on 91.503133365 meters Centerline goodness : 0.147347 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.05, Z:-0.30 [[ 0.99969492 0.0027297 -0.02454836 -0.74845227] [-0.00293065 0.99996246 -0.00815363 -0.04798455] [ 0.02452518 0.00822309 0.99966539 -0.30311856] [ 0. 0. 0. 1. ]] SLAMing on 91.533133365 meters Centerline goodness : 0.148121 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.05, Z:-0.30 [[ 0.99968888 0.00291916 -0.02477141 -0.74772938] [-0.00310699 0.99996669 -0.00754741 -0.05111453] [ 0.02474855 0.00762202 0.99966465 -0.3033847 ] [ 0. 0. 0. 1. ]] SLAMing on 91.563133365 meters Centerline goodness : 0.138876 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.05, Z:-0.30 [[ 0.99968711 0.00308292 -0.02482275 -0.74752287] [-0.00325928 0.99996971 -0.00706762 -0.05356137] [ 0.02480021 0.00714632 0.99966688 -0.30350973] [ 0. 0. 0. 1. ]] SLAMing on 91.593133365 meters Centerline goodness : 0.143119 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 0.99968693 0.00341856 -0.02478601 -0.74768802] [-0.00357484 0.99997399 -0.00626361 -0.05737058] [ 0.02476395 0.00635026 0.99967316 -0.30336713] [ 0. 0. 0. 1. ]] SLAMing on 91.62313336499999 meters Centerline goodness : 0.140144 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99967661 -0.00404196 -0.02510645 -0.72857823] [ 0.00391445 0.9999792 -0.00512557 -0.05409602] [ 0.02512664 0.00502563 0.99967164 -0.30172925] [ 0. 0. 0. 1. ]] SLAMing on 91.65313336499999 meters Centerline goodness : 0.140358 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.06, Z:-0.30 [[ 0.99967365 -0.0039719 -0.02523509 -0.72801719] [ 0.00384809 0.99998033 -0.00495309 -0.05505328] [ 0.02525427 0.00485437 0.99966927 -0.30213444] [ 0. 0. 0. 1. ]] SLAMing on 91.68313336499999 meters Centerline goodness : 0.142683 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.06, Z:-0.30 [[ 0.99967247 -0.00388342 -0.02529578 -0.72765897] [ 0.00376464 0.99998167 -0.00474178 -0.05612639] [ 0.02531373 0.004645 0.99966876 -0.30251236] [ 0. 0. 0. 1. ]] SLAMing on 91.71313336499999 meters Centerline goodness : 0.145660 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.06, Z:-0.30 [[ 0.99967091 -0.00377578 -0.02537341 -0.72735279] [ 0.00366302 0.99998321 -0.00448912 -0.05733144] [ 0.02538993 0.0043947 0.99966796 -0.30271741] [ 0. 0. 0. 1. ]] SLAMing on 91.74313336499999 meters Centerline goodness : 0.140026 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.06, Z:-0.30 [[ 0.99967038 -0.00364715 -0.02541331 -0.72709757] [ 0.00354333 0.9999852 -0.00412887 -0.05906626] [ 0.02542799 0.00403746 0.9996685 -0.30296116] [ 0. 0. 0. 1. ]] SLAMing on 91.77313336499999 meters Centerline goodness : 0.145116 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.06, Z:-0.30 [[ 0.99966982 -0.00357492 -0.02544561 -0.72698174] [ 0.00348064 0.99998692 -0.00374819 -0.06113638] [ 0.02545868 0.00365838 0.99966918 -0.30297445] [ 0. 0. 0. 1. ]] SLAMing on 91.803133365 meters Centerline goodness : 0.107294 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.07, Z:-0.30 [[ 0.99966378 -0.00439384 -0.02555433 -0.72661648] [ 0.00429721 0.99998341 -0.00383496 -0.06525423] [ 0.02557076 0.00372386 0.99966608 -0.30298808] [ 0. 0. 0. 1. ]] SLAMing on 91.833133365 meters Centerline goodness : 0.122042 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.07, Z:-0.30 [[ 0.99965446 -0.0044753 -0.02590229 -0.72572911] [ 0.0043872 0.9999844 -0.00345696 -0.06786003] [ 0.02591736 0.00334213 0.9996585 -0.30305426] [ 0. 0. 0. 1. ]] SLAMing on 91.863133365 meters Centerline goodness : 0.149636 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.30 [[ 0.9996463 -0.00443347 -0.02622257 -0.72492179] [ 0.00435631 0.99998601 -0.00299906 -0.0703122 ] [ 0.0262355 0.00288377 0.99965163 -0.30311031] [ 0. 0. 0. 1. ]] SLAMing on 91.893133365 meters Centerline goodness : 0.150635 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.30 [[ 0.99963975 -0.00434796 -0.02648524 -0.72408027] [ 0.00428196 0.99998759 -0.00254831 -0.07261379] [ 0.02649599 0.00243398 0.99964596 -0.30344316] [ 0. 0. 0. 1. ]] SLAMing on 91.923133365 meters Centerline goodness : 0.147299 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.30 [[ 0.99963704 -0.00429852 -0.02659541 -0.72383902] [ 0.0042418 0.99998861 -0.00218856 -0.07464831] [ 0.02660452 0.00207495 0.99964388 -0.30336021] [ 0. 0. 0. 1. ]] SLAMing on 91.953133365 meters Centerline goodness : 0.148131 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.30 [[ 0.99964042 -0.00428504 -0.02647034 -0.72440808] [ 0.00423707 0.99998928 -0.00186781 -0.07678551] [ 0.02647806 0.00175498 0.99964785 -0.3029592 ] [ 0. 0. 0. 1. ]] SLAMing on 91.98313336499999 meters Centerline goodness : 0.127839 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 0.99964697 -0.00437161 -0.02620732 -0.72545427] [ 0.00433037 0.99998929 -0.00163032 -0.07875053] [ 0.02621417 0.00151625 0.9996552 -0.30238335] [ 0. 0. 0. 1. ]] SLAMing on 92.01313336499999 meters Centerline goodness : 0.153772 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99656207e-01 -4.48952978e-03 -2.58323762e-02 -7.26847485e-01] [ 4.46258537e-03 9.99989437e-01 -1.10060306e-03 -8.24183825e-02] [ 2.58370445e-02 9.84945499e-04 9.99665683e-01 -3.01736780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04313336499999 meters Centerline goodness : 0.124379 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99656502e-01 -4.38102182e-03 -2.58395854e-02 -7.26758419e-01] [ 4.36094318e-03 9.99990144e-01 -8.33350562e-04 -8.36033825e-02] [ 2.58429817e-02 7.20379344e-04 9.99665755e-01 -3.01836180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07313336499999 meters Centerline goodness : 0.151225 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99659340e-01 -4.32517991e-03 -2.57390245e-02 -7.26927485e-01] [ 4.30955562e-03 9.99990494e-01 -6.62467829e-04 -8.44679153e-02] [ 2.57416451e-02 5.51318395e-04 9.99668477e-01 -3.01951500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10313336499999 meters Centerline goodness : 0.146556 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99657620e-01 -4.35622228e-03 -2.58005147e-02 -7.26853700e-01] [ 4.34024330e-03 9.99990353e-01 -6.75295417e-04 -8.47163385e-02] [ 2.58032075e-02 5.63083699e-04 9.99666883e-01 -3.01786813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13313336499999 meters Centerline goodness : 0.150136 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99655837e-01 -4.42100734e-03 -2.58584954e-02 -7.26767051e-01] [ 4.40181812e-03 9.99989993e-01 -7.98960583e-04 -8.43413007e-02] [ 2.58617688e-02 6.84861217e-04 9.99665294e-01 -3.01697120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.163133365 meters Centerline goodness : 0.142743 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 0.99966421 0.00387273 -0.02562169 -0.70746643] [-0.00391648 0.99999096 -0.00165774 -0.08819316] [ 0.02561504 0.00175753 0.99967034 -0.300406 ] [ 0. 0. 0. 1. ]] SLAMing on 92.193133365 meters Centerline goodness : 0.155391 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99655568e-01 -4.34539364e-03 -2.58817049e-02 -7.26474361e-01] [ 4.33943846e-03 9.99990544e-01 -2.86253645e-04 -8.25299240e-02] [ 2.58827040e-02 1.73842985e-04 9.99664972e-01 -3.02478206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.223133365 meters Centerline goodness : 0.154346 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.08, Z:-0.30 [[ 9.99652037e-01 4.34694044e-03 -2.60174944e-02 -7.07088617e-01] [-4.36772751e-03 9.99990186e-01 -7.42190019e-04 -8.35948577e-02] [ 2.60140128e-02 8.55569090e-04 9.99661212e-01 -3.01573019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.253133365 meters Centerline goodness : 0.125617 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.08, Z:-0.30 [[ 0.99965085 0.00419426 -0.02608818 -0.7066452 ] [-0.00422403 0.99999049 -0.00108629 -0.08200507] [ 0.02608338 0.0011961 0.99965906 -0.30204269] [ 0. 0. 0. 1. ]] SLAMing on 92.283133365 meters Centerline goodness : 0.156430 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.08, Z:-0.30 [[ 0.99964615 0.00399058 -0.02629919 -0.70600508] [-0.00403017 0.99999082 -0.00145286 -0.08058275] [ 0.02629315 0.00155834 0.99965306 -0.30226417] [ 0. 0. 0. 1. ]] SLAMing on 92.313133365 meters Centerline goodness : 0.134717 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.08, Z:-0.30 [[ 0.99964235 0.00380016 -0.02647117 -0.7055819 ] [-0.00384877 0.999991 -0.00178554 -0.07923164] [ 0.02646414 0.00188678 0.99964798 -0.30226702] [ 0. 0. 0. 1. ]] SLAMing on 92.343133365 meters Centerline goodness : 0.155459 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.08, Z:-0.30 [[ 0.99964506 0.00366832 -0.02638739 -0.70598384] [-0.00372284 0.99999104 -0.00201732 -0.07808511] [ 0.02637975 0.00211484 0.99964976 -0.30196785] [ 0. 0. 0. 1. ]] SLAMing on 92.37313336499999 meters Centerline goodness : 0.163506 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.08, Z:-0.30 [[ 0.99965333 0.00359182 -0.02608295 -0.70699501] [-0.00364949 0.999991 -0.00216366 -0.07717648] [ 0.02607494 0.0022581 0.99965744 -0.30156541] [ 0. 0. 0. 1. ]] SLAMing on 92.40313336499999 meters SLAMing on 92.43313336499999 meters Centerline goodness : 0.126115 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.07, Z:-0.30 [[ 0.99966514 -0.00559518 -0.02526469 -0.68768961] [ 0.00554138 0.99998223 -0.00219871 -0.06935029] [ 0.02527654 0.00205797 0.99967838 -0.29979425] [ 0. 0. 0. 1. ]] SLAMing on 92.46313336499999 meters Centerline goodness : 0.133987 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.07, Z:-0.30 [[ 0.99965989 -0.00573899 -0.02543936 -0.68716716] [ 0.00567898 0.99998092 -0.00243045 -0.06819332] [ 0.02545282 0.00228515 0.99967341 -0.29998787] [ 0. 0. 0. 1. ]] SLAMing on 92.49313336499999 meters Centerline goodness : 0.304326 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.07, Z:-0.30 [[ 0.99965625 -0.00584395 -0.0255583 -0.68686079] [ 0.00577824 0.99997981 -0.00264432 -0.06696705] [ 0.02557323 0.00249573 0.99966984 -0.3000614 ] [ 0. 0. 0. 1. ]] SLAMing on 92.52313336499999 meters Centerline goodness : 0.214942 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.07, Z:-0.30 [[ 0.99968991 0.00237638 -0.02478789 -0.66706303] [-0.00246622 0.9999905 -0.00359438 -0.06875776] [ 0.02477911 0.0036544 0.99968627 -0.29926655] [ 0. 0. 0. 1. ]] SLAMing on 92.553133365 meters Centerline goodness : 0.086093 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.07, Z:-0.30 [[ 0.99968484 0.00218472 -0.02500886 -0.66631447] [-0.00228206 0.99998993 -0.00386459 -0.06758279] [ 0.02500016 0.00392044 0.99967976 -0.29961684] [ 0. 0. 0. 1. ]] SLAMing on 92.583133365 meters Centerline goodness : 0.086093 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.07, Z:-0.30 [[ 0.99968484 0.00218472 -0.02500886 -0.66631447] [-0.00228206 0.99998993 -0.00386459 -0.06758279] [ 0.02500016 0.00392044 0.99967976 -0.29961684] [ 0. 0. 0. 1. ]] SLAMing on 92.613133365 meters Centerline goodness : 0.086688 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.07, Z:-0.30 [[ 0.99968065 0.00182923 -0.02520416 -0.66553479] [-0.00193963 0.99998863 -0.00435669 -0.06551893] [ 0.02519591 0.00440418 0.99967283 -0.30011502] [ 0. 0. 0. 1. ]] SLAMing on 92.643133365 meters Centerline goodness : 0.099744 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.06, Z:-0.30 [[ 0.99965854 -0.0064303 -0.0253269 -0.68526893] [ 0.00635065 0.99997464 -0.00322414 -0.05901188] [ 0.02534699 0.0030622 0.99967402 -0.3019083 ] [ 0. 0. 0. 1. ]] SLAMing on 92.673133365 meters Centerline goodness : 0.092985 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.06, Z:-0.30 [[ 0.99965895 -0.0065352 -0.0252838 -0.68541502] [ 0.00644996 0.99997324 -0.00345128 -0.05745678] [ 0.02530568 0.00328702 0.99967436 -0.30185342] [ 0. 0. 0. 1. ]] SLAMing on 92.703133365 meters Centerline goodness : 0.087230 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.06, Z:-0.30 [[ 0.9996594 -0.00667198 -0.02523049 -0.68558782] [ 0.00657963 0.99997135 -0.00374138 -0.05599661] [ 0.02525473 0.00357409 0.99967466 -0.30176228] [ 0. 0. 0. 1. ]] SLAMing on 92.73313336499999 meters Centerline goodness : 0.085996 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.05, Z:-0.30 [[ 0.99965796 -0.00680392 -0.02525195 -0.68559872] [ 0.0067043 0.99996942 -0.00402755 -0.0546784 ] [ 0.02527858 0.00385688 0.99967301 -0.30165782] [ 0. 0. 0. 1. ]] SLAMing on 92.76313336499999 meters Centerline goodness : 0.086767 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.05, Z:-0.30 [[ 0.99965378 -0.00694426 -0.02537915 -0.68529131] [ 0.00683713 0.99996736 -0.00430557 -0.05345131] [ 0.02540822 0.00413056 0.99966863 -0.3016838 ] [ 0. 0. 0. 1. ]] SLAMing on 92.79313336499999 meters Centerline goodness : 0.086768 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.05, Z:-0.30 [[ 0.99964953 -0.00700143 -0.0255302 -0.68481935] [ 0.00688994 0.99996635 -0.00445269 -0.05259753] [ 0.02556051 0.00427523 0.99966413 -0.30184347] [ 0. 0. 0. 1. ]] SLAMing on 92.82313336499999 meters Centerline goodness : 0.096786 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.05, Z:-0.30 [[ 0.99964521 -0.00703155 -0.02569081 -0.68432448] [ 0.00691712 0.99996577 -0.00454046 -0.0519827 ] [ 0.02572186 0.00436115 0.99965963 -0.30204526] [ 0. 0. 0. 1. ]] SLAMing on 92.85313336499999 meters Centerline goodness : 0.125043 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.05, Z:-0.30 [[ 0.99964465 -0.00710576 -0.02569217 -0.68429371] [ 0.00698948 0.99996493 -0.00461318 -0.05170999] [ 0.02572405 0.00443197 0.99965926 -0.30212595] [ 0. 0. 0. 1. ]] SLAMing on 92.88313336499999 meters Centerline goodness : 0.087380 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.06, Z:-0.30 [[ 9.99666382e-01 9.89510429e-04 -2.58097951e-02 -7.04265732e-01] [-1.13219166e-03 9.99984156e-01 -5.51415399e-03 -5.60148625e-02] [ 2.58039299e-02 5.54153600e-03 9.99651664e-01 -3.03790489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.913133365 meters Centerline goodness : 0.101353 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.06, Z:-0.30 [[ 9.99667748e-01 9.98661744e-04 -2.57564671e-02 -7.04268778e-01] [-1.13938213e-03 9.99984503e-01 -5.44940033e-03 -5.63776955e-02] [ 2.57506258e-02 5.47693622e-03 9.99653394e-01 -3.04023291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.943133365 meters Centerline goodness : 0.097340 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.06, Z:-0.30 [[ 0.99966809 0.00103601 -0.02574177 -0.70430252] [-0.00117387 0.99998505 -0.00534108 -0.05685547] [ 0.02573585 0.00536952 0.99965436 -0.3040639 ] [ 0. 0. 0. 1. ]] SLAMing on 92.973133365 meters Centerline goodness : 0.094582 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.06, Z:-0.30 [[ 0.99966773 0.00105951 -0.0257547 -0.70418064] [-0.00119512 0.9999855 -0.0052505 -0.05727202] [ 0.02574877 0.00527954 0.9996545 -0.30425627] [ 0. 0. 0. 1. ]] SLAMing on 93.003133365 meters SLAMing on 93.033133365 meters Centerline goodness : 0.093932 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.06, Z:-0.30 [[ 0.99964935 0.00108433 -0.02645767 -0.70212434] [-0.00121564 0.99998702 -0.00494733 -0.05902222] [ 0.02645196 0.00497776 0.99963769 -0.30488916] [ 0. 0. 0. 1. ]] SLAMing on 93.063133365 meters SLAMing on 93.093133365 meters Centerline goodness : 0.179146 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.06, Z:-0.31 [[ 0.99964153 0.00113483 -0.02674928 -0.70127452] [-0.00126078 0.9999882 -0.00469221 -0.06069618] [ 0.02674363 0.00472425 0.99963116 -0.3051481 ] [ 0. 0. 0. 1. ]] SLAMing on 93.12313336499999 meters Centerline goodness : 0.115880 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.31 [[ 9.99576708e-01 9.11331849e-04 -2.90787663e-02 -7.46917376e-01] [-1.04424780e-03 9.99989076e-01 -4.55603519e-03 -6.00452220e-02] [ 2.90742965e-02 4.58447210e-03 9.99566740e-01 -3.05093619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15313336499999 meters Centerline goodness : 0.095652 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99578519e-01 9.41531659e-04 -2.90154887e-02 -7.47183383e-01] [-1.07343857e-03 9.99989160e-01 -4.53084516e-03 -5.99821728e-02] [ 2.90109082e-02 4.56008184e-03 9.99568693e-01 -3.04909888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18313336499999 meters Centerline goodness : 0.086722 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99581285e-01 9.49833362e-04 -2.89197681e-02 -7.47501866e-01] [-1.08188720e-03 9.99989059e-01 -4.55090863e-03 -5.98478405e-02] [ 2.89151291e-02 4.58029102e-03 9.99571376e-01 -3.04781350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21313336499999 meters Centerline goodness : 0.100251 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99580870e-01 9.02820308e-04 -2.89356112e-02 -7.47519140e-01] [-1.03854533e-03 9.99988529e-01 -4.67590253e-03 -5.92896310e-02] [ 2.89310578e-02 4.70399366e-03 9.99570341e-01 -3.04658627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24313336499999 meters Centerline goodness : 0.097686 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99579202e-01 8.81024441e-04 -2.89938520e-02 -7.47456850e-01] [-1.01970032e-03 9.99988111e-01 -4.76850286e-03 -5.87685341e-02] [ 2.89893061e-02 4.79606132e-03 9.99568216e-01 -3.04540720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27313336499999 meters Centerline goodness : 0.117026 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99581227e-01 8.57939251e-04 -2.89246280e-02 -7.47869171e-01] [-1.00387431e-03 9.99986839e-01 -5.03121264e-03 -5.71486953e-02] [ 2.89199309e-02 5.05814239e-03 9.99568933e-01 -3.04125462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.303133365 meters Centerline goodness : 0.325641 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99582435e-01 8.17201330e-04 -2.88840569e-02 -7.48014528e-01] [-9.69877761e-04 9.99985631e-01 -5.27222289e-03 -5.57676274e-02] [ 2.88793334e-02 5.29803540e-03 9.99568865e-01 -3.03993564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.333133365 meters Centerline goodness : 0.039749 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 0.99950735 0.00105024 -0.03136809 -0.7935871 ] [-0.00121117 0.9999862 -0.00511184 -0.05258676] [ 0.03136229 0.00514731 0.99949483 -0.3039877 ] [ 0. 0. 0. 1. ]] SLAMing on 93.363133365 meters Centerline goodness : 0.098591 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 0.99950925 0.00101544 -0.03130844 -0.79365142] [-0.00118495 0.99998474 -0.00539601 -0.0508547 ] [ 0.03130249 0.00543046 0.9994952 -0.30411044] [ 0. 0. 0. 1. ]] SLAMing on 93.393133365 meters Centerline goodness : 0.125171 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 0.99951544 0.0010313 -0.03110992 -0.79420307] [-0.0012088 0.9999831 -0.00568727 -0.0489215 ] [ 0.03110353 0.00572212 0.99949979 -0.30393796] [ 0. 0. 0. 1. ]] SLAMing on 93.423133365 meters Centerline goodness : 0.101472 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:-0.30 [[ 0.99952469 0.00102479 -0.03081132 -0.79507421] [-0.00121154 0.99998101 -0.00604306 -0.04677105] [ 0.03080454 0.00607752 0.99950695 -0.3036241 ] [ 0. 0. 0. 1. ]] SLAMing on 93.453133365 meters Centerline goodness : 0.087331 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.99952876 0.00358663 -0.03048599 -0.79767472] [-0.0037178 0.99998407 -0.00424694 -0.04174984] [ 0.03047027 0.00435827 0.99952617 -0.30163493] [ 0. 0. 0. 1. ]] SLAMing on 93.48313336499999 meters Centerline goodness : 0.164676 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.99952895 0.00355184 -0.03048391 -0.79758872] [-0.00369349 0.99998264 -0.0045918 -0.03958762] [ 0.03046707 0.00470223 0.99952471 -0.30179551] [ 0. 0. 0. 1. ]] SLAMing on 93.51313336499999 meters Centerline goodness : 0.087118 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.9995286 0.00350926 -0.03050025 -0.79725787] [-0.00366033 0.9999813 -0.00489849 -0.03769289] [ 0.03048249 0.00500782 0.99952276 -0.30224383] [ 0. 0. 0. 1. ]] SLAMing on 93.54313336499999 meters Centerline goodness : 0.087153 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.99952966 0.003516 -0.03046466 -0.79720308] [-0.00367285 0.99998028 -0.00509416 -0.03623642] [ 0.03044615 0.00520365 0.99952286 -0.30247924] [ 0. 0. 0. 1. ]] SLAMing on 93.57313336499999 meters Centerline goodness : 0.085392 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.9995525 -0.00379123 -0.02967197 -0.7794118 ] [ 0.00368586 0.99998671 -0.00360491 -0.03094418] [ 0.02968524 0.00349393 0.99955319 -0.30036817] [ 0. 0. 0. 1. ]] SLAMing on 93.60313336499999 meters Centerline goodness : 0.095944 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99956395 -0.00376212 -0.02928745 -0.78072116] [ 0.00365475 0.99998641 -0.0037187 -0.02994803] [ 0.02930105 0.00361004 0.99956411 -0.29977709] [ 0. 0. 0. 1. ]] SLAMing on 93.63313336499999 meters SLAMing on 93.663133365 meters Centerline goodness : 0.117508 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99957208 -0.00349211 -0.02904258 -0.78141738] [ 0.00337619 0.99998614 -0.00403944 -0.0271555 ] [ 0.02905629 0.00393966 0.99957001 -0.2996254 ] [ 0. 0. 0. 1. ]] SLAMing on 93.693133365 meters Centerline goodness : 0.086841 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99956817 -0.00355591 -0.02916904 -0.78100345] [ 0.00343116 0.99998476 -0.00432595 -0.02559361] [ 0.02918397 0.004224 0.99956513 -0.29976855] [ 0. 0. 0. 1. ]] SLAMing on 93.723133365 meters Centerline goodness : 0.112486 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99956721 -0.00361934 -0.02919419 -0.78085147] [ 0.00348707 0.99998343 -0.00458053 -0.02427942] [ 0.02921028 0.00447675 0.99956326 -0.29996251] [ 0. 0. 0. 1. ]] SLAMing on 93.753133365 meters Centerline goodness : 0.106330 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99956505 -0.00362237 -0.02926747 -0.78058063] [ 0.00348529 0.99998272 -0.00473339 -0.02315769] [ 0.02928411 0.00462933 0.99956041 -0.30011346] [ 0. 0. 0. 1. ]] SLAMing on 93.783133365 meters SLAMing on 93.813133365 meters Centerline goodness : 0.124673 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99955621 -0.00341994 -0.02959215 -0.77962482] [ 0.00328105 0.99998338 -0.00474075 -0.02205466] [ 0.02960787 0.00464156 0.99955081 -0.30041549] [ 0. 0. 0. 1. ]] SLAMing on 93.843133365 meters Centerline goodness : 0.125127 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.9995482 -0.00348743 -0.02985347 -0.77843751] [ 0.00334323 0.99998251 -0.00487881 -0.02192319] [ 0.02986996 0.0047768 0.99954238 -0.30129968] [ 0. 0. 0. 1. ]] SLAMing on 93.87313336499999 meters Centerline goodness : 0.107681 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99954475 -0.00351636 -0.02996537 -0.77798078] [ 0.00337001 0.99998215 -0.00493333 -0.02187193] [ 0.02998218 0.0048301 0.99953876 -0.30160296] [ 0. 0. 0. 1. ]] SLAMing on 93.90313336499999 meters Centerline goodness : 0.162859 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99954065 -0.00346996 -0.03010718 -0.77769271] [ 0.00332356 0.99998242 -0.00491133 -0.02176337] [ 0.0301237 0.00480901 0.99953461 -0.30157202] [ 0. 0. 0. 1. ]] SLAMing on 93.93313336499999 meters Centerline goodness : 0.130216 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99953556 -0.00335277 -0.03028897 -0.77722884] [ 0.00320706 0.99998306 -0.00485778 -0.02147193] [ 0.03030474 0.00475839 0.99952938 -0.3016233 ] [ 0. 0. 0. 1. ]] SLAMing on 93.96313336499999 meters Centerline goodness : 0.166884 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99953209 -0.00329719 -0.03040947 -0.77687564] [ 0.00315068 0.9999832 -0.00486457 -0.0211731 ] [ 0.030425 0.00476648 0.99952569 -0.30171071] [ 0. 0. 0. 1. ]] SLAMing on 93.99313336499999 meters Centerline goodness : 0.110998 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99952928 -0.0032903 -0.03050244 -0.77647073] [ 0.00314134 0.99998291 -0.00493029 -0.02089533] [ 0.03051814 0.00483216 0.99952253 -0.30203061] [ 0. 0. 0. 1. ]] SLAMing on 94.02313336499999 meters Centerline goodness : 0.211392 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99952855 -0.00318615 -0.03053724 -0.77627148] [ 0.00303813 0.99998342 -0.00489214 -0.02096511] [ 0.03055232 0.00479705 0.99952166 -0.30224753] [ 0. 0. 0. 1. ]] SLAMing on 94.053133365 meters Centerline goodness : 0.108512 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99952979 -0.0030343 -0.030512 -0.77631754] [ 0.00289165 0.99998469 -0.00471802 -0.02138645] [ 0.03052585 0.00462757 0.99952327 -0.30233266] [ 0. 0. 0. 1. ]] SLAMing on 94.083133365 meters Centerline goodness : 0.111772 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99952871 -0.00291861 -0.03055871 -0.77625678] [ 0.00278152 0.99998588 -0.00452768 -0.02211912] [ 0.03057149 0.00444055 0.99952272 -0.30228055] [ 0. 0. 0. 1. ]] SLAMing on 94.113133365 meters Centerline goodness : 0.108447 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.9995305 -0.00281587 -0.03050984 -0.77650878] [ 0.00268616 0.99998718 -0.00429175 -0.0233368 ] [ 0.03052153 0.00420778 0.99952525 -0.30206308] [ 0. 0. 0. 1. ]] SLAMing on 94.143133365 meters Centerline goodness : 0.154987 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99953233 -0.0027173 -0.03045894 -0.77685022] [ 0.00259707 0.99998868 -0.0039862 -0.02512142] [ 0.03046942 0.00390523 0.99952807 -0.30171759] [ 0. 0. 0. 1. ]] SLAMing on 94.173133365 meters Centerline goodness : 0.109128 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99953586 -0.00257695 -0.03035495 -0.77736432] [ 0.00246843 0.99999043 -0.00361206 -0.02719665] [ 0.03036397 0.00353546 0.99953266 -0.30131781] [ 0. 0. 0. 1. ]] SLAMing on 94.203133365 meters Centerline goodness : 0.152032 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99954229 -0.00216445 -0.03017507 -0.77792853] [ 0.00208403 0.99999419 -0.00269623 -0.03136308] [ 0.03018073 0.00263211 0.99954099 -0.30109515] [ 0. 0. 0. 1. ]] SLAMing on 94.23313336499999 meters Centerline goodness : 0.107168 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99954637 -0.00196305 -0.03005334 -0.77808189] [ 0.00189533 0.9999956 -0.00228149 -0.03319819] [ 0.03005769 0.00222349 0.99954569 -0.30128983] [ 0. 0. 0. 1. ]] SLAMing on 94.26313336499999 meters Centerline goodness : 0.154814 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99954859 -0.00180265 -0.02998933 -0.77822967] [ 0.00174517 0.99999659 -0.00194265 -0.03485134] [ 0.02999273 0.00188944 0.99954833 -0.30129126] [ 0. 0. 0. 1. ]] SLAMing on 94.29313336499999 meters Centerline goodness : 0.147524 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 0.99955081 -0.00167138 -0.02992304 -0.77838596] [ 0.00162118 0.99999724 -0.00170186 -0.03601681] [ 0.0299258 0.00165258 0.99955076 -0.30130777] [ 0. 0. 0. 1. ]] SLAMing on 94.32313336499999 meters Centerline goodness : 0.165071 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 0.99955025 -0.00153245 -0.02994901 -0.77827819] [ 0.0014872 0.99999772 -0.00153295 -0.03673074] [ 0.02995129 0.00148772 0.99955025 -0.30142144] [ 0. 0. 0. 1. ]] SLAMing on 94.35313336499999 meters Centerline goodness : 0.126728 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 0.99955375 -0.00138163 -0.02983939 -0.77846898] [ 0.00134223 0.9999982 -0.00134036 -0.03739447] [ 0.02984119 0.00129971 0.99955381 -0.30157429] [ 0. 0. 0. 1. ]] SLAMing on 94.38313336499999 meters Centerline goodness : 0.164882 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 0.99956124 -0.00120839 -0.02959505 -0.77910821] [ 0.00117667 0.99999871 -0.00108898 -0.03835751] [ 0.02959633 0.00105368 0.99956138 -0.30149287] [ 0. 0. 0. 1. ]] SLAMing on 94.413133365 meters Centerline goodness : 0.142948 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 9.99565315e-01 -9.89721114e-04 -2.94652462e-02 -7.79600879e-01] [ 9.73259284e-04 9.99999362e-01 -5.73022859e-04 -4.11042180e-02] [ 2.94657946e-02 5.44096450e-04 9.99565641e-01 -3.01238079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.443133365 meters Centerline goodness : 0.123275 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 9.99557746e-01 -8.99183598e-04 -2.97237936e-02 -7.78848498e-01] [ 8.91466073e-04 9.99999565e-01 -2.72892081e-04 -4.28302249e-02] [ 2.97240260e-02 2.46273640e-04 9.99558113e-01 -3.01450208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.473133365 meters Centerline goodness : 0.123275 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 9.99557746e-01 -8.99183598e-04 -2.97237936e-02 -7.78848498e-01] [ 8.91466073e-04 9.99999565e-01 -2.72892081e-04 -4.28302249e-02] [ 2.97240260e-02 2.46273640e-04 9.99558113e-01 -3.01450208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.503133365 meters Centerline goodness : 0.122303 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 9.99551832e-01 -7.78221383e-04 -2.99253982e-02 -7.78004620e-01] [ 7.80487606e-04 9.99999693e-01 6.40483415e-05 -4.45589717e-02] [ 2.99253391e-02 -8.73760395e-05 9.99552133e-01 -3.02009844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.533133365 meters Centerline goodness : 0.166711 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:-0.30 [[ 9.99521444e-01 6.81398472e-03 -3.01736954e-02 -7.96897066e-01] [-6.84540447e-03 9.99976130e-01 -9.38118431e-04 -5.17675412e-02] [ 3.01665829e-02 1.14422064e-03 9.99544230e-01 -3.04236222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.563133365 meters Centerline goodness : 0.102773 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 9.99563674e-01 -8.43537236e-04 -2.95254104e-02 -7.77861332e-01] [ 8.53297045e-04 9.99999585e-01 3.17958100e-04 -4.88078284e-02] [ 2.95251300e-02 -3.43013313e-04 9.99563979e-01 -3.02659494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.593133365 meters Centerline goodness : 0.140208 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 9.99570300e-01 -6.87713178e-04 -2.93042908e-02 -7.78665597e-01] [ 7.10737169e-04 9.99999447e-01 7.75277856e-04 -5.12444732e-02] [ 2.93037415e-02 -7.95772368e-04 9.99570236e-01 -3.02171507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62313336499999 meters Centerline goodness : 0.121380 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 9.99570851e-01 -5.87451805e-04 -2.92877061e-02 -7.78797228e-01] [ 6.17889191e-04 9.99999278e-01 1.03021531e-03 -5.25319693e-02] [ 2.92870798e-02 -1.04786975e-03 9.99570492e-01 -3.02020053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65313336499999 meters Centerline goodness : 0.140129 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:-0.30 [[ 9.99557738e-01 6.95767647e-03 -2.89122521e-02 -7.97998024e-01] [-6.95908247e-03 9.99975784e-01 5.19935086e-05 -5.92654253e-02] [ 2.89119137e-02 1.49232233e-04 9.99581952e-01 -3.04099628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68313336499999 meters Centerline goodness : 0.124455 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:-0.30 [[ 9.99559103e-01 7.01726337e-03 -2.88506058e-02 -7.98119854e-01] [-7.01435119e-03 9.99975379e-01 2.02145422e-04 -6.00661765e-02] [ 2.88513140e-02 3.11983946e-07 9.99583714e-01 -3.04145163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71313336499999 meters Centerline goodness : 0.149006 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:-0.30 [[ 9.99560585e-01 7.04203119e-03 -2.87931572e-02 -7.98166108e-01] [-7.03672210e-03 9.99975201e-01 2.85710063e-04 -6.06512317e-02] [ 2.87944552e-02 -8.29750723e-05 9.99585350e-01 -3.04329211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74313336499999 meters Centerline goodness : 0.136865 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:-0.30 [[ 9.99561597e-01 7.01670836e-03 -2.87642121e-02 -7.97976042e-01] [-7.01289218e-03 9.99975382e-01 2.33551573e-04 -6.06082387e-02] [ 2.87651427e-02 -3.17288655e-05 9.99586197e-01 -3.04763161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77313336499999 meters Centerline goodness : 0.135707 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:-0.31 [[ 9.99563453e-01 6.99204203e-03 -2.87056572e-02 -7.97876964e-01] [-6.98976862e-03 9.99975555e-01 1.79541217e-04 -6.04705401e-02] [ 2.87062109e-02 2.11830634e-05 9.99587892e-01 -3.05159884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.803133365 meters Centerline goodness : 0.135574 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:-0.31 [[ 9.99564529e-01 6.98834332e-03 -2.86690846e-02 -7.97904768e-01] [-6.98678770e-03 9.99975580e-01 1.54435032e-04 -6.04085514e-02] [ 2.86694638e-02 4.59370281e-05 9.99588945e-01 -3.05300702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.833133365 meters Centerline goodness : 0.146158 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.06, Z:-0.30 [[ 9.99605355e-01 -5.08646425e-04 -2.80869355e-02 -7.79035565e-01] [ 5.50227295e-04 9.99998764e-01 1.47272579e-03 -5.68060618e-02] [ 2.80861517e-02 -1.48759879e-03 9.99604399e-01 -3.03226340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.863133365 meters Centerline goodness : 0.149332 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.06, Z:-0.30 [[ 9.99602660e-01 -4.64345583e-04 -2.81834422e-02 -7.78881523e-01] [ 5.09526729e-04 9.99998597e-01 1.59594923e-03 -5.74453403e-02] [ 2.81826615e-02 -1.60967531e-03 9.99601494e-01 -3.03110710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.893133365 meters Centerline goodness : 0.144655 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.06, Z:-0.30 [[ 9.99599990e-01 -4.48913507e-04 -2.82782451e-02 -7.78665427e-01] [ 4.97866586e-04 9.99998390e-01 1.72410453e-03 -5.83306365e-02] [ 2.82774256e-02 -1.73749366e-03 9.99598604e-01 -3.03075022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.923133365 meters Centerline goodness : 0.134086 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.06, Z:-0.30 [[ 9.99597629e-01 -4.04060377e-04 -2.83622256e-02 -7.78504221e-01] [ 4.57658792e-04 9.99998122e-01 1.88331574e-03 -5.92948594e-02] [ 2.83614113e-02 -1.89553817e-03 9.99595937e-01 -3.02998656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.953133365 meters Centerline goodness : 0.134832 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.06, Z:-0.30 [[ 9.99595283e-01 -3.84259492e-04 -2.84450657e-02 -7.78224192e-01] [ 4.41153076e-04 9.99997915e-01 1.99387282e-03 -6.00139568e-02] [ 2.84442402e-02 -2.00561449e-03 9.99593369e-01 -3.03103481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98313336499999 meters Centerline goodness : 0.147359 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.06, Z:-0.30 [[ 9.99591341e-01 -3.14474768e-04 -2.85841332e-02 -7.77769195e-01] [ 3.77050445e-04 9.99997544e-01 2.18381168e-03 -6.09766136e-02] [ 2.85833763e-02 -2.19369691e-03 9.99589005e-01 -3.03288139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01313336499999 meters Centerline goodness : 0.145322 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.06, Z:-0.30 [[ 9.99583508e-01 -1.41687833e-04 -2.88581166e-02 -7.76820854e-01] [ 2.18912965e-04 9.99996404e-01 2.67288633e-03 -6.34768931e-02] [ 2.88576341e-02 -2.67809051e-03 9.99579944e-01 -3.03708714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04313336499999 meters Centerline goodness : 0.136925 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.07, Z:-0.30 [[ 9.99586100e-01 -4.47585795e-05 -2.87685161e-02 -7.77232795e-01] [ 1.30654049e-04 9.99995540e-01 2.98387275e-03 -6.51893366e-02] [ 2.87682542e-02 -2.98639645e-03 9.99581647e-01 -3.03372551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07313336499999 meters Centerline goodness : 0.145736 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.07, Z:-0.30 [[ 9.99587407e-01 5.12909535e-05 -2.87230518e-02 -7.77565368e-01] [ 4.38469518e-05 9.99994516e-01 3.31160957e-03 -6.70218284e-02] [ 2.87230641e-02 -3.31150264e-03 9.99581922e-01 -3.02986375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10313336499999 meters Centerline goodness : 0.147026 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.07, Z:-0.30 [[ 9.99584177e-01 1.60937022e-04 -2.88348341e-02 -7.77392246e-01] [-5.66786054e-05 9.99993459e-01 3.61649147e-03 -6.86294245e-02] [ 2.88352275e-02 -3.61335333e-03 9.99577647e-01 -3.02816771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13313336499999 meters Centerline goodness : 0.153598 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.07, Z:-0.30 [[ 9.99582631e-01 2.78604033e-04 -2.88874819e-02 -7.77214539e-01] [-1.64872165e-04 9.99992227e-01 3.93937124e-03 -7.02878170e-02] [ 2.88883549e-02 -3.93296432e-03 9.99574907e-01 -3.02888350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.163133365 meters Centerline goodness : 0.148698 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.07, Z:-0.30 [[ 9.99583914e-01 4.13280725e-04 -2.88414210e-02 -7.77167840e-01] [-2.89965454e-04 9.99990800e-01 4.27968232e-03 -7.19865239e-02] [ 2.88429244e-02 -4.26953859e-03 9.99574838e-01 -3.03119446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.193133365 meters Centerline goodness : 0.141077 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.08, Z:-0.30 [[ 0.99960915 0.00751354 -0.02692739 -0.75650059] [-0.00746173 0.99997011 0.00202412 -0.07689427] [ 0.02694179 -0.0018224 0.99963534 -0.3028751 ] [ 0. 0. 0. 1. ]] SLAMing on 95.223133365 meters Centerline goodness : 0.138469 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.08, Z:-0.30 [[ 0.99961283 0.00765514 -0.02675032 -0.75709212] [-0.00759481 0.99996838 0.00235594 -0.07851277] [ 0.02676751 -0.00215187 0.99963937 -0.30263425] [ 0. 0. 0. 1. ]] SLAMing on 95.253133365 meters Centerline goodness : 0.142473 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.08, Z:-0.30 [[ 0.99961518 0.00781024 -0.0266175 -0.75751124] [-0.00774071 0.99996636 0.00271441 -0.08017245] [ 0.02663781 -0.00250732 0.99964201 -0.30249421] [ 0. 0. 0. 1. ]] SLAMing on 95.283133365 meters Centerline goodness : 0.139619 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.08, Z:-0.30 [[ 0.99961524 0.00794848 -0.02657449 -0.75760439] [-0.00787065 0.99996443 0.0030319 -0.08174246] [ 0.02659765 -0.00282158 0.99964224 -0.30247806] [ 0. 0. 0. 1. ]] SLAMing on 95.313133365 meters SLAMing on 95.343133365 meters SLAMing on 95.37313336499999 meters Centerline goodness : 0.139047 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.30 [[ 0.9995906 0.00659768 -0.02784063 -0.752486 ] [-0.00654169 0.99997639 0.00210168 -0.08844114] [ 0.02785384 -0.0019187 0.99961017 -0.30467468] [ 0. 0. 0. 1. ]] SLAMing on 95.40313336499999 meters Centerline goodness : 0.138387 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99606712e-01 -4.47938613e-04 -2.80396393e-02 -7.33849011e-01] [ 5.38734468e-04 9.99994636e-01 3.23065422e-03 -8.41148366e-02] [ 2.80380418e-02 -3.24448956e-03 9.99601591e-01 -3.03012579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43313336499999 meters Centerline goodness : 0.115935 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99611964e-01 -3.64763992e-04 -2.78529665e-02 -7.34330995e-01] [ 4.58541556e-04 9.99994248e-01 3.36056598e-03 -8.47996639e-02] [ 2.78515804e-02 -3.37203370e-03 9.99606382e-01 -3.02952580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46313336499999 meters Centerline goodness : 0.138706 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 0.99961452 0.00795548 -0.02659913 -0.71478659] [-0.00791143 0.99996715 0.0017611 -0.08805106] [ 0.02661227 -0.00154999 0.99964463 -0.30154951] [ 0. 0. 0. 1. ]] SLAMing on 95.49313336499999 meters Centerline goodness : 0.146053 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 0.99961526 0.00802949 -0.02654911 -0.71481131] [-0.00798183 0.99996634 0.00190034 -0.08877721] [ 0.02656347 -0.0016877 0.9996457 -0.30172794] [ 0. 0. 0. 1. ]] SLAMing on 95.52313336499999 meters Centerline goodness : 0.141480 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 0.99961199 0.00813772 -0.02663913 -0.71426231] [-0.008086 0.99996521 0.0020487 -0.08925897] [ 0.02665488 -0.00183251 0.99964302 -0.30230884] [ 0. 0. 0. 1. ]] SLAMing on 95.553133365 meters Centerline goodness : 0.164848 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 0.99960008 0.00835877 -0.02701513 -0.71273601] [-0.00829808 0.99996279 0.00235787 -0.09040462] [ 0.02703383 -0.00213275 0.99963224 -0.3033329 ] [ 0. 0. 0. 1. ]] SLAMing on 95.583133365 meters Centerline goodness : 0.166226 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 0.99959487 0.00841223 -0.02719077 -0.71216291] [-0.00834576 0.9999619 0.00255737 -0.09164211] [ 0.02721125 -0.00232941 0.99962699 -0.30359691] [ 0. 0. 0. 1. ]] SLAMing on 95.613133365 meters Centerline goodness : 0.089109 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 9.99622420e-01 5.31012456e-03 -2.69596003e-02 -7.12569673e-01] [-5.32501915e-03 9.99985706e-01 -4.80714332e-04 -9.22148929e-02] [ 2.69566623e-02 6.24093211e-04 9.99636408e-01 -3.03890501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.643133365 meters Centerline goodness : 0.166118 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 9.99623080e-01 5.42918628e-03 -2.69113819e-02 -7.12917123e-01] [-5.43275086e-03 9.99985241e-01 -5.93428505e-05 -9.44525235e-02] [ 2.69106625e-02 2.05523316e-04 9.99637821e-01 -3.03479779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.673133365 meters Centerline goodness : 0.141768 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.10, Z:-0.30 [[ 9.99626643e-01 5.59520650e-03 -2.67444880e-02 -7.13548002e-01] [-5.58495869e-03 9.99984299e-01 4.57856736e-04 -9.71599997e-02] [ 2.67466299e-02 -3.08318932e-04 9.99642197e-01 -3.03115333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.703133365 meters Centerline goodness : 0.146392 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.10, Z:-0.30 [[ 9.99628376e-01 5.72693777e-03 -2.66516709e-02 -7.13867696e-01] [-5.70287194e-03 9.99983259e-01 9.78898480e-04 -9.99506114e-02] [ 2.66568309e-02 -8.26543632e-04 9.99644302e-01 -3.02866983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73313336499999 meters Centerline goodness : 0.117212 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.10, Z:-0.30 [[ 0.99964903 0.00202015 -0.02641467 -0.71423268] [-0.00207652 0.99999562 -0.00210685 -0.10391249] [ 0.02641029 0.00216097 0.99964885 -0.30312827] [ 0. 0. 0. 1. ]] SLAMing on 95.76313336499999 meters Centerline goodness : 0.138557 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.11, Z:-0.30 [[ 0.99964637 0.00217712 -0.02650274 -0.71397237] [-0.00222246 0.99999612 -0.00168129 -0.10601929] [ 0.02649898 0.00173959 0.99964733 -0.30318161] [ 0. 0. 0. 1. ]] SLAMing on 95.79313336499999 meters Centerline goodness : 0.148925 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.11, Z:-0.30 [[ 0.9996485 0.00234866 -0.02640743 -0.71424955] [-0.00238449 0.99999628 -0.0013255 -0.10751352] [ 0.02640422 0.001388 0.99965038 -0.30309652] [ 0. 0. 0. 1. ]] SLAMing on 95.82313336499999 meters Centerline goodness : 0.139167 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.10, Z:-0.30 [[ 9.99656422e-01 -4.76479342e-03 -2.57746800e-02 -6.95058555e-01] [ 4.76836522e-03 9.99988628e-01 7.71175536e-05 -1.04045208e-01] [ 2.57740194e-02 -1.99994145e-04 9.99667775e-01 -3.01558839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85313336499999 meters Centerline goodness : 0.162174 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.11, Z:-0.30 [[ 9.99659308e-01 -4.66835131e-03 -2.56802381e-02 -6.95322257e-01] [ 4.67817545e-03 9.99989005e-01 3.22491144e-04 -1.05314517e-01] [ 2.56784502e-02 -4.42517933e-04 9.99670156e-01 -3.01468200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88313336499999 meters Centerline goodness : 0.144756 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.11, Z:-0.30 [[ 9.99656226e-01 -4.57210743e-03 -2.58171521e-02 -6.95067485e-01] [ 4.59242210e-03 9.99989190e-01 7.27630297e-04 -1.08239581e-01] [ 2.58135462e-02 -8.45943416e-04 9.99666417e-01 -3.01291956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.913133365 meters Centerline goodness : 0.091114 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.11, Z:-0.30 [[ 0.99965681 -0.00438708 -0.02582649 -0.69497684] [ 0.00441852 0.99998956 0.00116049 -0.11021625] [ 0.02582113 -0.00127421 0.99966577 -0.30136786] [ 0. 0. 0. 1. ]] SLAMing on 95.943133365 meters SLAMing on 95.973133365 meters Centerline goodness : 0.075196 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.12, Z:-0.30 [[ 0.99966646 -0.00401411 -0.02551173 -0.69583111] [ 0.00407259 0.9999892 0.00224085 -0.11526235] [ 0.02550246 -0.002344 0.99967201 -0.30108942] [ 0. 0. 0. 1. ]] SLAMing on 96.003133365 meters SLAMing on 96.033133365 meters SLAMing on 96.063133365 meters SLAMing on 96.093133365 meters Centerline goodness : 0.114730 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.14, Z:-0.30 [[ 9.99636455e-01 -9.60648989e-03 -2.51927333e-02 -6.95571467e-01] [ 9.59912652e-03 9.99953842e-01 -4.13201305e-04 -1.37233669e-01] [ 2.51955398e-02 1.71222854e-04 9.99682527e-01 -3.01431452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12313336499999 meters Centerline goodness : 0.092828 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.15, Z:-0.30 [[ 0.99965283 -0.00154844 -0.02630262 -0.67544239] [ 0.00151022 0.99999777 -0.00147317 -0.14511211] [ 0.02630484 0.00143293 0.99965294 -0.29951664] [ 0. 0. 0. 1. ]] SLAMing on 96.15313336499999 meters Centerline goodness : 0.158051 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.15, Z:-0.30 [[ 9.99646964e-01 -1.33872092e-03 -2.65359124e-02 -6.74723300e-01] [ 1.31623830e-03 9.99998760e-01 -8.64701306e-04 -1.48405513e-01] [ 2.65370371e-02 8.29468451e-04 9.99647487e-01 -2.99722623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18313336499999 meters SLAMing on 96.21313336499999 meters Centerline goodness : 0.155213 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.15, Z:-0.30 [[ 9.99642364e-01 -9.99050044e-04 -2.67235036e-02 -6.74310858e-01] [ 1.00049684e-03 9.99999499e-01 4.07686870e-05 -1.53608929e-01] [ 2.67234494e-02 -6.74908875e-05 9.99642863e-01 -2.99600758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24313336499999 meters Centerline goodness : 0.156722 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.16, Z:-0.30 [[ 9.99642723e-01 -7.31488047e-04 -2.67187366e-02 -6.73985360e-01] [ 7.48364640e-04 9.99999527e-01 6.21644887e-04 -1.56455770e-01] [ 2.67182692e-02 -6.41418145e-04 9.99642798e-01 -3.00094597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27313336499999 meters Centerline goodness : 0.153939 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.16, Z:-0.30 [[ 9.99638618e-01 -6.86421308e-04 -2.68730831e-02 -6.73350598e-01] [ 7.07266984e-04 9.99999456e-01 7.66211153e-04 -1.57361888e-01] [ 2.68725426e-02 -7.84940702e-04 9.99638560e-01 -3.00496759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.303133365 meters Centerline goodness : 0.119873 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.16, Z:-0.30 [[ 9.99624944e-01 7.94797862e-03 -2.62068712e-02 -6.53573115e-01] [-7.96604408e-03 9.99968099e-01 -5.85010450e-04 -1.60915815e-01] [ 2.62013855e-02 7.93556130e-04 9.99656370e-01 -2.99416234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.333133365 meters Centerline goodness : 0.154273 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.16, Z:-0.30 [[ 9.99633147e-01 7.87928698e-03 -2.59130820e-02 -6.54399879e-01] [-7.89601368e-03 9.99968678e-01 -5.43232073e-04 -1.61245140e-01] [ 2.59079901e-02 7.47642837e-04 9.99664052e-01 -2.99283657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.363133365 meters Centerline goodness : 0.155174 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.16, Z:-0.30 [[ 9.99644389e-01 7.75833604e-03 -2.55128095e-02 -6.55660656e-01] [-7.77507700e-03 9.99969618e-01 -5.57044754e-04 -1.61367437e-01] [ 2.55077127e-02 7.55210721e-04 9.99674340e-01 -2.98978729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.393133365 meters Centerline goodness : 0.155174 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.16, Z:-0.30 [[ 9.99644389e-01 7.75833604e-03 -2.55128095e-02 -6.55660656e-01] [-7.77507700e-03 9.99969618e-01 -5.57044754e-04 -1.61367437e-01] [ 2.55077127e-02 7.55210721e-04 9.99674340e-01 -2.98978729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.423133365 meters Centerline goodness : 0.154823 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.17, Z:-0.30 [[ 0.99970042 0.0052844 -0.02389855 -0.66079868] [-0.00533518 0.99998364 -0.0020616 -0.16563106] [ 0.02388726 0.00218849 0.99971226 -0.29837609] [ 0. 0. 0. 1. ]] SLAMing on 96.453133365 meters Centerline goodness : 0.120812 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.17, Z:-0.30 [[ 0.99970787 0.00510441 -0.02362454 -0.66151293] [-0.0051521 0.99998481 -0.00195863 -0.1662174 ] [ 0.02361419 0.00207977 0.99971898 -0.29862056] [ 0. 0. 0. 1. ]] SLAMing on 96.48313336499999 meters Centerline goodness : 0.156330 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.17, Z:-0.30 [[ 0.99971662 0.00500038 -0.02327382 -0.6623461 ] [-0.0050411 0.99998586 -0.00169161 -0.16726752] [ 0.02326503 0.00180845 0.9997277 -0.29898356] [ 0. 0. 0. 1. ]] SLAMing on 96.51313336499999 meters Centerline goodness : 0.131123 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.17, Z:-0.30 [[ 0.99971838 0.00495521 -0.023208 -0.66262013] [-0.00499323 0.99998628 -0.00158054 -0.16793303] [ 0.02319985 0.00169598 0.99972941 -0.29881016] [ 0. 0. 0. 1. ]] SLAMing on 96.54313336499999 meters Centerline goodness : 0.128232 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.17, Z:-0.30 [[ 9.99713103e-01 -4.52273317e-03 -2.35214069e-02 -6.83218901e-01] [ 4.50977482e-03 9.99989649e-01 -6.03933617e-04 -1.65363779e-01] [ 2.35238949e-02 4.97684101e-04 9.99723151e-01 -3.00104331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57313336499999 meters Centerline goodness : 0.129998 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.17, Z:-0.30 [[ 9.99708772e-01 -6.64635472e-03 -2.31990669e-02 -6.48883526e-01] [ 6.65089980e-03 9.99977875e-01 1.18763041e-04 -1.65652315e-01] [ 2.31977642e-02 -2.73023123e-04 9.99730858e-01 -2.99541205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60313336499999 meters Centerline goodness : 0.166518 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.17, Z:-0.30 [[ 9.99713862e-01 2.86492009e-03 -2.37484151e-02 -6.63792002e-01] [-2.88810691e-03 9.99995386e-01 -9.42110963e-04 -1.70946598e-01] [ 2.37456065e-02 1.01042935e-03 9.99717523e-01 -3.01412512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63313336499999 meters Centerline goodness : 0.132098 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.17, Z:-0.30 [[ 9.99714982e-01 2.82804270e-03 -2.37056399e-02 -6.63684912e-01] [-2.85153327e-03 9.99995476e-01 -9.57182504e-04 -1.71048469e-01] [ 2.37028257e-02 1.02450711e-03 9.99718524e-01 -3.01770945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.663133365 meters Centerline goodness : 0.155868 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.17, Z:-0.30 [[ 9.99661836e-01 -2.97500559e-03 -2.58333813e-02 -6.47600391e-01] [ 2.97454506e-03 9.99995574e-01 -5.62548128e-05 -1.66624265e-01] [ 2.58334343e-02 -2.06067673e-05 9.99666261e-01 -2.98508934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.693133365 meters Centerline goodness : 0.127565 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.17, Z:-0.30 [[ 9.99669379e-01 -3.11456700e-03 -2.55231637e-02 -6.48573078e-01] [ 3.11127465e-03 9.99995146e-01 -1.68704806e-04 -1.66397262e-01] [ 2.55235652e-02 8.92394560e-05 9.99674217e-01 -2.98238457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.723133365 meters Centerline goodness : 0.100604 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.16, Z:-0.30 [[ 9.99725529e-01 -1.90301886e-03 -2.33504949e-02 -6.04576556e-01] [ 1.89575400e-03 9.99998148e-01 -3.33254745e-04 -1.64765510e-01] [ 2.33510858e-02 2.88896482e-04 9.99727284e-01 -2.97855850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.753133365 meters Centerline goodness : 0.120601 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.17, Z:-0.30 [[ 9.99722225e-01 -1.87561956e-03 -2.34937328e-02 -6.03990456e-01] [ 1.87182953e-03 9.99998231e-01 -1.83311181e-04 -1.65564654e-01] [ 2.34940350e-02 1.39283999e-04 9.99723967e-01 -2.98281354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.783133365 meters Centerline goodness : 0.059839 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.17, Z:-0.30 [[ 9.99716188e-01 -1.89922879e-03 -2.37473611e-02 -6.03154563e-01] [ 1.89946580e-03 9.99998196e-01 -1.25763682e-05 -1.66799298e-01] [ 2.37473421e-02 -3.25345013e-05 9.99717992e-01 -2.98729349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.813133365 meters Centerline goodness : 0.135130 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.17, Z:-0.30 [[ 9.99711813e-01 -1.96359523e-03 -2.39255982e-02 -6.02670054e-01] [ 1.96896471e-03 9.99998041e-01 2.00868142e-04 -1.68493849e-01] [ 2.39251569e-02 -2.47918913e-04 9.99713722e-01 -2.98786995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.843133365 meters Centerline goodness : 0.111592 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.17, Z:-0.30 [[ 9.99711278e-01 -1.99081628e-03 -2.39457062e-02 -6.02989848e-01] [ 2.00398974e-03 9.99997854e-01 5.26154496e-04 -1.70742673e-01] [ 2.39446073e-02 -5.73989533e-04 9.99713122e-01 -2.98230140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87313336499999 meters Centerline goodness : 0.128143 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.17, Z:-0.30 [[ 0.99974228 0.00398405 -0.02234947 -0.58207717] [-0.00404442 0.99998829 -0.00265668 -0.17473159] [ 0.02233863 0.00274638 0.99974669 -0.29807755] [ 0. 0. 0. 1. ]] SLAMing on 96.90313336499999 meters Centerline goodness : 0.137420 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.18, Z:-0.30 [[ 9.99762680e-01 6.83438021e-04 -2.17742099e-02 -5.83709174e-01] [-7.95168244e-04 9.99986561e-01 -5.12306529e-03 -1.80027650e-01] [ 2.17704160e-02 5.13916365e-03 9.99749788e-01 -2.97762732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93313336499999 meters Centerline goodness : 0.159986 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.18, Z:-0.30 [[ 9.99762521e-01 7.27152150e-04 -2.17801026e-02 -5.83746649e-01] [-8.27137155e-04 9.99989160e-01 -4.58200133e-03 -1.83190079e-01] [ 2.17765347e-02 4.59892833e-03 9.99752286e-01 -2.97757260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96313336499999 meters Centerline goodness : 0.139769 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.19, Z:-0.30 [[ 9.99761179e-01 7.35990373e-04 -2.18413380e-02 -5.83543227e-01] [-8.25760758e-04 9.99991248e-01 -4.10137954e-03 -1.86258584e-01] [ 2.18381283e-02 4.11843576e-03 9.99753037e-01 -2.97902509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99313336499999 meters Centerline goodness : 0.142641 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.19, Z:-0.30 [[ 9.99757777e-01 8.81231800e-04 -2.19911553e-02 -5.83246681e-01] [-9.59262202e-04 9.99993281e-01 -3.53796637e-03 -1.89222847e-01] [ 2.19878897e-02 3.55820467e-03 9.99751905e-01 -2.97867180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02313336499999 meters Centerline goodness : 0.166616 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.19, Z:-0.30 [[ 0.99973723 -0.00663897 -0.02194086 -0.56250759] [ 0.00658695 0.99997532 -0.00244235 -0.18856818] [ 0.02195654 0.00229719 0.99975629 -0.29659289] [ 0. 0. 0. 1. ]] SLAMing on 97.053133365 meters Centerline goodness : 0.123726 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.20, Z:-0.29 [[ 0.9997522 0.00169211 -0.02219611 -0.54371496] [-0.00177185 0.99999205 -0.0035732 -0.19826797] [ 0.02218989 0.00361164 0.99974725 -0.29439964] [ 0. 0. 0. 1. ]] SLAMing on 97.083133365 meters Centerline goodness : 0.138821 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.20, Z:-0.29 [[ 0.99975123 0.00179155 -0.02223201 -0.54373059] [-0.00186538 0.99999281 -0.00330069 -0.19983243] [ 0.02222593 0.00334134 0.99974739 -0.29420446] [ 0. 0. 0. 1. ]] SLAMing on 97.113133365 meters Centerline goodness : 0.153442 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.29 [[ 0.99973566 -0.00533282 -0.0223645 -0.52411711] [ 0.00528109 0.99998324 -0.00237141 -0.19736863] [ 0.02237677 0.00225267 0.99974707 -0.29256508] [ 0. 0. 0. 1. ]] SLAMing on 97.143133365 meters Centerline goodness : 0.154210 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.29 [[ 0.99973478 -0.00522344 -0.02242974 -0.52376488] [ 0.00517522 0.99998417 -0.00220755 -0.19804949] [ 0.02244091 0.00209088 0.99974598 -0.29286764] [ 0. 0. 0. 1. ]] SLAMing on 97.173133365 meters Centerline goodness : 0.162197 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.29 [[ 0.99973223 -0.00511341 -0.02256799 -0.5231766 ] [ 0.00506708 0.99998494 -0.00210982 -0.19817071] [ 0.02257844 0.00199491 0.99974308 -0.29327642] [ 0. 0. 0. 1. ]] SLAMing on 97.203133365 meters SLAMing on 97.23313336499999 meters Centerline goodness : 0.149748 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.29 [[ 0.99971175 -0.00461041 -0.02356205 -0.51999224] [ 0.00456914 0.99998793 -0.00180501 -0.19844095] [ 0.02357008 0.00169683 0.99972075 -0.29458627] [ 0. 0. 0. 1. ]] SLAMing on 97.26313336499999 meters Centerline goodness : 0.126929 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.29 [[ 0.99971076 -0.00459631 -0.02360663 -0.519698 ] [ 0.00455434 0.99998795 -0.00183128 -0.19819415] [ 0.02361476 0.00172324 0.99971965 -0.29491458] [ 0. 0. 0. 1. ]] SLAMing on 97.29313336499999 meters Centerline goodness : 0.165344 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.29 [[ 0.99971116 -0.00454796 -0.02359896 -0.51971513] [ 0.00450717 0.99998826 -0.00178159 -0.1982539 ] [ 0.02360678 0.00167471 0.99971992 -0.29495807] [ 0. 0. 0. 1. ]] SLAMing on 97.32313336499999 meters Centerline goodness : 0.112095 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.30 [[ 0.99971206 -0.00451383 -0.02356735 -0.5197371 ] [ 0.00447472 0.99998852 -0.00171234 -0.19852953] [ 0.02357481 0.00160639 0.99972078 -0.29505152] [ 0. 0. 0. 1. ]] SLAMing on 97.35313336499999 meters Centerline goodness : 0.136010 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.20, Z:-0.29 [[ 0.99972811 0.00323201 -0.02309263 -0.49993453] [-0.00331985 0.9999874 -0.00376657 -0.20362282] [ 0.02308016 0.00384221 0.99972623 -0.29412695] [ 0. 0. 0. 1. ]] SLAMing on 97.38313336499999 meters SLAMing on 97.413133365 meters Centerline goodness : 0.128699 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.21, Z:-0.29 [[ 0.99972816 0.00328476 -0.02308279 -0.50006956] [-0.00336299 0.99998873 -0.00335117 -0.20599328] [ 0.02307152 0.00342788 0.99972794 -0.29401359] [ 0. 0. 0. 1. ]] SLAMing on 97.443133365 meters Centerline goodness : 0.129750 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.29 [[ 0.99970357 -0.0056136 -0.02369105 -0.5202436 ] [ 0.00557382 0.99998294 -0.0017447 -0.20362907] [ 0.02370044 0.00161213 0.99971781 -0.29498882] [ 0. 0. 0. 1. ]] SLAMing on 97.473133365 meters Centerline goodness : 0.117048 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.21, Z:-0.29 [[ 0.99971979 0.00310776 -0.02346675 -0.5018807 ] [-0.00317541 0.99999091 -0.0028463 -0.20953177] [ 0.02345769 0.00292002 0.99972057 -0.29308458] [ 0. 0. 0. 1. ]] SLAMing on 97.503133365 meters Centerline goodness : 0.152973 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.21, Z:-0.29 [[ 0.99971597 0.00311439 -0.02362806 -0.50150172] [-0.0031794 0.99999126 -0.00271454 -0.21047009] [ 0.0236194 0.00278889 0.99971713 -0.29304673] [ 0. 0. 0. 1. ]] SLAMing on 97.533133365 meters Centerline goodness : 0.134765 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.21, Z:-0.29 [[ 0.99970824 0.00321014 -0.0239403 -0.50077113] [-0.00327084 0.99999153 -0.00249641 -0.21163825] [ 0.02393209 0.00257399 0.99971027 -0.29299963] [ 0. 0. 0. 1. ]] SLAMing on 97.563133365 meters Centerline goodness : 0.152400 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.21, Z:-0.29 [[ 9.99690725e-01 -2.86048021e-03 -2.47036640e-02 -4.83533010e-01] [ 2.83993363e-03 9.99995592e-01 -8.66765875e-04 -2.07189914e-01] [ 2.47060345e-02 7.96341040e-04 9.99694442e-01 -2.90140111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.593133365 meters Centerline goodness : 0.149168 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.21, Z:-0.29 [[ 9.99696308e-01 -2.73678903e-03 -2.44908618e-02 -4.84246623e-01] [ 2.71754119e-03 9.99995972e-01 -8.19167407e-04 -2.06800451e-01] [ 2.44930050e-02 7.52363707e-04 9.99699718e-01 -2.89804674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62313336499999 meters Centerline goodness : 0.173271 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.21, Z:-0.29 [[ 9.99702492e-01 -2.66729834e-03 -2.42448558e-02 -4.85128617e-01] [ 2.64840408e-03 9.99996164e-01 -8.11386595e-04 -2.06421686e-01] [ 2.42469270e-02 7.46935026e-04 9.99705721e-01 -2.89365181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65313336499999 meters Centerline goodness : 0.109940 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.21, Z:-0.29 [[ 9.99704069e-01 -2.61208831e-03 -2.41857821e-02 -4.85522496e-01] [ 2.59470248e-03 9.99996352e-01 -7.50199154e-04 -2.06539766e-01] [ 2.41876535e-02 6.87222238e-04 9.99707200e-01 -2.88996488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68313336499999 meters Centerline goodness : 0.154659 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.21, Z:-0.29 [[ 9.99702098e-01 -2.56938295e-03 -2.42716588e-02 -4.85327719e-01] [ 2.55698334e-03 9.99996584e-01 -5.41889456e-04 -2.07726886e-01] [ 2.42729682e-02 4.79665798e-04 9.99705253e-01 -2.89002041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71313336499999 meters Centerline goodness : 0.161756 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.21, Z:-0.29 [[ 9.99699974e-01 -2.55691589e-03 -2.43602926e-02 -4.85272554e-01] [ 2.54874690e-03 9.99996685e-01 -3.66383126e-04 -2.08847859e-01] [ 2.43611486e-02 3.04184982e-04 9.99703177e-01 -2.88781904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74313336499999 meters Centerline goodness : 0.154911 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.21, Z:-0.29 [[ 9.99703264e-01 -2.53264569e-03 -2.42274498e-02 -4.85777729e-01] [ 2.53021203e-03 9.99996790e-01 -1.31104942e-04 -2.10277112e-01] [ 2.42277041e-02 6.97654537e-05 9.99706464e-01 -2.88527119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77313336499999 meters Centerline goodness : 0.069971 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.21, Z:-0.29 [[ 0.99972331 0.00419742 -0.02314482 -0.46493499] [-0.00426816 0.99998637 -0.00300796 -0.21386875] [ 0.02313188 0.00310592 0.9997276 -0.28823836] [ 0. 0. 0. 1. ]] SLAMing on 97.803133365 meters Centerline goodness : 0.162360 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.22, Z:-0.29 [[ 0.99971923 0.00424207 -0.02331253 -0.46461404] [-0.00430564 0.99998715 -0.00267704 -0.21579225] [ 0.02330088 0.00277667 0.99972464 -0.28818745] [ 0. 0. 0. 1. ]] SLAMing on 97.833133365 meters Centerline goodness : 0.126207 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.22, Z:-0.29 [[ 0.99971371 0.00426405 -0.02354399 -0.46405021] [-0.00432237 0.99998771 -0.00242654 -0.21730402] [ 0.02353335 0.00252761 0.99971986 -0.28825691] [ 0. 0. 0. 1. ]] SLAMing on 97.863133365 meters SLAMing on 97.893133365 meters Centerline goodness : 0.140759 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.22, Z:-0.29 [[ 0.99972594 -0.00375986 -0.02310624 -0.4431429 ] [ 0.00371831 0.99999139 -0.00184097 -0.21779016] [ 0.02311297 0.00175455 0.99973132 -0.28659576] [ 0. 0. 0. 1. ]] SLAMing on 97.923133365 meters Centerline goodness : 0.159408 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.29 [[ 0.99974477 0.00473853 -0.02208958 -0.42411085] [-0.00481293 0.99998292 -0.00331608 -0.22191758] [ 0.02207349 0.00342155 0.9997505 -0.28544761] [ 0. 0. 0. 1. ]] SLAMing on 97.953133365 meters Centerline goodness : 0.168412 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.22, Z:-0.29 [[ 0.99972678 -0.00399965 -0.0230297 -0.44234501] [ 0.00395966 0.99999057 -0.00178208 -0.21720562] [ 0.02303661 0.00169041 0.99973319 -0.28703482] [ 0. 0. 0. 1. ]] SLAMing on 97.98313336499999 meters Centerline goodness : 0.131009 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.29 [[ 0.99973192 0.00499025 -0.02260947 -0.4220616 ] [-0.00505272 0.99998357 -0.00270681 -0.22116494] [ 0.02259559 0.00282032 0.99974071 -0.28660032] [ 0. 0. 0. 1. ]] SLAMing on 98.01313336499999 meters SLAMing on 98.04313336499999 meters Centerline goodness : 0.129410 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.29 [[ 0.99972775 0.0050336 -0.0227834 -0.42159881] [-0.00509375 0.99998369 -0.00258302 -0.22172336] [ 0.02277002 0.00269837 0.99973709 -0.28666534] [ 0. 0. 0. 1. ]] SLAMing on 98.07313336499999 meters Centerline goodness : 0.135321 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 0.99972964 -0.00173334 -0.02318692 -0.4025471 ] [ 0.00170346 0.99999769 -0.00130841 -0.21792067] [ 0.02318914 0.00126856 0.99973029 -0.28446485] [ 0. 0. 0. 1. ]] SLAMing on 98.10313336499999 meters Centerline goodness : 0.119793 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 0.99972781 -0.00166642 -0.02327081 -0.40222104] [ 0.00163971 0.99999797 -0.0011668 -0.2184431 ] [ 0.02327271 0.00112832 0.99972852 -0.28467137] [ 0. 0. 0. 1. ]] SLAMing on 98.13313336499999 meters Centerline goodness : 0.145446 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99727311e-01 -1.61178349e-03 -2.32960347e-02 -4.02130855e-01] [ 1.58893345e-03 9.99998238e-01 -9.99332582e-04 -2.19337347e-01] [ 2.32976044e-02 9.62044227e-04 9.99728111e-01 -2.84753588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.163133365 meters Centerline goodness : 0.168575 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99728543e-01 -1.57426834e-03 -2.32457074e-02 -4.02191593e-01] [ 1.55898374e-03 9.99998557e-01 -6.75631259e-04 -2.21506706e-01] [ 2.32467375e-02 6.39208173e-04 9.99729554e-01 -2.84851191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.193133365 meters SLAMing on 98.223133365 meters Centerline goodness : 0.168533 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99724969e-01 -1.46892251e-03 -2.34057246e-02 -4.01981127e-01] [ 1.46025453e-03 9.99998859e-01 -3.87423213e-04 -2.22731479e-01] [ 2.34062670e-02 3.53138344e-04 9.99725973e-01 -2.84619750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.253133365 meters Centerline goodness : 0.167113 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99721450e-01 -1.39970604e-03 -2.35597913e-02 -4.01601547e-01] [ 1.39377704e-03 9.99998993e-01 -2.68076436e-04 -2.22990764e-01] [ 2.35601428e-02 2.35164668e-04 9.99722394e-01 -2.84651086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.283133365 meters Centerline goodness : 0.167113 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99721450e-01 -1.39970604e-03 -2.35597913e-02 -4.01601547e-01] [ 1.39377704e-03 9.99998993e-01 -2.68076436e-04 -2.22990764e-01] [ 2.35601428e-02 2.35164668e-04 9.99722394e-01 -2.84651086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.313133365 meters SLAMing on 98.343133365 meters Centerline goodness : 0.141376 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99715227e-01 -1.42809041e-03 -2.38207131e-02 -4.00873270e-01] [ 1.42051948e-03 9.99998935e-01 -3.34747941e-04 -2.22574675e-01] [ 2.38211658e-02 3.00814827e-04 9.99716191e-01 -2.84768926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37313336499999 meters Centerline goodness : 0.128717 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99719495e-01 -1.51248072e-03 -2.36356347e-02 -4.01768299e-01] [ 1.49872475e-03 9.99998697e-01 -5.99704798e-04 -2.21221028e-01] [ 2.36365110e-02 5.64113267e-04 9.99720459e-01 -2.84029614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40313336499999 meters SLAMing on 98.43313336499999 meters Centerline goodness : 0.168703 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99722773e-01 -1.56052401e-03 -2.34934297e-02 -4.02124723e-01] [ 1.53922536e-03 9.99998388e-01 -9.24635017e-04 -2.18964546e-01] [ 2.34948347e-02 8.88217000e-04 9.99723564e-01 -2.83981854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46313336499999 meters Centerline goodness : 0.140933 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 0.99972039 -0.00169438 -0.02358552 -0.40185 ] [ 0.00166578 0.99999785 -0.0012323 -0.21755141] [ 0.02358756 0.00119267 0.99972106 -0.28400532] [ 0. 0. 0. 1. ]] SLAMing on 98.49313336499999 meters SLAMing on 98.52313336499999 meters Centerline goodness : 0.138475 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.28 [[ 0.99972328 -0.00194214 -0.02344319 -0.40251385] [ 0.00189783 0.99999637 -0.00191225 -0.21413335] [ 0.02344682 0.00186723 0.99972334 -0.28349166] [ 0. 0. 0. 1. ]] SLAMing on 98.553133365 meters Centerline goodness : 0.142024 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.21, Z:-0.28 [[ 9.99742107e-01 -3.17013762e-04 -2.27072445e-02 -4.05949302e-01] [ 2.94412936e-04 9.99999458e-01 -9.98649648e-04 -2.07302504e-01] [ 2.27075488e-02 9.91706797e-04 9.99741659e-01 -2.81651053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.583133365 meters SLAMing on 98.613133365 meters Centerline goodness : 0.138186 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.20, Z:-0.28 [[ 9.99729592e-01 -8.14937786e-04 -2.32395810e-02 -4.04126680e-01] [ 7.62065374e-04 9.99997102e-01 -2.28386730e-03 -1.99823717e-01] [ 2.32413748e-02 2.26553965e-03 9.99727316e-01 -2.82369406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.643133365 meters Centerline goodness : 0.147330 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.20, Z:-0.28 [[ 9.99726224e-01 -1.02554536e-03 -2.33757292e-02 -4.03572746e-01] [ 9.59282964e-04 9.99995491e-01 -2.84570363e-03 -1.96921671e-01] [ 2.33785422e-02 2.82250061e-03 9.99722700e-01 -2.82736410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.673133365 meters Centerline goodness : 0.113143 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.19, Z:-0.28 [[ 0.99972721 -0.00118917 -0.02332579 -0.40375393] [ 0.0011117 0.99999382 -0.00333401 -0.19422175] [ 0.02332961 0.00330717 0.99972236 -0.28265349] [ 0. 0. 0. 1. ]] SLAMing on 98.703133365 meters Centerline goodness : 0.133328 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.18, Z:-0.28 [[ 0.9997279 -0.00860729 -0.02168025 -0.38540352] [ 0.00854849 0.99995953 -0.00280337 -0.18449142] [ 0.0217035 0.00261727 0.99976103 -0.28039902] [ 0. 0. 0. 1. ]] SLAMing on 98.73313336499999 meters SLAMing on 98.76313336499999 meters Centerline goodness : 0.148369 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.18, Z:-0.28 [[ 0.99972488 -0.00900004 -0.02166005 -0.38542831] [ 0.00892219 0.9999534 -0.00368793 -0.18002187] [ 0.02169223 0.00349366 0.99975859 -0.28045758] [ 0. 0. 0. 1. ]] SLAMing on 98.79313336499999 meters Centerline goodness : 0.145840 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.18, Z:-0.28 [[ 0.99973843 -0.00634822 -0.02197201 -0.38477739] [ 0.00632426 0.99997933 -0.00115986 -0.17774938] [ 0.02197891 0.0010206 0.99975791 -0.28054554] [ 0. 0. 0. 1. ]] SLAMing on 98.82313336499999 meters Centerline goodness : 0.101145 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.18, Z:-0.28 [[ 0.99977246 0.00221572 -0.02121613 -0.36430253] [-0.00227076 0.99999412 -0.00257031 -0.17648541] [ 0.02121031 0.0026179 0.99977161 -0.28042488] [ 0. 0. 0. 1. ]] SLAMing on 98.85313336499999 meters Centerline goodness : 0.143488 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.17, Z:-0.28 [[ 0.99977054 0.00207186 -0.02132069 -0.36402997] [-0.00213668 0.99999316 -0.00301823 -0.17409804] [ 0.02131429 0.0030631 0.99976813 -0.28041135] [ 0. 0. 0. 1. ]] SLAMing on 98.88313336499999 meters Centerline goodness : 0.137087 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.17, Z:-0.28 [[ 0.99976939 0.00198659 -0.02138263 -0.36380276] [-0.00206122 0.99999186 -0.00346879 -0.17142979] [ 0.02137557 0.00351206 0.99976535 -0.28043342] [ 0. 0. 0. 1. ]] SLAMing on 98.913133365 meters Centerline goodness : 0.134749 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.17, Z:-0.28 [[ 0.9997762 0.00380371 -0.0208105 -0.36630683] [-0.00384917 0.99999029 -0.00214494 -0.16641576] [ 0.02080214 0.00222457 0.99978114 -0.27923542] [ 0. 0. 0. 1. ]] SLAMing on 98.943133365 meters Centerline goodness : 0.137719 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.16, Z:-0.28 [[ 0.99977619 0.00380987 -0.02080974 -0.36616662] [-0.00386687 0.99998888 -0.00269925 -0.16295232] [ 0.02079922 0.00277911 0.99977981 -0.27935356] [ 0. 0. 0. 1. ]] SLAMing on 98.973133365 meters Centerline goodness : 0.133113 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.16, Z:-0.28 [[ 9.99753456e-01 7.15167542e-03 -2.10209788e-02 -3.65902207e-01] [-7.16493196e-03 9.99974177e-01 -5.55385345e-04 -1.55323975e-01] [ 2.10164640e-02 7.05862301e-04 9.99778881e-01 -2.78875970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.003133365 meters Centerline goodness : 0.117562 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.15, Z:-0.28 [[ 9.99757372e-01 7.45184231e-03 -2.07284187e-02 -3.66492894e-01] [-7.47273098e-03 9.99971646e-01 -9.30455342e-04 -1.51850383e-01] [ 2.07208974e-02 1.08512748e-03 9.99784710e-01 -2.78931685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.033133365 meters Centerline goodness : 0.116578 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.15, Z:-0.28 [[ 0.99976007 0.0077052 -0.02050433 -0.36705071] [-0.00773418 0.9999692 -0.00133437 -0.14839295] [ 0.02049341 0.00149264 0.99978887 -0.27882228] [ 0. 0. 0. 1. ]] SLAMing on 99.063133365 meters Centerline goodness : 0.106655 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.14, Z:-0.28 [[ 0.9997598 0.00791554 -0.02043721 -0.36714004] [-0.00795357 0.99996679 -0.00177999 -0.1447242 ] [ 0.02042244 0.00194211 0.99978955 -0.27889055] [ 0. 0. 0. 1. ]] SLAMing on 99.093133365 meters Centerline goodness : 0.052503 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.14, Z:-0.28 [[ 0.99976182 0.0080038 -0.02030364 -0.36742974] [-0.00805147 0.99996502 -0.00226697 -0.14134933] [ 0.02028479 0.00242991 0.99979129 -0.27886696] [ 0. 0. 0. 1. ]] SLAMing on 99.12313336499999 meters Centerline goodness : 0.171386 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:-0.28 [[ 9.99813062e-01 3.79776784e-04 -1.93312244e-02 -3.86105338e-01] [-3.97396895e-04 9.99999509e-01 -9.07651205e-04 -1.32680076e-01] [ 1.93308702e-02 9.15163699e-04 9.99812722e-01 -2.81326738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15313336499999 meters SLAMing on 99.18313336499999 meters Centerline goodness : 0.149601 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:-0.28 [[ 0.99981101 0.00394795 -0.01903595 -0.38686124] [-0.00392111 0.99999126 0.0014476 -0.12448098] [ 0.0190415 -0.00137269 0.99981775 -0.2812685 ] [ 0. 0. 0. 1. ]] SLAMing on 99.21313336499999 meters Centerline goodness : 0.189566 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:-0.28 [[ 9.99811115e-01 3.83027165e-03 -1.90541989e-02 -3.86623169e-01] [-3.81369727e-03 9.99992317e-01 9.06115414e-04 -1.21508480e-01] [ 1.90575232e-02 -8.33277317e-04 9.99818042e-01 -2.81564021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24313336499999 meters Centerline goodness : 0.134252 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:-0.28 [[ 9.99807068e-01 3.75464451e-03 -1.92802953e-02 -3.86021272e-01] [-3.74802780e-03 9.99992904e-01 3.79308590e-04 -1.19036907e-01] [ 1.92815827e-02 -3.06972326e-04 9.99814046e-01 -2.81539823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27313336499999 meters Centerline goodness : 0.085389 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:-0.28 [[ 9.99801717e-01 3.63573044e-03 -1.95782757e-02 -3.85164927e-01] [-3.64344712e-03 9.99993298e-01 -3.58489676e-04 -1.15473510e-01] [ 1.95768412e-02 4.29751006e-04 9.99808263e-01 -2.81644429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.303133365 meters Centerline goodness : 0.153831 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.11, Z:-0.28 [[ 9.99800577e-01 3.57181729e-03 -1.96481044e-02 -3.85019338e-01] [-3.58377804e-03 9.99993414e-01 -5.73571285e-04 -1.14591681e-01] [ 1.96459263e-02 6.43871347e-04 9.99806793e-01 -2.81614523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.333133365 meters Centerline goodness : 0.129499 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.11, Z:-0.28 [[ 9.99800940e-01 3.45285474e-03 -1.96508932e-02 -3.84981028e-01] [-3.46989329e-03 9.99993633e-01 -8.33031620e-04 -1.13547030e-01] [ 1.96478918e-02 9.01052299e-04 9.99806556e-01 -2.81685040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.363133365 meters SLAMing on 99.393133365 meters Centerline goodness : 0.109026 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.11, Z:-0.28 [[ 0.99980515 0.00315982 -0.01948551 -0.38549638] [-0.00318575 0.99999408 -0.00129958 -0.1119318 ] [ 0.01948129 0.00136141 0.99980929 -0.2816138 ] [ 0. 0. 0. 1. ]] SLAMing on 99.423133365 meters Centerline goodness : 0.186642 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.11, Z:-0.28 [[ 9.99807169e-01 -4.58956710e-03 -1.90934918e-02 -3.67665698e-01] [ 4.59306084e-03 9.99989442e-01 1.39131574e-04 -1.05385351e-01] [ 1.90926517e-02 -2.26802315e-04 9.99817693e-01 -2.80294854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.453133365 meters Centerline goodness : 0.137055 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.11, Z:-0.28 [[ 9.99827201e-01 3.86513380e-03 -1.81832125e-02 -3.85751179e-01] [-3.87210662e-03 9.99992443e-01 -3.48284648e-04 -1.13567610e-01] [ 1.81817289e-02 4.18631803e-04 9.99834611e-01 -2.82558717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48313336499999 meters Centerline goodness : 0.131898 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.11, Z:-0.28 [[ 9.99826961e-01 3.87543879e-03 -1.81942276e-02 -3.85740970e-01] [-3.88124605e-03 9.99992428e-01 -2.83880894e-04 -1.13941306e-01] [ 1.81929897e-02 3.54448045e-04 9.99834431e-01 -2.82539882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51313336499999 meters SLAMing on 99.54313336499999 meters Centerline goodness : 0.165450 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.11, Z:-0.28 [[ 9.99823445e-01 3.84652061e-03 -1.83924531e-02 -3.85469352e-01] [-3.85317918e-03 9.99992523e-01 -3.26603486e-04 -1.13975006e-01] [ 1.83910593e-02 3.97415240e-04 9.99830791e-01 -2.82171601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57313336499999 meters SLAMing on 99.60313336499999 meters Centerline goodness : 0.174160 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.11, Z:-0.28 [[ 9.99807772e-01 4.36239897e-03 -1.91151404e-02 -3.83653840e-01] [-4.36398674e-03 9.99990477e-01 -4.13513686e-05 -1.13684839e-01] [ 1.91147780e-02 1.24761639e-04 9.99817288e-01 -2.82403267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63313336499999 meters SLAMing on 99.663133365 meters SLAMing on 99.693133365 meters Centerline goodness : 0.132362 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.11, Z:-0.28 [[ 9.99789413e-01 4.56776021e-03 -2.00066253e-02 -3.81139631e-01] [-4.57599619e-03 9.99989463e-01 -3.65902337e-04 -1.12014896e-01] [ 2.00047432e-02 4.57375524e-04 9.99799780e-01 -2.82631315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.723133365 meters SLAMing on 99.753133365 meters SLAMing on 99.783133365 meters Centerline goodness : 0.136219 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.11, Z:-0.28 [[ 9.99807706e-01 4.93725940e-03 -1.89782760e-02 -3.84307343e-01] [-4.94051897e-03 9.99987788e-01 -1.24870673e-04 -1.11838793e-01] [ 1.89774277e-02 2.18609194e-04 9.99819889e-01 -2.81391209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.813133365 meters Centerline goodness : 0.139468 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.11, Z:-0.28 [[ 9.99809088e-01 4.92240981e-03 -1.89091937e-02 -3.84352829e-01] [-4.92663623e-03 9.99987848e-01 -1.76934037e-04 -1.11466577e-01] [ 1.89080930e-02 2.70058977e-04 9.99821190e-01 -2.81571192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.843133365 meters SLAMing on 99.87313336499999 meters Centerline goodness : 0.135637 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.11, Z:-0.28 [[ 9.99827475e-01 6.42991905e-03 -1.74263213e-02 -3.39626067e-01] [-6.43673955e-03 9.99979228e-01 -3.35329272e-04 -1.06987385e-01] [ 1.74238032e-02 4.47440111e-04 9.99848094e-01 -2.81921897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90313336499999 meters SLAMing on 99.93313336499999 meters Centerline goodness : 0.181020 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.10, Z:-0.28 [[ 9.99839501e-01 6.94448360e-03 -1.65150095e-02 -3.41758609e-01] [-6.95131738e-03 9.99975776e-01 -3.56423005e-04 -1.04189283e-01] [ 1.65121342e-02 4.71166872e-04 9.99863554e-01 -2.81950033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96313336499999 meters Centerline goodness : 0.143358 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.10, Z:-0.28 [[ 9.99840202e-01 6.80219404e-03 -1.65317915e-02 -3.41648257e-01] [-6.81410817e-03 9.99976563e-01 -6.64457274e-04 -1.02900465e-01] [ 1.65268843e-02 7.77000511e-04 9.99863120e-01 -2.82070725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99313336499999 meters SLAMing on 100.02313336499999 meters SLAMing on 100.053133365 meters SLAMing on 100.083133365 meters Centerline goodness : 0.051952 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.10, Z:-0.28 [[ 9.99836205e-01 6.86598532e-03 -1.67458004e-02 -3.41060257e-01] [-6.87248888e-03 9.99976329e-01 -3.30853019e-04 -1.04988970e-01] [ 1.67431324e-02 4.45884153e-04 9.99859725e-01 -2.82182659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.113133365 meters Centerline goodness : 0.160296 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.11, Z:-0.28 [[ 9.99834128e-01 6.93706246e-03 -1.68402655e-02 -3.41071835e-01] [-6.93669087e-03 9.99975938e-01 8.04777062e-05 -1.07377427e-01] [ 1.68404186e-02 3.63513590e-05 9.99858189e-01 -2.81805438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.143133365 meters SLAMing on 100.173133365 meters SLAMing on 100.203133365 meters SLAMing on 100.23313336499999 meters Centerline goodness : 0.149917 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.12, Z:-0.28 [[ 0.99984183 0.00403226 -0.01732221 -0.34021344] [-0.00406449 0.99999007 -0.00182582 -0.11610198] [ 0.01731468 0.00189594 0.99984829 -0.28111602] [ 0. 0. 0. 1. ]] SLAMing on 100.26313336499999 meters Centerline goodness : 0.056722 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99864533e-01 -3.01537146e-03 -1.61809276e-02 -3.22089874e-01] [ 3.01253274e-03 9.99995442e-01 -1.99807808e-04 -1.09803024e-01] [ 1.61814564e-02 1.51035167e-04 9.99869060e-01 -2.80124969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29313336499999 meters Centerline goodness : 0.144626 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99873212e-01 -2.21288303e-03 -1.57690797e-02 -3.23094264e-01] [ 2.21761696e-03 9.99997501e-01 2.82723754e-04 -1.09962805e-01] [ 1.57684147e-02 -3.17657686e-04 9.99875620e-01 -2.80212201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32313336499999 meters Centerline goodness : 0.128140 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99870092e-01 -2.06846719e-03 -1.59850174e-02 -3.22317702e-01] [ 2.07065194e-03 9.99997849e-01 1.20125043e-04 -1.08658230e-01] [ 1.59847345e-02 -1.53208845e-04 9.99872224e-01 -2.80738699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35313336499999 meters Centerline goodness : 0.136494 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99867736e-01 -1.94300128e-03 -1.61473072e-02 -3.21711735e-01] [ 1.94269467e-03 9.99998112e-01 -3.46736789e-05 -1.07323525e-01] [ 1.61473441e-02 3.29980508e-06 9.99869623e-01 -2.81212071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38313336499999 meters Centerline goodness : 0.129365 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99866216e-01 -1.83953187e-03 -1.62531675e-02 -3.21369749e-01] [ 1.83704640e-03 9.99998299e-01 -1.67850542e-04 -1.06121818e-01] [ 1.62534486e-02 1.37970263e-04 9.99867894e-01 -2.81459392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.413133365 meters Centerline goodness : 0.136662 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99870993e-01 -1.81546407e-03 -1.59593451e-02 -3.22098195e-01] [ 1.81113809e-03 9.99998319e-01 -2.85511171e-04 -1.05266430e-01] [ 1.59598366e-02 2.56569761e-04 9.99872601e-01 -2.81485582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.443133365 meters Centerline goodness : 0.130809 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.10, Z:-0.28 [[ 9.99874109e-01 -1.80503524e-03 -1.57641152e-02 -3.22645030e-01] [ 1.80000100e-03 9.99998324e-01 -3.33531199e-04 -1.04852981e-01] [ 1.57646908e-02 3.05113788e-04 9.99875683e-01 -2.81386899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.473133365 meters Centerline goodness : 0.125900 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 0.99987977 0.00652016 -0.01406907 -0.30415152] [-0.0065496 0.99997646 -0.00204709 -0.10673597] [ 0.0140554 0.00213899 0.99989893 -0.27983266] [ 0. 0. 0. 1. ]] SLAMing on 100.503133365 meters Centerline goodness : 0.150039 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 0.99987951 0.0064916 -0.01410037 -0.30415318] [-0.00652079 0.99997669 -0.00202542 -0.10700025] [ 0.01408689 0.00211712 0.99989853 -0.27971534] [ 0. 0. 0. 1. ]] SLAMing on 100.533133365 meters Centerline goodness : 0.146465 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.10, Z:-0.28 [[ 9.99886312e-01 -2.59909410e-03 -1.48528473e-02 -3.25282770e-01] [ 2.58539518e-03 9.99996215e-01 -9.41436668e-04 -1.04563234e-01] [ 1.48552380e-02 9.02929158e-04 9.99889247e-01 -2.80348862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.563133365 meters Centerline goodness : 0.124034 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.11, Z:-0.28 [[ 0.99989349 0.00575026 -0.01341422 -0.30623527] [-0.00577949 0.99998101 -0.00214174 -0.10698449] [ 0.01340165 0.00221904 0.99990773 -0.2795642 ] [ 0. 0. 0. 1. ]] SLAMing on 100.59313336499999 meters Centerline goodness : 0.236221 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.10, Z:-0.28 [[ 9.99906001e-01 -2.93405718e-03 -1.33933040e-02 -3.26362447e-01] [ 2.92686346e-03 9.99995562e-01 -5.56682500e-04 -1.04534864e-01] [ 1.33948779e-02 5.17429800e-04 9.99910151e-01 -2.81127479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62313336499999 meters SLAMing on 100.65313336499999 meters SLAMing on 100.68313336499999 meters Centerline goodness : 0.127954 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.11, Z:-0.28 [[ 9.99900463e-01 -3.28962656e-03 -1.37201397e-02 -3.25347982e-01] [ 3.28259823e-03 9.99994469e-01 -5.34752026e-04 -1.05940644e-01] [ 1.37218230e-02 4.89661092e-04 9.99905731e-01 -2.81422329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71313336499999 meters Centerline goodness : 0.141586 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99896759e-01 -3.31316146e-03 -1.39819229e-02 -3.24649055e-01] [ 3.30614085e-03 9.99994397e-01 -5.25205059e-04 -1.06199837e-01] [ 1.39835846e-02 4.78924630e-04 9.99902110e-01 -2.81553815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74313336499999 meters Centerline goodness : 0.135109 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99895625e-01 -3.30772985e-03 -1.40640379e-02 -3.24435921e-01] [ 3.30122909e-03 9.99994433e-01 -4.85415928e-04 -1.06505299e-01] [ 1.40655653e-02 4.38936652e-04 9.99900979e-01 -2.81589503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77313336499999 meters Centerline goodness : 0.136527 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99898213e-01 -3.25374829e-03 -1.38916324e-02 -3.24908266e-01] [ 3.24871762e-03 9.99994649e-01 -3.84687610e-04 -1.06876383e-01] [ 1.38928097e-02 3.39518463e-04 9.99903433e-01 -2.81507181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.803133365 meters Centerline goodness : 0.118121 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.11, Z:-0.28 [[ 9.99899866e-01 -3.23290473e-03 -1.37770402e-02 -3.25252668e-01] [ 3.22801798e-03 9.99994719e-01 -3.76925060e-04 -1.06825640e-01] [ 1.37781860e-02 3.32414783e-04 9.99905021e-01 -2.81388487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.833133365 meters Centerline goodness : 0.142253 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.11, Z:-0.28 [[ 0.99990258 0.00524567 -0.01293516 -0.30599558] [-0.00527026 0.99998437 -0.00186821 -0.10979527] [ 0.01292516 0.0019362 0.99991459 -0.28012687] [ 0. 0. 0. 1. ]] SLAMing on 100.863133365 meters SLAMing on 100.893133365 meters Centerline goodness : 0.123497 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 0.99989721 0.00517685 -0.01337085 -0.30464303] [-0.00520202 0.99998476 -0.00184865 -0.11090681] [ 0.01336108 0.00191801 0.9999089 -0.2805673 ] [ 0. 0. 0. 1. ]] SLAMing on 100.923133365 meters Centerline goodness : 0.149138 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 0.9998947 0.00519418 -0.01355055 -0.30411019] [-0.00521824 0.99998487 -0.00174115 -0.11169284] [ 0.0135413 0.00181168 0.99990667 -0.28074997] [ 0. 0. 0. 1. ]] SLAMing on 100.953133365 meters Centerline goodness : 0.135340 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 0.99989379 0.005258 -0.01359245 -0.30414571] [-0.0052794 0.99998488 -0.00153937 -0.11276254] [ 0.01358415 0.00161097 0.99990643 -0.28053437] [ 0. 0. 0. 1. ]] SLAMing on 100.98313336499999 meters Centerline goodness : 0.129925 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 0.99989516 0.00538379 -0.01344211 -0.30494093] [-0.00540128 0.99998461 -0.00126525 -0.11388768] [ 0.01343509 0.00133772 0.99990885 -0.2798424 ] [ 0. 0. 0. 1. ]] SLAMing on 101.01313336499999 meters Centerline goodness : 0.146436 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.12, Z:-0.28 [[ 9.99896849e-01 5.55325728e-03 -1.32458817e-02 -3.05778724e-01] [-5.56529885e-03 9.99984133e-01 -8.72392786e-04 -1.15599271e-01] [ 1.32408269e-02 9.46020088e-04 9.99911889e-01 -2.79240750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04313336499999 meters Centerline goodness : 0.131116 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:-0.28 [[ 9.99907688e-01 -1.78702237e-03 -1.34692648e-02 -2.86090496e-01] [ 1.78413289e-03 9.99998383e-01 -2.26536497e-04 -1.10654766e-01] [ 1.34696478e-02 2.02484627e-04 9.99909260e-01 -2.78249486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07313336499999 meters Centerline goodness : 0.151800 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:-0.28 [[ 9.99906899e-01 -1.77635330e-03 -1.35291533e-02 -2.85756424e-01] [ 1.77331151e-03 9.99998400e-01 -2.36824963e-04 -1.10548815e-01] [ 1.35295523e-02 2.12811511e-04 9.99908449e-01 -2.78592933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10313336499999 meters SLAMing on 101.13313336499999 meters Centerline goodness : 0.124404 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:-0.28 [[ 9.99917601e-01 -1.58686095e-03 -1.27386323e-02 -2.87881050e-01] [ 1.58563883e-03 9.99998737e-01 -1.06037727e-04 -1.10181597e-01] [ 1.27387844e-02 8.58301193e-05 9.99918855e-01 -2.78265657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.163133365 meters Centerline goodness : 0.127076 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:-0.28 [[ 9.99927196e-01 -1.62720516e-03 -1.19563555e-02 -2.90687854e-01] [ 1.62633272e-03 9.99998674e-01 -8.26909857e-05 -1.10423941e-01] [ 1.19564742e-02 6.32399533e-05 9.99928517e-01 -2.76755513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.193133365 meters SLAMing on 101.223133365 meters Centerline goodness : 0.130621 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:-0.28 [[ 9.99910725e-01 -2.02590486e-03 -1.32075117e-02 -2.87127090e-01] [ 2.02051181e-03 9.99997870e-01 -4.21663351e-04 -1.09818188e-01] [ 1.32083378e-02 3.94939774e-04 9.99912688e-01 -2.77829189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.253133365 meters Centerline goodness : 0.151808 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:-0.28 [[ 9.99903578e-01 -2.06576384e-03 -1.37320056e-02 -2.85606523e-01] [ 2.06127767e-03 9.99997817e-01 -3.40840110e-04 -1.10269792e-01] [ 1.37326797e-02 3.12501768e-04 9.99905653e-01 -2.78257124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.283133365 meters Centerline goodness : 0.137457 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:-0.28 [[ 9.99904274e-01 -2.05657920e-03 -1.36825919e-02 -2.85861137e-01] [ 2.05526107e-03 9.99997882e-01 -1.10396548e-04 -1.11492574e-01] [ 1.36827900e-02 8.22646811e-05 9.99906383e-01 -2.78030690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.313133365 meters SLAMing on 101.34313336499999 meters Centerline goodness : 0.235733 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:-0.28 [[ 0.99991798 -0.00714945 -0.0106267 -0.29586319] [ 0.00712036 0.9999708 -0.00277329 -0.12181041] [ 0.01064622 0.0026974 0.99993969 -0.27577303] [ 0. 0. 0. 1. ]] SLAMing on 101.37313336499999 meters Centerline goodness : 0.125258 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:-0.28 [[ 0.99991892 -0.00702774 -0.01061912 -0.29603137] [ 0.00700353 0.99997279 -0.00231523 -0.12405901] [ 0.01063511 0.00224067 0.99994094 -0.27556862] [ 0. 0. 0. 1. ]] SLAMing on 101.40313336499999 meters Centerline goodness : 0.135041 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:-0.28 [[ 0.99991987 -0.00697931 -0.01056095 -0.29617463] [ 0.00696035 0.9999741 -0.00183062 -0.1260825 ] [ 0.01057346 0.00175697 0.99994256 -0.27582872] [ 0. 0. 0. 1. ]] SLAMing on 101.43313336499999 meters Centerline goodness : 0.125815 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:-0.28 [[ 0.99992006 -0.00692722 -0.0105776 -0.29592485] [ 0.00691135 0.99997494 -0.00153614 -0.12736824] [ 0.01058797 0.00146291 0.99994288 -0.27623413] [ 0. 0. 0. 1. ]] SLAMing on 101.46313336499999 meters Centerline goodness : 0.114543 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:-0.28 [[ 0.99992044 -0.00698209 -0.0105053 -0.29636654] [ 0.00696914 0.99997491 -0.00126892 -0.1293131 ] [ 0.01051389 0.0011956 0.99994401 -0.27591027] [ 0. 0. 0. 1. ]] SLAMing on 101.49313336499999 meters Centerline goodness : 0.094158 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:-0.28 [[ 9.99922478e-01 -6.92761705e-03 -1.03463320e-02 -2.97002246e-01] [ 6.91882564e-03 9.99975673e-01 -8.85264752e-04 -1.30929071e-01] [ 1.03522131e-02 8.13611657e-04 9.99946083e-01 -2.75692893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52313336499999 meters Centerline goodness : 0.120270 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:-0.28 [[ 9.99922217e-01 -6.78343600e-03 -1.04663351e-02 -2.96823002e-01] [ 6.77883387e-03 9.99976911e-01 -4.75121350e-04 -1.32875849e-01] [ 1.04693164e-02 4.04134847e-04 9.99945114e-01 -2.75537821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.553133365 meters Centerline goodness : 0.164185 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:-0.28 [[ 9.99922814e-01 -6.70653051e-03 -1.04588485e-02 -2.96732838e-01] [ 6.70620033e-03 9.99977511e-01 -6.66395237e-05 -1.34571223e-01] [ 1.04590602e-02 -3.50475315e-06 9.99945303e-01 -2.75894236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.583133365 meters Centerline goodness : 0.135270 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:-0.28 [[ 9.99923077e-01 -6.73735306e-03 -1.04138226e-02 -2.96921200e-01] [ 6.73888582e-03 9.99977287e-01 1.12102356e-04 -1.35597373e-01] [ 1.04128308e-02 -1.82271294e-04 9.99945768e-01 -2.75906122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.613133365 meters Centerline goodness : 0.237918 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:-0.27 [[ 9.99932372e-01 -7.17500305e-03 -9.15260469e-03 -3.00782280e-01] [ 7.17642495e-03 9.99974242e-01 1.22521144e-04 -1.36345618e-01] [ 9.15148984e-03 -1.88195839e-04 9.99958107e-01 -2.74819408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.643133365 meters Centerline goodness : 0.117462 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:-0.27 [[ 9.99937526e-01 -7.25022244e-03 -8.50751946e-03 -3.02590832e-01] [ 7.25268064e-03 9.99973666e-01 2.58127599e-04 -1.36593466e-01] [ 8.50542393e-03 -3.19813794e-04 9.99963777e-01 -2.74608380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.673133365 meters Centerline goodness : 0.140244 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:-0.27 [[ 9.99940830e-01 -7.30015927e-03 -8.06494769e-03 -3.03589773e-01] [ 7.30375180e-03 9.99973241e-01 4.16086332e-04 -1.37004202e-01] [ 8.06169439e-03 -4.74966089e-04 9.99967391e-01 -2.74853141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.703133365 meters SLAMing on 101.73313336499999 meters SLAMing on 101.76313336499999 meters Centerline goodness : 0.136851 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.14, Z:-0.27 [[ 9.99939457e-01 -8.13399364e-03 -7.41089135e-03 -3.05496439e-01] [ 8.13407591e-03 9.99966918e-01 -1.90399819e-05 -1.36943553e-01] [ 7.41080105e-03 -4.12419236e-05 9.99972539e-01 -2.74895352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79313336499999 meters SLAMing on 101.82313336499999 meters Centerline goodness : 0.134762 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.14, Z:-0.27 [[ 9.99935345e-01 -8.93018602e-03 -7.03966858e-03 -3.07373524e-01] [ 8.93213640e-03 9.99960077e-01 2.45663373e-04 -1.39423548e-01] [ 7.03719372e-03 -3.08526769e-04 9.99975191e-01 -2.74808413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85313336499999 meters SLAMing on 101.88313336499999 meters Centerline goodness : 0.121668 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.15, Z:-0.28 [[ 0.99996438 -0.0014506 -0.00831444 -0.3212404 ] [ 0.00143501 0.9999972 -0.00188048 -0.14771441] [ 0.00831715 0.00186848 0.99996367 -0.27739154] [ 0. 0. 0. 1. ]] SLAMing on 101.913133365 meters Centerline goodness : 0.166529 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.15, Z:-0.28 [[ 0.999966 -0.00151717 -0.00810554 -0.32153318] [ 0.00150146 0.99999698 -0.00194359 -0.14730263] [ 0.00810846 0.00193135 0.99996526 -0.27776628] [ 0. 0. 0. 1. ]] SLAMing on 101.943133365 meters Centerline goodness : 0.107730 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.15, Z:-0.28 [[ 0.99996695 -0.00160206 -0.00797092 -0.32185659] [ 0.00158451 0.99999631 -0.0022085 -0.14583288] [ 0.00797443 0.00219579 0.99996579 -0.27775513] [ 0. 0. 0. 1. ]] SLAMing on 101.973133365 meters Centerline goodness : 0.135925 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.14, Z:-0.28 [[ 0.99996801 -0.0017017 -0.00781616 -0.32239468] [ 0.00168193 0.99999537 -0.00253547 -0.14408448] [ 0.00782044 0.00252225 0.99996624 -0.27749882] [ 0. 0. 0. 1. ]] SLAMing on 102.003133365 meters Centerline goodness : 0.141520 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.14, Z:-0.28 [[ 0.99996841 -0.00183386 -0.00773351 -0.32265599] [ 0.00181106 0.999994 -0.00295412 -0.14192526] [ 0.00773888 0.00294002 0.99996573 -0.27737715] [ 0. 0. 0. 1. ]] SLAMing on 102.033133365 meters Centerline goodness : 0.123544 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.14, Z:-0.28 [[ 0.99996947 -0.00193538 -0.00757014 -0.32303535] [ 0.00190998 0.99999253 -0.00336086 -0.13968218] [ 0.00757659 0.0033463 0.9999657 -0.27741507] [ 0. 0. 0. 1. ]] SLAMing on 102.063133365 meters Centerline goodness : 0.105613 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.14, Z:-0.28 [[ 0.99996976 -0.00206837 -0.00749705 -0.32301731] [ 0.00203987 0.99999068 -0.00380605 -0.13733299] [ 0.00750485 0.00379064 0.99996465 -0.27776546] [ 0. 0. 0. 1. ]] SLAMing on 102.09313336499999 meters Centerline goodness : 0.105613 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.14, Z:-0.28 [[ 0.99996976 -0.00206837 -0.00749705 -0.32301731] [ 0.00203987 0.99999068 -0.00380605 -0.13733299] [ 0.00750485 0.00379064 0.99996465 -0.27776546] [ 0. 0. 0. 1. ]] SLAMing on 102.12313336499999 meters Centerline goodness : 0.161946 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.13, Z:-0.28 [[ 0.99997058 -0.0024049 -0.00728398 -0.32329475] [ 0.00237058 0.99998606 -0.00471712 -0.13276841] [ 0.00729522 0.00469972 0.99996235 -0.27813069] [ 0. 0. 0. 1. ]] SLAMing on 102.15313336499999 meters Centerline goodness : 0.165174 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.13, Z:-0.28 [[ 0.99997121 -0.00257118 -0.00713935 -0.32377635] [ 0.00253483 0.9999838 -0.00509581 -0.1309467 ] [ 0.00715234 0.00507757 0.99996153 -0.27795454] [ 0. 0. 0. 1. ]] SLAMing on 102.18313336499999 meters Centerline goodness : 0.115631 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.13, Z:-0.28 [[ 0.99997215 -0.00270309 -0.00695696 -0.32435573] [ 0.00266575 0.99998203 -0.00537008 -0.12961636] [ 0.00697135 0.00535139 0.99996138 -0.27776279] [ 0. 0. 0. 1. ]] SLAMing on 102.21313336499999 meters Centerline goodness : 0.113052 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.13, Z:-0.28 [[ 0.99997322 -0.00314467 -0.00660899 -0.32550571] [ 0.0031067 0.99997865 -0.0057481 -0.12822507] [ 0.00662693 0.00572741 0.99996164 -0.27732656] [ 0. 0. 0. 1. ]] SLAMing on 102.24313336499999 meters Centerline goodness : 0.110340 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.13, Z:-0.28 [[ 0.99997314 -0.00327215 -0.00655885 -0.3256467 ] [ 0.00323424 0.99997806 -0.00578132 -0.1281163 ] [ 0.00657762 0.00575995 0.99996178 -0.27738687] [ 0. 0. 0. 1. ]] SLAMing on 102.27313336499999 meters Centerline goodness : 0.114223 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.13, Z:-0.28 [[ 0.9999728 -0.0033799 -0.00655602 -0.32547105] [ 0.00334146 0.99997722 -0.00586494 -0.12772087] [ 0.0065757 0.00584288 0.99996131 -0.27774252] [ 0. 0. 0. 1. ]] SLAMing on 102.303133365 meters Centerline goodness : 0.114617 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:-0.28 [[ 0.99998115 -0.00308984 -0.00530666 -0.28098467] [ 0.00305543 0.99997433 -0.0064803 -0.12668947] [ 0.00532655 0.00646396 0.99996492 -0.27827415] [ 0. 0. 0. 1. ]] SLAMing on 102.333133365 meters Centerline goodness : 0.157308 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:-0.28 [[ 0.9999789 -0.00324189 -0.00562851 -0.27975744] [ 0.00320453 0.99997286 -0.00663407 -0.12609719] [ 0.00564987 0.00661589 0.99996215 -0.27907252] [ 0. 0. 0. 1. ]] SLAMing on 102.363133365 meters Centerline goodness : 0.122022 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:-0.28 [[ 0.99997614 -0.00340264 -0.00601174 -0.27834728] [ 0.00336154 0.99997101 -0.00683216 -0.1254337 ] [ 0.00603481 0.00681179 0.99995859 -0.27990397] [ 0. 0. 0. 1. ]] SLAMing on 102.393133365 meters Centerline goodness : 0.120487 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:-0.28 [[ 0.99989943 -0.01238744 -0.00690464 -0.29754685] [ 0.01234577 0.99990552 -0.00604469 -0.11906898] [ 0.00697886 0.00595884 0.99995789 -0.28115347] [ 0. 0. 0. 1. ]] SLAMing on 102.423133365 meters Centerline goodness : 0.110706 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:-0.28 [[ 0.99996957 -0.00424662 -0.00654432 -0.31877254] [ 0.00420243 0.99996838 -0.0067515 -0.12147508] [ 0.00657278 0.00672379 0.99995579 -0.28217944] [ 0. 0. 0. 1. ]] SLAMing on 102.453133365 meters Centerline goodness : 0.119482 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:-0.28 [[ 0.99997007 -0.00431905 -0.00641836 -0.31903874] [ 0.00427438 0.99996666 -0.00695742 -0.12021346] [ 0.0064482 0.00692978 0.9999552 -0.28220967] [ 0. 0. 0. 1. ]] SLAMing on 102.48313336499999 meters Centerline goodness : 0.118995 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:-0.28 [[ 0.99996968 -0.00450474 -0.00635246 -0.31874956] [ 0.00445754 0.9999625 -0.00742517 -0.11807095] [ 0.00638568 0.00739663 0.99995226 -0.28292064] [ 0. 0. 0. 1. ]] SLAMing on 102.51313336499999 meters Centerline goodness : 0.120305 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:-0.28 [[ 0.99996917 -0.00453454 -0.00641024 -0.31840029] [ 0.00448632 0.99996169 -0.00751621 -0.11753241] [ 0.00644408 0.00748722 0.99995121 -0.28328996] [ 0. 0. 0. 1. ]] SLAMing on 102.54313336499999 meters Centerline goodness : 0.146595 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:-0.28 [[ 0.99996914 -0.00451294 -0.00642987 -0.31828053] [ 0.00446434 0.99996151 -0.00755262 -0.11690757] [ 0.0064637 0.00752368 0.99995081 -0.2834179 ] [ 0. 0. 0. 1. ]] SLAMing on 102.57313336499999 meters Centerline goodness : 0.118136 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:-0.28 [[ 0.9999699 -0.00451965 -0.00630728 -0.31859013] [ 0.00447124 0.9999606 -0.00766824 -0.11618675] [ 0.00634169 0.00763981 0.99995071 -0.28340034] [ 0. 0. 0. 1. ]] SLAMing on 102.60313336499999 meters Centerline goodness : 0.153779 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:-0.28 [[ 0.99997018 -0.00455152 -0.00623815 -0.3187896 ] [ 0.00450279 0.99995942 -0.00780245 -0.11547771] [ 0.00627341 0.00777413 0.9999501 -0.28334329] [ 0. 0. 0. 1. ]] SLAMing on 102.63313336499999 meters Centerline goodness : 0.151180 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 0.9999704 -0.00457323 -0.00618715 -0.31883058] [ 0.00452379 0.99995793 -0.00797995 -0.11442547] [ 0.00622339 0.00795173 0.99994902 -0.28350021] [ 0. 0. 0. 1. ]] SLAMing on 102.663133365 meters Centerline goodness : 0.136057 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 0.99997561 -0.00123923 -0.0068728 -0.31667093] [ 0.00120693 0.99998822 -0.0047015 -0.11390241] [ 0.00687855 0.00469309 0.99996533 -0.28436266] [ 0. 0. 0. 1. ]] SLAMing on 102.693133365 meters Centerline goodness : 0.123681 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 0.9999751 -0.00125214 -0.0069456 -0.31622105] [ 0.00121845 0.99998749 -0.00485217 -0.11293769] [ 0.00695159 0.00484358 0.99996411 -0.28482271] [ 0. 0. 0. 1. ]] SLAMing on 102.723133365 meters Centerline goodness : 0.122579 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.29 [[ 0.99997511 -0.00127043 -0.00694007 -0.31608057] [ 0.00123579 0.99998677 -0.00499341 -0.11213272] [ 0.00694633 0.00498471 0.99996345 -0.28506837] [ 0. 0. 0. 1. ]] SLAMing on 102.753133365 meters Centerline goodness : 0.122125 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 0.99997632 -0.00127992 -0.00676122 -0.31663414] [ 0.00124524 0.99998606 -0.00513137 -0.11132149] [ 0.00676769 0.00512282 0.99996398 -0.28487935] [ 0. 0. 0. 1. ]] SLAMing on 102.783133365 meters Centerline goodness : 0.136852 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 0.99997792 -0.00129405 -0.00651805 -0.3173241 ] [ 0.00125937 0.99998505 -0.00532108 -0.11011942] [ 0.00652484 0.00531275 0.9999646 -0.28472467] [ 0. 0. 0. 1. ]] SLAMing on 102.813133365 meters Centerline goodness : 0.134115 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 0.99997865 0.00178125 -0.00628747 -0.31826489] [-0.00179549 0.99999584 -0.00225914 -0.10928317] [ 0.00628342 0.00227039 0.99997768 -0.28421661] [ 0. 0. 0. 1. ]] SLAMing on 102.84313336499999 meters Centerline goodness : 0.125092 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 9.99973772e-01 -3.40517143e-03 -6.39215993e-03 -2.96126368e-01] [ 3.40957262e-03 9.99993958e-01 6.77758098e-04 -1.05498155e-01] [ 6.38981342e-03 -6.99534856e-04 9.99979340e-01 -2.84019355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87313336499999 meters Centerline goodness : 0.122713 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 9.99973145e-01 -3.48395073e-03 -6.44759045e-03 -2.95769053e-01] [ 3.48758333e-03 9.99993766e-01 5.52247623e-04 -1.05057078e-01] [ 6.44562626e-03 -5.74719301e-04 9.99979062e-01 -2.84435858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90313336499999 meters Centerline goodness : 0.143165 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 9.99973387e-01 -3.51355035e-03 -6.39372573e-03 -2.95687817e-01] [ 3.51699309e-03 9.99993676e-01 5.27291984e-04 -1.05018886e-01] [ 6.39183263e-03 -5.49764641e-04 9.99979421e-01 -2.84809194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93313336499999 meters Centerline goodness : 0.113462 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 9.99975673e-01 -3.47599621e-03 -6.04733911e-03 -2.96536143e-01] [ 3.47960971e-03 9.99993774e-01 5.87116862e-04 -1.05031885e-01] [ 6.04526064e-03 -6.08144959e-04 9.99981542e-01 -2.84840935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96313336499999 meters Centerline goodness : 0.112033 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.10, Z:-0.29 [[ 9.99976081e-01 -3.50523375e-03 -5.96236625e-03 -2.96620950e-01] [ 3.50829651e-03 9.99993719e-01 5.03300917e-04 -1.04485205e-01] [ 5.96056461e-03 -5.24206628e-04 9.99982098e-01 -2.85077178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99313336499999 meters Centerline goodness : 0.143697 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.11, Z:-0.28 [[ 9.99973875e-01 4.93106346e-03 -5.28521842e-03 -2.76839394e-01] [-4.93431512e-03 9.99987645e-01 -6.02373824e-04 -1.07623324e-01] [ 5.28218278e-03 6.28437020e-04 9.99985852e-01 -2.84470156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02313336499999 meters Centerline goodness : 0.109706 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.11, Z:-0.28 [[ 9.99973138e-01 4.84826214e-03 -5.49713451e-03 -2.76011161e-01] [-4.85293079e-03 9.99987875e-01 -8.36266770e-04 -1.06423807e-01] [ 5.49301341e-03 8.62921519e-04 9.99984541e-01 -2.84997962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.053133365 meters Centerline goodness : 0.147653 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:-0.29 [[ 0.99997189 0.00473937 -0.00580988 -0.27481272] [-0.00474622 0.99998806 -0.00116587 -0.10475686] [ 0.00580429 0.00119341 0.99998244 -0.2857804 ] [ 0. 0. 0. 1. ]] SLAMing on 103.083133365 meters Centerline goodness : 0.123416 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:-0.29 [[ 0.99997038 0.00456372 -0.00619841 -0.27329444] [-0.00457377 0.99998825 -0.00160723 -0.10267014] [ 0.006191 0.00163553 0.9999795 -0.28675628] [ 0. 0. 0. 1. ]] SLAMing on 103.113133365 meters Centerline goodness : 0.150112 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:-0.29 [[ 0.99996904 0.0043982 -0.00652462 -0.27200041] [-0.00441173 0.99998814 -0.00206097 -0.10039579] [ 0.00651548 0.00208969 0.99997659 -0.28764527] [ 0. 0. 0. 1. ]] SLAMing on 103.143133365 meters Centerline goodness : 0.124439 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.09, Z:-0.29 [[ 9.99964577e-01 -3.70879595e-03 -7.55576345e-03 -2.89568509e-01] [ 3.70267734e-03 9.99992806e-01 -8.23621195e-04 -9.01449008e-02] [ 7.55876373e-03 7.95615466e-04 9.99971116e-01 -2.90422917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.173133365 meters Centerline goodness : 0.132618 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.09, Z:-0.29 [[ 0.99996315 -0.00388111 -0.00765732 -0.28918225] [ 0.00387169 0.99999173 -0.00124418 -0.08787345] [ 0.00766209 0.00121448 0.99996991 -0.29078391] [ 0. 0. 0. 1. ]] SLAMing on 103.203133365 meters Centerline goodness : 0.128905 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.09, Z:-0.29 [[ 0.99996295 -0.00410952 -0.00756411 -0.28923206] [ 0.00409662 0.99999013 -0.00171932 -0.0856891 ] [ 0.0075711 0.00168826 0.99996991 -0.29110025] [ 0. 0. 0. 1. ]] SLAMing on 103.23313336499999 meters Centerline goodness : 0.125995 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.08, Z:-0.29 [[ 0.99996212 -0.00434372 -0.00754255 -0.28913946] [ 0.00432769 0.99998835 -0.00214001 -0.0839252 ] [ 0.00755176 0.00210728 0.99996926 -0.29139771] [ 0. 0. 0. 1. ]] SLAMing on 103.26313336499999 meters Centerline goodness : 0.145773 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.08, Z:-0.29 [[ 0.99996117 -0.00456837 -0.0075352 -0.28905982] [ 0.0045498 0.99998658 -0.00247934 -0.0823713 ] [ 0.00754642 0.00244496 0.99996854 -0.29163872] [ 0. 0. 0. 1. ]] SLAMing on 103.29313336499999 meters Centerline goodness : 0.141141 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.08, Z:-0.29 [[ 0.99996062 -0.00471457 -0.00751912 -0.28881275] [ 0.0046941 0.99998523 -0.0027384 -0.08111643] [ 0.00753192 0.00270299 0.99996798 -0.29213078] [ 0. 0. 0. 1. ]] SLAMing on 103.32313336499999 meters Centerline goodness : 0.040105 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.08, Z:-0.29 [[ 0.9999599 -0.0050566 -0.00739157 -0.28869242] [ 0.00503353 0.99998241 -0.00313649 -0.07973809] [ 0.0074073 0.00309916 0.99996776 -0.29290749] [ 0. 0. 0. 1. ]] SLAMing on 103.35313336499999 meters Centerline goodness : 0.124858 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.08, Z:-0.29 [[ 0.99996026 -0.00516362 -0.00726804 -0.28894153] [ 0.00514033 0.99998161 -0.00321972 -0.07964437] [ 0.00728454 0.00318223 0.9999684 -0.29303751] [ 0. 0. 0. 1. ]] SLAMing on 103.38313336499999 meters Centerline goodness : 0.094849 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.08, Z:-0.29 [[ 0.99996197 -0.00522841 -0.0069801 -0.28969701] [ 0.00520671 0.99998157 -0.00312365 -0.08016572] [ 0.0069963 0.00308719 0.99997076 -0.29305521] [ 0. 0. 0. 1. ]] SLAMing on 103.413133365 meters Centerline goodness : 0.161888 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.08, Z:-0.29 [[ 0.99996914 0.00296908 -0.00727376 -0.30967146] [-0.00299676 0.9999883 -0.00379763 -0.08277104] [ 0.0072624 0.00381931 0.99996633 -0.29469383] [ 0. 0. 0. 1. ]] SLAMing on 103.443133365 meters Centerline goodness : 0.248476 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.08, Z:-0.30 [[ 0.99996813 0.00291344 -0.00743334 -0.30892841] [-0.00294235 0.99998814 -0.00388155 -0.08244954] [ 0.00742194 0.0039033 0.99996484 -0.29527935] [ 0. 0. 0. 1. ]] SLAMing on 103.473133365 meters Centerline goodness : 0.329891 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.08, Z:-0.30 [[ 0.99996698 0.00283861 -0.00761413 -0.30821574] [-0.00286953 0.99998767 -0.00405313 -0.08170318] [ 0.00760253 0.00407485 0.9999628 -0.29573142] [ 0. 0. 0. 1. ]] SLAMing on 103.503133365 meters Centerline goodness : 0.100130 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.08, Z:-0.30 [[ 0.99994191 0.00292687 -0.01037363 -0.35232103] [-0.00296343 0.99998945 -0.00351078 -0.07902912] [ 0.01036325 0.00354132 0.99994003 -0.29562097] [ 0. 0. 0. 1. ]] SLAMing on 103.533133365 meters Centerline goodness : 0.196457 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.08, Z:-0.29 [[ 9.99934384e-01 -2.52231090e-03 -1.11743207e-02 -3.31435397e-01] [ 2.51465746e-03 9.99996594e-01 -6.98911154e-04 -7.55509270e-02] [ 1.11760455e-02 6.70765705e-04 9.99937321e-01 -2.94580867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.563133365 meters Centerline goodness : 0.222672 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.07, Z:-0.30 [[ 0.99993707 0.00106929 -0.01116756 -0.33064894] [-0.0010417 0.99999639 0.0024762 -0.07316405] [ 0.01117017 -0.00246441 0.99993457 -0.29564674] [ 0. 0. 0. 1. ]] SLAMing on 103.59313336499999 meters Centerline goodness : 0.143743 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.07, Z:-0.30 [[ 0.99993628 0.00106252 -0.0112389 -0.33040295] [-0.00103851 0.99999717 0.00214215 -0.07111231] [ 0.01124115 -0.00213034 0.99993455 -0.29576724] [ 0. 0. 0. 1. ]] SLAMing on 103.62313336499999 meters Centerline goodness : 0.098814 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.07, Z:-0.30 [[ 0.999936 0.00103658 -0.01126616 -0.33025215] [-0.00101536 0.9999977 0.0018891 -0.06958386] [ 0.01126809 -0.00187754 0.99993475 -0.29590852] [ 0. 0. 0. 1. ]] SLAMing on 103.65313336499999 meters Centerline goodness : 0.097294 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.07, Z:-0.30 [[ 0.99993565 0.00103789 -0.01129664 -0.33019756] [-0.00101804 0.99999793 0.00176281 -0.06871115] [ 0.01129845 -0.00175119 0.99993464 -0.29590352] [ 0. 0. 0. 1. ]] SLAMing on 103.68313336499999 meters Centerline goodness : 0.259716 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.07, Z:-0.30 [[ 0.99993815 0.00118317 -0.011059 -0.33089379] [-0.00116135 0.99999737 0.00197916 -0.06921798] [ 0.01106131 -0.00196619 0.99993689 -0.29577711] [ 0. 0. 0. 1. ]] SLAMing on 103.71313336499999 meters Centerline goodness : 0.158052 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.07, Z:-0.30 [[ 0.9999068 -0.00747369 -0.01142535 -0.35073641] [ 0.00750846 0.9999673 0.00300406 -0.06620779] [ 0.01140252 -0.00308957 0.99993022 -0.29700672] [ 0. 0. 0. 1. ]] SLAMing on 103.74313336499999 meters SLAMing on 103.77313336499999 meters Centerline goodness : 0.166394 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.07, Z:-0.30 [[ 0.99990201 -0.00755079 -0.01178807 -0.34949314] [ 0.00759182 0.99996526 0.0034405 -0.06950142] [ 0.01176168 -0.00352966 0.9999246 -0.29775161] [ 0. 0. 0. 1. ]] SLAMing on 103.803133365 meters SLAMing on 103.833133365 meters Centerline goodness : 0.163549 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.07, Z:-0.30 [[ 0.99989972 -0.00732745 -0.01211891 -0.34832387] [ 0.00737876 0.99996398 0.00419482 -0.07314742] [ 0.01208773 -0.00428382 0.99991776 -0.29849881] [ 0. 0. 0. 1. ]] SLAMing on 103.863133365 meters Centerline goodness : 0.230954 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.08, Z:-0.30 [[ 0.99990029 -0.00717511 -0.01216252 -0.34835403] [ 0.00723254 0.99996287 0.00468452 -0.07579355] [ 0.01212845 -0.00477202 0.99991506 -0.29835188] [ 0. 0. 0. 1. ]] SLAMing on 103.893133365 meters Centerline goodness : 0.133718 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.08, Z:-0.30 [[ 0.99990128 -0.00706141 -0.01214809 -0.34841655] [ 0.00712145 0.99996261 0.0049058 -0.07674079] [ 0.01211299 -0.00499183 0.99991417 -0.29836657] [ 0. 0. 0. 1. ]] SLAMing on 103.923133365 meters Centerline goodness : 0.111276 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.08, Z:-0.30 [[ 0.99992642 0.0013454 -0.01205581 -0.36988248] [-0.0012889 0.99998816 0.00469339 -0.08102127] [ 0.01206198 -0.00467751 0.99991631 -0.29926917] [ 0. 0. 0. 1. ]] SLAMing on 103.953133365 meters Centerline goodness : 0.143694 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.08, Z:-0.30 [[ 0.99992626 0.00148344 -0.01205266 -0.36997391] [-0.0014249 0.99998716 0.00486405 -0.08122452] [ 0.01205972 -0.00484652 0.99991553 -0.29919453] [ 0. 0. 0. 1. ]] SLAMing on 103.98313336499999 meters Centerline goodness : 0.120001 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.08, Z:-0.30 [[ 0.99992456 0.0015202 -0.01218837 -0.36950382] [-0.00146041 0.99998687 0.00491266 -0.08132025] [ 0.01219567 -0.00489449 0.99991365 -0.29945585] [ 0. 0. 0. 1. ]] SLAMing on 104.01313336499999 meters Centerline goodness : 0.120001 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.08, Z:-0.30 [[ 0.99992456 0.0015202 -0.01218837 -0.36950382] [-0.00146041 0.99998687 0.00491266 -0.08132025] [ 0.01219567 -0.00489449 0.99991365 -0.29945585] [ 0. 0. 0. 1. ]] SLAMing on 104.04313336499999 meters Centerline goodness : 0.163217 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.08, Z:-0.30 [[ 0.99991751 0.00141127 -0.01276665 -0.36768972] [-0.00134733 0.99998652 0.00501541 -0.08251509] [ 0.01277355 -0.00499779 0.99990592 -0.30024121] [ 0. 0. 0. 1. ]] SLAMing on 104.07313336499999 meters Centerline goodness : 0.161311 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.08, Z:-0.30 [[ 0.99991808 0.00146768 -0.01271504 -0.36764892] [-0.00140155 0.99998546 0.00520819 -0.08336205] [ 0.0127225 -0.00518995 0.9999056 -0.30061248] [ 0. 0. 0. 1. ]] SLAMing on 104.10313336499999 meters Centerline goodness : 0.129087 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.08, Z:-0.30 [[ 0.99991745 0.00151709 -0.01275898 -0.367408 ] [-0.00144762 0.99998409 0.00545177 -0.08444954] [ 0.01276705 -0.00543285 0.99990374 -0.30090551] [ 0. 0. 0. 1. ]] SLAMing on 104.13313336499999 meters Centerline goodness : 0.162002 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:-0.30 [[ 0.99987949 -0.00704106 -0.01383584 -0.38728309] [ 0.0071355 0.9999515 0.00678825 -0.08128211] [ 0.01378737 -0.00688616 0.99988124 -0.30215321] [ 0. 0. 0. 1. ]] SLAMing on 104.163133365 meters Centerline goodness : 0.163430 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:-0.30 [[ 0.99987214 -0.00714397 -0.01430587 -0.38602322] [ 0.00724521 0.99994899 0.00703704 -0.08339442] [ 0.01425487 -0.00713979 0.9998729 -0.30246503] [ 0. 0. 0. 1. ]] SLAMing on 104.193133365 meters Centerline goodness : 0.238736 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:-0.30 [[ 0.99986849 -0.00711293 -0.01457411 -0.38520357] [ 0.00721943 0.99994753 0.00726762 -0.08471787] [ 0.01452165 -0.00737188 0.99986738 -0.30284543] [ 0. 0. 0. 1. ]] SLAMing on 104.223133365 meters Centerline goodness : 0.133714 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:-0.30 [[ 9.99879535e-01 9.22125562e-04 -1.54940666e-02 -4.04856183e-01] [-8.18224244e-04 9.99977147e-01 6.71087935e-03 -8.98410194e-02] [ 1.54999008e-02 -6.69739330e-03 9.99857439e-01 -3.04325262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.253133365 meters Centerline goodness : 0.135671 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:-0.30 [[ 9.99878464e-01 9.70620151e-04 -1.55600511e-02 -4.04543034e-01] [-8.62382291e-04 9.99975398e-01 6.96133905e-03 -9.11533597e-02] [ 1.55664251e-02 -6.94707428e-03 9.99854702e-01 -3.04651237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.283133365 meters Centerline goodness : 0.135190 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:-0.30 [[ 9.99879798e-01 9.97732553e-04 -1.54723560e-02 -4.04647675e-01] [-8.86480423e-04 9.99973719e-01 7.19557288e-03 -9.25855941e-02] [ 1.54791287e-02 -7.18099201e-03 9.99854404e-01 -3.04843341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.313133365 meters SLAMing on 104.34313336499999 meters Centerline goodness : 0.341324 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.10, Z:-0.31 [[ 9.99860423e-01 5.38876433e-04 -1.66986366e-02 -4.01011442e-01] [-4.15589835e-04 9.99972640e-01 7.38562456e-03 -9.61084730e-02] [ 1.67021597e-02 -7.37765391e-03 9.99833290e-01 -3.06104801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37313336499999 meters Centerline goodness : 0.184297 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.10, Z:-0.31 [[ 9.99856291e-01 6.27669349e-04 -1.69411913e-02 -4.00132903e-01] [-4.97896264e-04 9.99970512e-01 7.66334114e-03 -9.73379920e-02] [ 1.69455018e-02 -7.65380489e-03 9.99827120e-01 -3.06657682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40313336499999 meters Centerline goodness : 0.099458 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.10, Z:-0.31 [[ 9.99854020e-01 7.12948527e-04 -1.70713244e-02 -3.99579755e-01] [-5.77939909e-04 9.99968532e-01 7.91213072e-03 -9.84835520e-02] [ 1.70764282e-02 -7.90110951e-03 9.99822968e-01 -3.07098909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43313336499999 meters Centerline goodness : 0.106165 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.10, Z:-0.31 [[ 9.99853695e-01 7.57073176e-04 -1.70884760e-02 -3.99520857e-01] [-6.17994966e-04 9.99966658e-01 8.14252734e-03 -9.97490019e-02] [ 1.70940707e-02 -8.13077545e-03 9.99820826e-01 -3.07174597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46313336499999 meters Centerline goodness : 0.116910 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.10, Z:-0.31 [[ 9.99856083e-01 8.11023978e-04 -1.69456730e-02 -4.00002327e-01] [-6.69486987e-04 9.99964861e-01 8.35640121e-03 -1.01026300e-01] [ 1.69518548e-02 -8.34385367e-03 9.99821491e-01 -3.07021336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49313336499999 meters Centerline goodness : 0.134220 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.10, Z:-0.31 [[ 9.99859030e-01 8.91040532e-04 -1.67667958e-02 -4.00739192e-01] [-7.46616900e-04 9.99962586e-01 8.61795822e-03 -1.02367657e-01] [ 1.67738474e-02 -8.60422497e-03 9.99822287e-01 -3.06577926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52313336499999 meters SLAMing on 104.553133365 meters Centerline goodness : 0.104631 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.11, Z:-0.31 [[ 9.99861929e-01 1.10285212e-03 -1.65803048e-02 -4.01479516e-01] [-9.42505353e-04 9.99952746e-01 9.67562343e-03 -1.08263381e-01] [ 1.65901921e-02 -9.65866048e-03 9.99815721e-01 -3.06302369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.583133365 meters Centerline goodness : 0.093295 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.11, Z:-0.31 [[ 9.99820221e-01 -4.52074071e-04 -1.89557575e-02 -4.46611299e-01] [ 6.31652496e-04 9.99954972e-01 9.46863898e-03 -1.09907211e-01] [ 1.89506234e-02 -9.47891017e-03 9.99775487e-01 -3.06042837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.613133365 meters Centerline goodness : 0.121958 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.11, Z:-0.31 [[ 9.99818005e-01 -3.51680593e-04 -1.90744116e-02 -4.46330417e-01] [ 5.42252346e-04 9.99949985e-01 9.98671202e-03 -1.12939197e-01] [ 1.90699454e-02 -9.99523763e-03 9.99768189e-01 -3.06135165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.643133365 meters Centerline goodness : 0.169736 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.12, Z:-0.31 [[ 9.99810483e-01 -9.79408652e-05 -1.94676219e-02 -4.45373206e-01] [ 3.13854620e-04 9.99938475e-01 1.10881699e-02 -1.19239167e-01] [ 1.94653382e-02 -1.10921785e-02 9.99749001e-01 -3.06303912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.673133365 meters Centerline goodness : 0.173117 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.13, Z:-0.31 [[ 0.99980588 0.00705942 -0.0183946 -0.46442182] [-0.00687205 0.99992407 0.01022906 -0.12603575] [ 0.01846542 -0.01010066 0.99977848 -0.3086059 ] [ 0. 0. 0. 1. ]] SLAMing on 104.703133365 meters Centerline goodness : 0.177467 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.13, Z:-0.31 [[ 0.99980414 0.00716135 -0.01844983 -0.46441149] [-0.00696787 0.99992029 0.01052952 -0.12769962] [ 0.01852376 -0.0103989 0.99977434 -0.30843953] [ 0. 0. 0. 1. ]] SLAMing on 104.73313336499999 meters Centerline goodness : 0.180329 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.12, Z:-0.31 [[ 0.99981744 -0.00142705 -0.01905388 -0.48401759] [ 0.00164961 0.99993054 0.01167014 -0.12337005] [ 0.0190359 -0.01169944 0.99975035 -0.30905062] [ 0. 0. 0. 1. ]] SLAMing on 104.76313336499999 meters Centerline goodness : 0.138994 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.12, Z:-0.31 [[ 0.99981627 -0.00125125 -0.01912739 -0.48386391] [ 0.00147982 0.99992762 0.01194033 -0.12436031] [ 0.01911107 -0.01196644 0.99974575 -0.3090142 ] [ 0. 0. 0. 1. ]] SLAMing on 104.79313336499999 meters Centerline goodness : 0.165554 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.13, Z:-0.31 [[ 9.99810962e-01 -9.02647725e-04 -1.94223131e-02 -4.82762041e-01] [ 1.14359157e-03 9.99922488e-01 1.23979894e-02 -1.26040510e-01] [ 1.94096166e-02 -1.24178569e-02 9.99734497e-01 -3.09634528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82313336499999 meters Centerline goodness : 0.169646 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.13, Z:-0.31 [[ 9.99810069e-01 -7.97179676e-04 -1.94728269e-02 -4.82554154e-01] [ 1.04113176e-03 9.99921068e-01 1.25208970e-02 -1.26478071e-01] [ 1.94613085e-02 -1.25387927e-02 9.99731982e-01 -3.09741297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85313336499999 meters Centerline goodness : 0.159445 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.13, Z:-0.31 [[ 0.99978117 0.0072679 -0.01961618 -0.5035802 ] [-0.00703551 0.99990456 0.01188986 -0.13063814] [ 0.01970073 -0.01174925 0.99973688 -0.31093391] [ 0. 0. 0. 1. ]] SLAMing on 104.88313336499999 meters Centerline goodness : 0.110170 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.13, Z:-0.31 [[ 0.9997795 0.00737704 -0.01966062 -0.50348398] [-0.00714177 0.99990237 0.01200993 -0.13093209] [ 0.0197473 -0.01186687 0.99973458 -0.31091754] [ 0. 0. 0. 1. ]] SLAMing on 104.913133365 meters Centerline goodness : 0.103198 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.13, Z:-0.31 [[ 0.99977521 0.00754524 -0.01981405 -0.50296558] [-0.00730279 0.99989793 0.01228028 -0.13179876] [ 0.01990469 -0.01213282 0.99972826 -0.31117997] [ 0. 0. 0. 1. ]] SLAMing on 104.943133365 meters Centerline goodness : 0.159084 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.13, Z:-0.31 [[ 0.9997688 0.00768866 -0.02008073 -0.5021272 ] [-0.00743664 0.99989302 0.01259518 -0.13318254] [ 0.02017542 -0.01244294 0.99971902 -0.31151442] [ 0. 0. 0. 1. ]] SLAMing on 104.973133365 meters Centerline goodness : 0.161161 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.14, Z:-0.31 [[ 0.99976557 0.00786794 -0.02017194 -0.50228202] [-0.00760278 0.99988413 0.01318813 -0.13661648] [ 0.02027337 -0.01303168 0.99970954 -0.3109603 ] [ 0. 0. 0. 1. ]] SLAMing on 105.003133365 meters Centerline goodness : 0.173222 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.13, Z:-0.31 [[ 0.99980283 -0.00104999 -0.01982935 -0.52236538] [ 0.00132819 0.99990081 0.0140218 -0.13242631] [ 0.01981266 -0.01404538 0.99970505 -0.31184493] [ 0. 0. 0. 1. ]] SLAMing on 105.033133365 meters Centerline goodness : 0.134090 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.13, Z:-0.31 [[ 9.99807251e-01 -9.40501068e-04 -1.96106203e-02 -5.23168411e-01] [ 1.21769657e-03 9.99899456e-01 1.41278220e-02 -1.32537901e-01] [ 1.95953614e-02 -1.41489787e-02 9.99707871e-01 -3.11441794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.063133365 meters Centerline goodness : 0.136668 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.13, Z:-0.31 [[ 9.99812008e-01 -8.89452786e-04 -1.93689912e-02 -5.23839794e-01] [ 1.16292416e-03 9.99899740e-01 1.41123473e-02 -1.32112194e-01] [ 1.93544970e-02 -1.41322190e-02 9.99712801e-01 -3.11320223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09313336499999 meters Centerline goodness : 0.155645 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.13, Z:-0.31 [[ 9.99813075e-01 -8.67781049e-04 -1.93148031e-02 -5.23949639e-01] [ 1.13963978e-03 9.99900383e-01 1.40685953e-02 -1.31558537e-01] [ 1.93006705e-02 -1.40879774e-02 9.99714466e-01 -3.11376100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12313336499999 meters Centerline goodness : 0.107869 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.13, Z:-0.31 [[ 9.99811373e-01 -8.85531995e-04 -1.94019201e-02 -5.23640003e-01] [ 1.15694728e-03 9.99901573e-01 1.39823383e-02 -1.31029358e-01] [ 1.93876287e-02 -1.40021479e-02 9.99713989e-01 -3.11551880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15313336499999 meters Centerline goodness : 0.138502 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.13, Z:-0.31 [[ 9.99807338e-01 -9.43848150e-04 -1.96060209e-02 -5.23011360e-01] [ 1.21790176e-03 9.99901662e-01 1.39707991e-02 -1.31141763e-01] [ 1.95909066e-02 -1.39919857e-02 9.99710168e-01 -3.11870622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18313336499999 meters Centerline goodness : 0.169410 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.13, Z:-0.31 [[ 0.99976618 -0.00226533 -0.02150464 -0.56952098] [ 0.00257364 0.99989415 0.01431991 -0.13064809] [ 0.02146992 -0.01437191 0.99966619 -0.31073058] [ 0. 0. 0. 1. ]] SLAMing on 105.21313336499999 meters Centerline goodness : 0.105249 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.13, Z:-0.31 [[ 0.99980273 0.00383501 -0.01948841 -0.54849807] [-0.00361389 0.99992884 0.01136887 -0.13353652] [ 0.01953062 -0.0112962 0.99974544 -0.31111009] [ 0. 0. 0. 1. ]] SLAMing on 105.24313336499999 meters Centerline goodness : 0.107318 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.13, Z:-0.31 [[ 0.99979905 -0.00528434 -0.01933742 -0.56905921] [ 0.00552251 0.9999093 0.01228384 -0.12964276] [ 0.01927075 -0.01238817 0.99973755 -0.31199386] [ 0. 0. 0. 1. ]] SLAMing on 105.27313336499999 meters Centerline goodness : 0.105452 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.13, Z:-0.31 [[ 0.99983433 0.0014622 -0.01814329 -0.54942416] [-0.00128357 0.99995064 0.0098529 -0.13355307] [ 0.0181568 -0.00982798 0.99978685 -0.31166678] [ 0. 0. 0. 1. ]] SLAMing on 105.303133365 meters Centerline goodness : 0.163311 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.13, Z:-0.31 [[ 9.99805289e-01 -1.39796362e-04 -1.97323122e-02 -5.96615404e-01] [ 3.39909897e-04 9.99948547e-01 1.01384238e-02 -1.32986029e-01] [ 1.97298796e-02 -1.01431570e-02 9.99753894e-01 -3.10486057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.333133365 meters Centerline goodness : 0.122352 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.13, Z:-0.31 [[ 9.99809317e-01 -1.92297546e-04 -1.95267412e-02 -5.97320692e-01] [ 3.93806191e-04 9.99946708e-01 1.03163041e-02 -1.34119135e-01] [ 1.95237168e-02 -1.03220267e-02 9.99756110e-01 -3.10225341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.363133365 meters Centerline goodness : 0.102722 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.13, Z:-0.31 [[ 0.99982074 -0.00507064 -0.01824223 -0.6325614 ] [ 0.00526915 0.99992725 0.01085058 -0.13306807] [ 0.01818588 -0.01094476 0.99977472 -0.31233766] [ 0. 0. 0. 1. ]] SLAMing on 105.393133365 meters Centerline goodness : 0.160935 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.14, Z:-0.31 [[ 0.99981585 -0.00514561 -0.01848771 -0.63196579] [ 0.005354 0.9999225 0.01123984 -0.13554224] [ 0.01842845 -0.01133675 0.99976591 -0.31246101] [ 0. 0. 0. 1. ]] SLAMing on 105.423133365 meters Centerline goodness : 0.104201 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.14, Z:-0.31 [[ 0.99980919 -0.00568238 -0.01868966 -0.63135907] [ 0.00590061 0.99991482 0.01164232 -0.14015027] [ 0.01862191 -0.01175038 0.99975755 -0.31281261] [ 0. 0. 0. 1. ]] SLAMing on 105.453133365 meters Centerline goodness : 0.180730 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.32 [[ 0.99984119 0.00130978 -0.01777311 -0.65053592] [-0.00111702 0.9999405 0.01085135 -0.14643922] [ 0.01778627 -0.01082977 0.99978316 -0.31500193] [ 0. 0. 0. 1. ]] SLAMing on 105.48313336499999 meters Centerline goodness : 0.187611 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.32 [[ 0.99983644 0.00140906 -0.0180308 -0.64988111] [-0.0012058 0.99993566 0.01127896 -0.14866104] [ 0.01804554 -0.01125537 0.99977381 -0.31513987] [ 0. 0. 0. 1. ]] SLAMing on 105.51313336499999 meters Centerline goodness : 0.109599 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.32 [[ 0.99983093 0.00150556 -0.01832608 -0.64889363] [-0.0012936 0.9999322 0.01157253 -0.15017872] [ 0.01834226 -0.01154686 0.99976509 -0.31557856] [ 0. 0. 0. 1. ]] SLAMing on 105.54313336499999 meters Centerline goodness : 0.181668 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.32 [[ 0.99982686 0.00152949 -0.01854493 -0.64812545] [-0.00131354 0.99993126 0.01165108 -0.15074429] [ 0.01856147 -0.0116247 0.99976014 -0.31591679] [ 0. 0. 0. 1. ]] SLAMing on 105.57313336499999 meters Centerline goodness : 0.135027 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.32 [[ 0.99982629 0.00164643 -0.01856562 -0.64809756] [-0.00142899 0.9999303 0.01171947 -0.15078991] [ 0.01858362 -0.01169091 0.99975896 -0.31583954] [ 0. 0. 0. 1. ]] SLAMing on 105.60313336499999 meters Centerline goodness : 0.121463 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.32 [[ 0.99982991 0.00181557 -0.01835351 -0.64875681] [-0.00160038 0.99992989 0.01173298 -0.15022856] [ 0.01837353 -0.01170161 0.99976271 -0.31552903] [ 0. 0. 0. 1. ]] SLAMing on 105.63313336499999 meters Centerline goodness : 0.130808 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.31 [[ 0.9998387 0.00234966 -0.01780587 -0.65039421] [-0.00213999 0.99992826 0.01178558 -0.14889153] [ 0.01783229 -0.01174558 0.999772 -0.31488767] [ 0. 0. 0. 1. ]] SLAMing on 105.663133365 meters Centerline goodness : 0.128728 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.31 [[ 0.99984181 0.00230895 -0.01763588 -0.65076279] [-0.00210617 0.99993156 0.01150817 -0.14748561] [ 0.01766124 -0.01146921 0.99977824 -0.31488046] [ 0. 0. 0. 1. ]] SLAMing on 105.693133365 meters Centerline goodness : 0.103548 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.32 [[ 0.99984216 0.00225954 -0.01762226 -0.65062589] [-0.002062 0.99993493 0.01121936 -0.14603626] [ 0.01764646 -0.01118125 0.99978177 -0.31510115] [ 0. 0. 0. 1. ]] SLAMing on 105.723133365 meters Centerline goodness : 0.157277 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.32 [[ 0.99984368 0.00223595 -0.01753873 -0.65059088] [-0.00204297 0.99993727 0.0110128 -0.1448043 ] [ 0.01756225 -0.01097525 0.99978553 -0.3154482 ] [ 0. 0. 0. 1. ]] SLAMing on 105.753133365 meters Centerline goodness : 0.106479 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.32 [[ 0.9998464 0.00218705 -0.01738968 -0.65094777] [-0.0019991 0.99993949 0.01081798 -0.14369418] [ 0.01741229 -0.01078155 0.99979026 -0.31545667] [ 0. 0. 0. 1. ]] SLAMing on 105.783133365 meters Centerline goodness : 0.113784 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.32 [[ 0.99984953 0.00215732 -0.01721226 -0.65157713] [-0.0019741 0.99994129 0.01065485 -0.14271906] [ 0.01723424 -0.01061927 0.99979509 -0.31514266] [ 0. 0. 0. 1. ]] SLAMing on 105.813133365 meters Centerline goodness : 0.158360 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.31 [[ 0.99985061 0.0020998 -0.01715644 -0.65197494] [-0.00192001 0.99994315 0.01048896 -0.14181509] [ 0.01717749 -0.01045445 0.9997978 -0.31469014] [ 0. 0. 0. 1. ]] SLAMing on 105.84313336499999 meters Centerline goodness : 0.133542 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.31 [[ 0.99984943 0.00202551 -0.01723384 -0.65172054] [-0.00184748 0.99994484 0.01033987 -0.14110343] [ 0.01725384 -0.01030647 0.99979802 -0.31483854] [ 0. 0. 0. 1. ]] SLAMing on 105.87313336499999 meters Centerline goodness : 0.171505 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.32 [[ 0.99984862 0.00182544 -0.01730338 -0.65122832] [-0.00165301 0.99994889 0.00997402 -0.13962617] [ 0.0173207 -0.00994391 0.99980054 -0.31535439] [ 0. 0. 0. 1. ]] SLAMing on 105.90313336499999 meters Centerline goodness : 0.171505 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.32 [[ 0.99984862 0.00182544 -0.01730338 -0.65122832] [-0.00165301 0.99994889 0.00997402 -0.13962617] [ 0.0173207 -0.00994391 0.99980054 -0.31535439] [ 0. 0. 0. 1. ]] SLAMing on 105.93313336499999 meters Centerline goodness : 0.104681 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.13, Z:-0.32 [[ 0.9998172 -0.00685624 -0.01784806 -0.67072042] [ 0.00705455 0.99991382 0.0110719 -0.13337614] [ 0.01777061 -0.01119579 0.99977941 -0.31652697] [ 0. 0. 0. 1. ]] SLAMing on 105.96313336499999 meters Centerline goodness : 0.105507 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.13, Z:-0.32 [[ 0.99981767 -0.00690917 -0.01780126 -0.67085937] [ 0.00710447 0.99991501 0.01093116 -0.13254815] [ 0.01772422 -0.01105563 0.99978179 -0.31652422] [ 0. 0. 0. 1. ]] SLAMing on 105.99313336499999 meters Centerline goodness : 0.167166 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.31 [[ 0.99984262 0.00123226 -0.01769794 -0.65272524] [-0.00106484 0.99995462 0.00946655 -0.13667341] [ 0.0177088 -0.00944622 0.99979856 -0.31497668] [ 0. 0. 0. 1. ]] SLAMing on 106.02313336499999 meters Centerline goodness : 0.172355 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.32 [[ 9.99842531e-01 1.16575555e-03 -1.77074864e-02 -6.52678799e-01] [-9.98892720e-04 9.99955045e-01 9.42921646e-03 -1.36630064e-01] [ 1.77176825e-02 -9.41004377e-03 9.99798747e-01 -3.15075605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.053133365 meters Centerline goodness : 0.136249 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.14, Z:-0.31 [[ 9.99800036e-01 -5.43162780e-04 -1.99898330e-02 -6.98196357e-01] [ 7.29118004e-04 9.99956522e-01 9.29637791e-03 -1.35155419e-01] [ 1.99839145e-02 -9.30909391e-03 9.99756962e-01 -3.14492752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.083133365 meters Centerline goodness : 0.107851 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.14, Z:-0.31 [[ 9.99798576e-01 -7.28741432e-04 -2.00568164e-02 -6.98037683e-01] [ 9.16084343e-04 9.99956027e-01 9.33300836e-03 -1.35989145e-01] [ 2.00491331e-02 -9.34950221e-03 9.99755280e-01 -3.14613514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.113133365 meters Centerline goodness : 0.174017 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.14, Z:-0.32 [[ 9.99791005e-01 -8.45942608e-04 -2.04262418e-02 -6.96983742e-01] [ 1.04081847e-03 9.99954030e-01 9.53172021e-03 -1.37403368e-01] [ 2.04172396e-02 -9.55098814e-03 9.99745925e-01 -3.15035301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.143133365 meters Centerline goodness : 0.113317 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.14, Z:-0.32 [[ 0.99976778 -0.00131616 -0.02150935 -0.69347325] [ 0.00152929 0.99994987 0.00989507 -0.14112178] [ 0.02149525 -0.00992567 0.99971968 -0.31677329] [ 0. 0. 0. 1. ]] SLAMing on 106.173133365 meters Centerline goodness : 0.173244 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.14, Z:-0.32 [[ 0.99976605 -0.001312 -0.02158979 -0.69324662] [ 0.00153331 0.99994642 0.01023738 -0.14294971] [ 0.0215752 -0.01026809 0.9997145 -0.31695525] [ 0. 0. 0. 1. ]] SLAMing on 106.203133365 meters Centerline goodness : 0.138834 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.15, Z:-0.32 [[ 0.99977662 0.006099 -0.02023632 -0.71391528] [-0.00590759 0.99993738 0.00950467 -0.14710844] [ 0.02029302 -0.009383 0.99975005 -0.31846157] [ 0. 0. 0. 1. ]] SLAMing on 106.23313336499999 meters Centerline goodness : 0.187913 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.15, Z:-0.32 [[ 0.99977906 0.00606174 -0.02012657 -0.7144722 ] [-0.00587554 0.99993952 0.00929745 -0.14606399] [ 0.02018171 -0.00917715 0.99975421 -0.31784965] [ 0. 0. 0. 1. ]] SLAMing on 106.26313336499999 meters Centerline goodness : 0.098133 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.14, Z:-0.32 [[ 0.99978204 0.00599206 -0.01999941 -0.7148251 ] [-0.00581799 0.99994479 0.00875088 -0.14317554] [ 0.02005074 -0.00863261 0.99976169 -0.31758637] [ 0. 0. 0. 1. ]] SLAMing on 106.29313336499999 meters Centerline goodness : 0.181889 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.14, Z:-0.32 [[ 0.999784 0.0060136 -0.01989456 -0.71493928] [-0.00585304 0.99994991 0.00811878 -0.13951665] [ 0.01994238 -0.00800058 0.99976912 -0.31763446] [ 0. 0. 0. 1. ]] SLAMing on 106.32313336499999 meters Centerline goodness : 0.141354 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.13, Z:-0.32 [[ 0.99983376 0.00158574 -0.01816399 -0.73489012] [-0.00138383 0.99993717 0.01112349 -0.1258016 ] [ 0.01818049 -0.0110965 0.99977314 -0.31867182] [ 0. 0. 0. 1. ]] SLAMing on 106.35313336499999 meters Centerline goodness : 0.165641 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.12, Z:-0.32 [[ 0.99983579 0.00161966 -0.01804887 -0.73502869] [-0.00142858 0.99994286 0.01059451 -0.12227995] [ 0.01806499 -0.01056698 0.99978097 -0.31879938] [ 0. 0. 0. 1. ]] SLAMing on 106.38313336499999 meters Centerline goodness : 0.175889 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.12, Z:-0.32 [[ 0.99983651 0.00149055 -0.01802051 -0.73497566] [-0.00131014 0.99994895 0.01001913 -0.11912762] [ 0.01803452 -0.00999389 0.99978742 -0.31893777] [ 0. 0. 0. 1. ]] SLAMing on 106.413133365 meters Centerline goodness : 0.148960 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.12, Z:-0.32 [[ 0.99983792 0.00128141 -0.01795824 -0.73511424] [-0.00111236 0.99995501 0.00942036 -0.11627349] [ 0.0179695 -0.00939885 0.99979436 -0.3188984 ] [ 0. 0. 0. 1. ]] SLAMing on 106.443133365 meters Centerline goodness : 0.135887 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:-0.32 [[ 9.99791384e-01 3.97771289e-04 -2.04213355e-02 -7.80969725e-01] [-2.07603749e-04 9.99956607e-01 9.31347456e-03 -1.11056989e-01] [ 2.04241540e-02 -9.30729207e-03 9.99748082e-01 -3.18065446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.473133365 meters Centerline goodness : 0.094776 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:-0.32 [[ 9.99791108e-01 2.50419633e-04 -2.04371730e-02 -7.81015515e-01] [-6.79683657e-05 9.99960146e-01 8.92762836e-03 -1.09100389e-01] [ 2.04385942e-02 -8.92437436e-03 9.99751279e-01 -3.17941871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.503133365 meters Centerline goodness : 0.151614 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:-0.32 [[ 9.99783434e-01 -1.31482137e-04 -2.08102878e-02 -7.79998362e-01] [ 3.01604507e-04 9.99966563e-01 8.17198927e-03 -1.05708013e-01] [ 2.08085175e-02 -8.17649597e-03 9.99750044e-01 -3.18180813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.533133365 meters SLAMing on 106.563133365 meters Centerline goodness : 0.191867 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:-0.32 [[ 9.99780263e-01 -4.53617038e-04 -2.09575634e-02 -7.79248980e-01] [ 6.12062009e-04 9.99971277e-01 7.55448066e-03 -1.02888332e-01] [ 2.09535346e-02 -7.56564799e-03 9.99751824e-01 -3.18853043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59313336499999 meters Centerline goodness : 0.103039 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:-0.32 [[ 9.99780128e-01 -5.94983291e-04 -2.09604945e-02 -7.79110010e-01] [ 7.47470917e-04 9.99973309e-01 7.26791815e-03 -1.01417900e-01] [ 2.09556108e-02 -7.28198749e-03 9.99753887e-01 -3.19119072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62313336499999 meters SLAMing on 106.65313336499999 meters Centerline goodness : 0.172169 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:-0.32 [[ 9.99779875e-01 -8.23799179e-04 -2.09648015e-02 -7.78525380e-01] [ 9.64908723e-04 9.99976945e-01 6.72155836e-03 -9.85384766e-02] [ 2.09587810e-02 -6.74030790e-03 9.99757620e-01 -3.19992394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68313336499999 meters Centerline goodness : 0.146003 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:-0.32 [[ 9.99780628e-01 -9.24055548e-04 -2.09246854e-02 -7.78644721e-01] [ 1.05978168e-03 9.99978467e-01 6.47625230e-03 -9.73305544e-02] [ 2.09182505e-02 -6.49700719e-03 9.99760079e-01 -3.19957524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71313336499999 meters Centerline goodness : 0.302469 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:-0.32 [[ 0.9997873 -0.00108001 -0.02059577 -0.77950255] [ 0.00120179 0.99998187 0.00590104 -0.09413773] [ 0.02058902 -0.00592454 0.99977047 -0.31978563] [ 0. 0. 0. 1. ]] SLAMing on 106.74313336499999 meters SLAMing on 106.77313336499999 meters SLAMing on 106.803133365 meters Centerline goodness : 0.113249 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.09, Z:-0.32 [[ 0.99975657 -0.00105576 -0.02203818 -0.82605087] [ 0.00118656 0.99998176 0.00592294 -0.08563191] [ 0.02203152 -0.00594765 0.99973958 -0.32010411] [ 0. 0. 0. 1. ]] SLAMing on 106.833133365 meters Centerline goodness : 0.176980 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:-0.32 [[ 0.99975564 -0.00115812 -0.02207516 -0.8258186 ] [ 0.00128505 0.99998272 0.00573684 -0.08484155] [ 0.02206814 -0.0057638 0.99973985 -0.32038888] [ 0. 0. 0. 1. ]] SLAMing on 106.863133365 meters Centerline goodness : 0.090670 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:-0.32 [[ 0.99975219 -0.00119461 -0.02222886 -0.82524708] [ 0.00132167 0.99998287 0.00570218 -0.08464595] [ 0.02222167 -0.00573015 0.99973665 -0.3207424 ] [ 0. 0. 0. 1. ]] SLAMing on 106.893133365 meters Centerline goodness : 0.145284 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:-0.32 [[ 0.99974687 -0.00119996 -0.02246689 -0.82455473] [ 0.00132924 0.99998264 0.00574048 -0.08470352] [ 0.02245961 -0.00576889 0.99973111 -0.32100031] [ 0. 0. 0. 1. ]] SLAMing on 106.923133365 meters Centerline goodness : 0.337016 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:-0.32 [[ 0.9997451 -0.00121101 -0.02254499 -0.82414196] [ 0.00134189 0.99998233 0.00579086 -0.08497699] [ 0.02253757 -0.00581963 0.99972906 -0.32139996] [ 0. 0. 0. 1. ]] SLAMing on 106.953133365 meters Centerline goodness : 0.097000 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.09, Z:-0.32 [[ 0.99974226 -0.00128706 -0.02266627 -0.82359633] [ 0.00141847 0.99998228 0.0057825 -0.08528882] [ 0.02265842 -0.00581316 0.99972636 -0.32186828] [ 0. 0. 0. 1. ]] SLAMing on 106.98313336499999 meters Centerline goodness : 0.105671 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:-0.32 [[ 0.99973125 -0.00150101 -0.02313379 -0.82190306] [ 0.00162916 0.99998343 0.00552166 -0.08461487] [ 0.02312512 -0.00555787 0.99971713 -0.32281667] [ 0. 0. 0. 1. ]] SLAMing on 107.01313336499999 meters Centerline goodness : 0.099673 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:-0.32 [[ 0.99972683 -0.00151153 -0.02332343 -0.82120771] [ 0.00163766 0.99998413 0.00538984 -0.08366953] [ 0.02331491 -0.00542656 0.99971344 -0.32319289] [ 0. 0. 0. 1. ]] SLAMing on 107.04313336499999 meters Centerline goodness : 0.099673 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:-0.32 [[ 0.99972683 -0.00151153 -0.02332343 -0.82120771] [ 0.00163766 0.99998413 0.00538984 -0.08366953] [ 0.02331491 -0.00542656 0.99971344 -0.32319289] [ 0. 0. 0. 1. ]] SLAMing on 107.07313336499999 meters Centerline goodness : 0.099742 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:-0.32 [[ 9.99746449e-01 1.06942177e-03 -2.24920711e-02 -8.24869664e-01] [-8.98164779e-04 9.99970542e-01 7.62282918e-03 -8.05416070e-02] [ 2.24995605e-02 -7.60069482e-03 9.99717960e-01 -3.21377681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10313336499999 meters Centerline goodness : 0.274453 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:-0.32 [[ 9.99755012e-01 1.04608990e-03 -2.21092959e-02 -8.26133682e-01] [-8.83579108e-04 9.99972533e-01 7.35882901e-03 -7.91253375e-02] [ 2.21163866e-02 -7.33749087e-03 9.99728476e-01 -3.20749355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13313336499999 meters Centerline goodness : 0.090212 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:-0.32 [[ 9.99731435e-01 9.42341146e-04 -2.31553532e-02 -8.75197245e-01] [-7.67776365e-04 9.99971229e-01 7.54658612e-03 -7.54727360e-02] [ 2.31617985e-02 -7.52678123e-03 9.99703395e-01 -3.19170351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.163133365 meters Centerline goodness : 0.108329 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:-0.32 [[ 9.99740539e-01 8.56088818e-04 -2.27623024e-02 -8.76358169e-01] [-6.93006697e-04 9.99974044e-01 7.17149374e-03 -7.37014839e-02] [ 2.27678510e-02 -7.15385859e-03 9.99715183e-01 -3.18747289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.193133365 meters Centerline goodness : 0.294110 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:-0.32 [[ 9.99743086e-01 8.41213883e-04 -2.26506872e-02 -8.76638683e-01] [-6.85588069e-04 9.99976114e-01 6.87757755e-03 -7.19732434e-02] [ 2.26559317e-02 -6.86028157e-03 9.99719783e-01 -3.18652766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.223133365 meters SLAMing on 107.253133365 meters Centerline goodness : 0.100907 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:-0.32 [[ 0.99971237 0.00350953 -0.02372485 -0.87208858] [-0.0032974 0.99995429 0.00897464 -0.06743456] [ 0.02375526 -0.00889383 0.99967824 -0.32093812] [ 0. 0. 0. 1. ]] SLAMing on 107.283133365 meters SLAMing on 107.313133365 meters SLAMing on 107.34313336499999 meters Centerline goodness : 0.099604 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:-0.32 [[ 0.99972806 0.00351903 -0.02305252 -0.87372482] [-0.00332675 0.99995941 0.00837364 -0.06380282] [ 0.02308105 -0.00829467 0.99969919 -0.32081279] [ 0. 0. 0. 1. ]] SLAMing on 107.37313336499999 meters Centerline goodness : 0.156101 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:-0.32 [[ 0.99972978 0.00345962 -0.02298678 -0.87388147] [-0.00327246 0.99996123 0.00817491 -0.06270655] [ 0.02301417 -0.00809747 0.99970235 -0.32082969] [ 0. 0. 0. 1. ]] SLAMing on 107.40313336499999 meters Centerline goodness : 0.135261 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:-0.32 [[ 0.99972214 0.00332476 -0.02333654 -0.87263512] [-0.00314101 0.99996381 0.00790633 -0.06155773] [ 0.02336198 -0.00783083 0.9996964 -0.3214873 ] [ 0. 0. 0. 1. ]] SLAMing on 107.43313336499999 meters Centerline goodness : 0.096565 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:-0.32 [[ 0.99967681 -0.00533577 -0.02485588 -0.8919453 ] [ 0.00555876 0.99994485 0.00891091 -0.05599047] [ 0.02480696 -0.0090462 0.99965133 -0.32261482] [ 0. 0. 0. 1. ]] SLAMing on 107.46313336499999 meters Centerline goodness : 0.192348 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:-0.32 [[ 0.9996614 0.00264306 -0.02588616 -0.91163184] [-0.00243336 0.999964 0.00812887 -0.05932887] [ 0.02590671 -0.00806313 0.99963185 -0.32417452] [ 0. 0. 0. 1. ]] SLAMing on 107.49313336499999 meters Centerline goodness : 0.122623 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:-0.32 [[ 0.99969826 0.00267857 -0.02441747 -0.86728579] [-0.0024874 0.99996604 0.00785634 -0.06162179] [ 0.02443769 -0.00779324 0.99967098 -0.32420782] [ 0. 0. 0. 1. ]] SLAMing on 107.52313336499999 meters Centerline goodness : 0.104250 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:-0.32 [[ 0.99968086 -0.00627339 -0.02447099 -0.88880591] [ 0.00649029 0.99994027 0.00879424 -0.05780801] [ 0.02441436 -0.00895026 0.99966186 -0.3249908 ] [ 0. 0. 0. 1. ]] SLAMing on 107.553133365 meters SLAMing on 107.583133365 meters Centerline goodness : 0.133408 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:-0.32 [[ 0.99968328 -0.00693265 -0.02419236 -0.88975465] [ 0.00715056 0.99993454 0.00893236 -0.0613469 ] [ 0.02412886 -0.00910252 0.99966742 -0.32469633] [ 0. 0. 0. 1. ]] SLAMing on 107.613133365 meters Centerline goodness : 0.082918 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:-0.33 [[ 0.99966958 -0.00697404 -0.02474033 -0.88820889] [ 0.0072068 0.99993049 0.00933162 -0.06384578] [ 0.02467353 -0.00950684 0.99965036 -0.32523184] [ 0. 0. 0. 1. ]] SLAMing on 107.643133365 meters Centerline goodness : 0.147356 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:-0.33 [[ 0.99963719 -0.0070749 -0.025989 -0.88482873] [ 0.00733715 0.99992299 0.01000911 -0.06828328] [ 0.02591619 -0.01019617 0.99961212 -0.32600366] [ 0. 0. 0. 1. ]] SLAMing on 107.673133365 meters SLAMing on 107.703133365 meters Centerline goodness : 0.271792 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:-0.33 [[ 0.99963347 -0.00685936 -0.02618935 -0.88445872] [ 0.00713866 0.99991848 0.01058623 -0.0711424 ] [ 0.0261146 -0.0107693 0.99960095 -0.32585389] [ 0. 0. 0. 1. ]] SLAMing on 107.73313336499999 meters Centerline goodness : 0.224174 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:-0.33 [[ 0.99963318 -0.00674274 -0.02623056 -0.88439454] [ 0.00702723 0.99991732 0.0107689 -0.07179318] [ 0.02615578 -0.01094928 0.99959791 -0.32582565] [ 0. 0. 0. 1. ]] SLAMing on 107.76313336499999 meters Centerline goodness : 0.217301 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:-0.33 [[ 0.99965017 0.00178253 -0.02638859 -0.90613499] [-0.00150413 0.99994305 0.01056598 -0.07592236] [ 0.02640592 -0.01052259 0.99959592 -0.32667195] [ 0. 0. 0. 1. ]] SLAMing on 107.79313336499999 meters Centerline goodness : 0.089929 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:-0.33 [[ 0.9996498 0.00188622 -0.02639558 -0.90611179] [-0.00160355 0.99994119 0.01072582 -0.07656704] [ 0.02641426 -0.01067974 0.99959403 -0.32664984] [ 0. 0. 0. 1. ]] SLAMing on 107.82313336499999 meters Centerline goodness : 0.089929 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:-0.33 [[ 0.9996498 0.00188622 -0.02639558 -0.90611179] [-0.00160355 0.99994119 0.01072582 -0.07656704] [ 0.02641426 -0.01067974 0.99959403 -0.32664984] [ 0. 0. 0. 1. ]] SLAMing on 107.85313336499999 meters Centerline goodness : 0.110797 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:-0.33 [[ 0.99965766 0.00209486 -0.02608025 -0.90701823] [-0.00180983 0.99993843 0.01094776 -0.07737806] [ 0.02610158 -0.01089681 0.9995999 -0.32635449] [ 0. 0. 0. 1. ]] SLAMing on 107.88313336499999 meters SLAMing on 107.913133365 meters SLAMing on 107.943133365 meters Centerline goodness : 0.331020 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:-0.33 [[ 0.99967983 0.00227935 -0.02519988 -0.90969476] [-0.00200727 0.99993948 0.01081684 -0.07658656] [ 0.02522301 -0.01076279 0.99962391 -0.32532361] [ 0. 0. 0. 1. ]] SLAMing on 107.973133365 meters Centerline goodness : 0.170137 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:-0.33 [[ 0.99968028 0.00221437 -0.02518786 -0.90974864] [-0.00194569 0.999941 0.01068681 -0.07615498] [ 0.02521004 -0.01063438 0.99962561 -0.32529448] [ 0. 0. 0. 1. ]] SLAMing on 108.003133365 meters SLAMing on 108.033133365 meters Centerline goodness : 0.125522 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:-0.32 [[ 0.99969216 0.00208323 -0.02472341 -0.91167813] [-0.001821 0.9999419 0.01062431 -0.07661666] [ 0.02474411 -0.01057601 0.99963787 -0.32406892] [ 0. 0. 0. 1. ]] SLAMing on 108.063133365 meters SLAMing on 108.09313336499999 meters Centerline goodness : 0.227854 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.07, Z:-0.32 [[ 0.99972041 -0.00458629 -0.02319622 -0.93599182] [ 0.00489474 0.99990013 0.01325812 -0.07210815] [ 0.0231331 -0.01336795 0.99964302 -0.32310217] [ 0. 0. 0. 1. ]] SLAMing on 108.12313336499999 meters Centerline goodness : 0.103302 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.07, Z:-0.32 [[ 0.99973411 0.00375091 -0.02275186 -0.95812841] [-0.00346108 0.99991254 0.01276473 -0.07461903] [ 0.02279774 -0.01268259 0.99965965 -0.32391241] [ 0. 0. 0. 1. ]] SLAMing on 108.15313336499999 meters Centerline goodness : 0.227603 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.07, Z:-0.32 [[ 0.99973932 0.00369882 -0.02253029 -0.95877577] [-0.00341712 0.99991567 0.01252896 -0.073438 ] [ 0.02257473 -0.0124487 0.99966765 -0.3236711 ] [ 0. 0. 0. 1. ]] SLAMing on 108.18313336499999 meters Centerline goodness : 0.127632 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.07, Z:-0.32 [[ 0.99974673 0.00357141 -0.02221989 -0.959618 ] [-0.00330172 0.99992059 0.01216204 -0.07183971] [ 0.02226156 -0.01208559 0.99967913 -0.32344607] [ 0. 0. 0. 1. ]] SLAMing on 108.21313336499999 meters Centerline goodness : 0.135096 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.07, Z:-0.32 [[ 0.99975098 0.00345562 -0.02204617 -0.96013488] [-0.00319577 0.99992514 0.0118107 -0.0702085 ] [ 0.02208533 -0.0117373 0.99968719 -0.32329463] [ 0. 0. 0. 1. ]] SLAMing on 108.24313336499999 meters Centerline goodness : 0.134165 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.07, Z:-0.32 [[ 0.99974942 0.00330546 -0.02214 -0.95976274] [-0.00305254 0.99992982 0.01144741 -0.06857218] [ 0.02217629 -0.01137695 0.99968934 -0.32352394] [ 0. 0. 0. 1. ]] SLAMing on 108.27313336499999 meters SLAMing on 108.303133365 meters Centerline goodness : 0.100853 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.07, Z:-0.33 [[ 0.99970299 0.0026447 -0.02422696 -0.95278157] [-0.0023856 0.99993972 0.0107171 -0.06559156] [ 0.02425384 -0.01065612 0.99964904 -0.32657163] [ 0. 0. 0. 1. ]] SLAMing on 108.333133365 meters Centerline goodness : 0.040873 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.07, Z:-0.33 [[ 0.99969032 0.00253353 -0.02475567 -0.95129394] [-0.00226458 0.99993818 0.01088644 -0.06679142] [ 0.02478172 -0.01082701 0.99963425 -0.32708626] [ 0. 0. 0. 1. ]] SLAMing on 108.363133365 meters Centerline goodness : 0.160368 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.07, Z:-0.33 [[ 0.99968019 0.00235631 -0.02517857 -0.95027945] [-0.00207818 0.9999366 0.01106658 -0.0683578 ] [ 0.02520305 -0.01101072 0.99962171 -0.3271976 ] [ 0. 0. 0. 1. ]] SLAMing on 108.393133365 meters SLAMing on 108.423133365 meters SLAMing on 108.453133365 meters Centerline goodness : 0.102143 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.07, Z:-0.33 [[ 0.99959599 -0.00952316 -0.02678009 -0.97035242] [ 0.00979726 0.99990077 0.01012285 -0.07048264] [ 0.02668103 -0.01038113 0.99959009 -0.32831275] [ 0. 0. 0. 1. ]] SLAMing on 108.48313336499999 meters SLAMing on 108.51313336499999 meters Centerline goodness : 0.102477 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.08, Z:-0.33 [[ 0.99963982 -0.0012584 -0.0268077 -0.95196522] [ 0.00150609 0.99995635 0.0092214 -0.07677938] [ 0.02679493 -0.00925845 0.99959808 -0.32677652] [ 0. 0. 0. 1. ]] SLAMing on 108.54313336499999 meters Centerline goodness : 0.141422 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.08, Z:-0.33 [[ 0.99963829 -0.00122677 -0.02686601 -0.95172136] [ 0.00147577 0.99995613 0.00925024 -0.07684182] [ 0.02685349 -0.00928654 0.99959624 -0.32693235] [ 0. 0. 0. 1. ]] SLAMing on 108.57313336499999 meters Centerline goodness : 0.093139 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.08, Z:-0.33 [[ 0.99964013 -0.00125056 -0.0267964 -0.95190265] [ 0.00149657 0.9999569 0.00916293 -0.07641553] [ 0.02678379 -0.00919974 0.99959892 -0.32690157] [ 0. 0. 0. 1. ]] SLAMing on 108.60313336499999 meters SLAMing on 108.63313336499999 meters Centerline goodness : 0.097797 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.08, Z:-0.33 [[ 0.99964148 -0.00122761 -0.02674697 -0.95207142] [ 0.00146806 0.99995867 0.00897218 -0.07515184] [ 0.02673485 -0.00900823 0.99960197 -0.32675971] [ 0. 0. 0. 1. ]] SLAMing on 108.663133365 meters Centerline goodness : 0.097797 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.08, Z:-0.33 [[ 0.99964148 -0.00122761 -0.02674697 -0.95207142] [ 0.00146806 0.99995867 0.00897218 -0.07515184] [ 0.02673485 -0.00900823 0.99960197 -0.32675971] [ 0. 0. 0. 1. ]] SLAMing on 108.693133365 meters Centerline goodness : 0.104636 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:-0.33 [[ 0.99958844 -0.00200339 -0.02861717 -0.99803613] [ 0.00226998 0.99995431 0.00928609 -0.07466896] [ 0.02859726 -0.00934723 0.99954731 -0.32685452] [ 0. 0. 0. 1. ]] SLAMing on 108.723133365 meters SLAMing on 108.753133365 meters Centerline goodness : 0.211885 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.08, Z:-0.33 [[ 0.99961924 0.00561481 -0.0270158 -1.01978329] [-0.0053808 0.99994744 0.00872676 -0.08036527] [ 0.02706338 -0.00857807 0.99959691 -0.32846697] [ 0. 0. 0. 1. ]] SLAMing on 108.783133365 meters SLAMing on 108.813133365 meters Centerline goodness : 0.055446 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:-0.33 [[ 0.99966244 -0.00203883 -0.02590088 -1.00123442] [ 0.0022964 0.99994817 0.00991855 -0.07851138] [ 0.02587931 -0.00997468 0.99961531 -0.3261156 ] [ 0. 0. 0. 1. ]] SLAMing on 108.84313336499999 meters Centerline goodness : 0.096502 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:-0.33 [[ 0.99966103 -0.00201858 -0.02595676 -1.00111913] [ 0.0022764 0.99994833 0.00990691 -0.07846924] [ 0.02593542 -0.00996264 0.99961398 -0.32604902] [ 0. 0. 0. 1. ]] SLAMing on 108.87313336499999 meters Centerline goodness : 0.049280 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:-0.33 [[ 0.99966409 -0.00197862 -0.02584171 -1.00141675] [ 0.00223583 0.99994821 0.00992826 -0.07842021] [ 0.02582073 -0.0099827 0.99961674 -0.3260374 ] [ 0. 0. 0. 1. ]] SLAMing on 108.90313336499999 meters Centerline goodness : 0.109457 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:-0.33 [[ 0.99966568 -0.00199072 -0.02577922 -1.00156369] [ 0.00224532 0.99994895 0.00985129 -0.07794091] [ 0.0257583 -0.00990588 0.99961912 -0.32604116] [ 0. 0. 0. 1. ]] SLAMing on 108.93313336499999 meters Centerline goodness : 0.089670 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:-0.33 [[ 0.9996644 -0.00203042 -0.0258255 -1.00134981] [ 0.00228291 0.99994985 0.00975097 -0.07752864] [ 0.0258044 -0.00980665 0.99961891 -0.32619136] [ 0. 0. 0. 1. ]] SLAMing on 108.96313336499999 meters Centerline goodness : 0.102068 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:-0.33 [[ 0.99966142 -0.00206979 -0.02593749 -1.00097226] [ 0.00232091 0.99995069 0.00965534 -0.07713775] [ 0.02591622 -0.00971227 0.99961694 -0.32635492] [ 0. 0. 0. 1. ]] SLAMing on 108.99313336499999 meters Centerline goodness : 0.089403 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:-0.33 [[ 0.99965567 -0.00210724 -0.02615514 -1.00022035] [ 0.00235776 0.99995161 0.00955121 -0.07659936] [ 0.02613375 -0.00960959 0.99961227 -0.32672124] [ 0. 0. 0. 1. ]] SLAMing on 109.02313336499999 meters Centerline goodness : 0.300200 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:-0.33 [[ 0.99954927 -0.00122077 -0.02999604 -1.04130912] [ 0.00155069 0.99993854 0.01097795 -0.07302689] [ 0.0299808 -0.01101952 0.99948973 -0.32813699] [ 0. 0. 0. 1. ]] SLAMing on 109.053133365 meters Centerline goodness : 0.158496 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:-0.33 [[ 0.99954201 -0.00127184 -0.0302348 -1.04055184] [ 0.00159782 0.99994084 0.0107598 -0.07189785] [ 0.03021933 -0.01080318 0.99948491 -0.32837269] [ 0. 0. 0. 1. ]] SLAMing on 109.083133365 meters Centerline goodness : 0.099633 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:-0.33 [[ 0.99953873 -0.0014013 -0.03033765 -1.04018167] [ 0.00171744 0.99994447 0.0103974 -0.07031945] [ 0.0303214 -0.01044471 0.99948563 -0.32851839] [ 0. 0. 0. 1. ]] SLAMing on 109.113133365 meters Centerline goodness : 0.110334 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:-0.33 [[ 0.99953577 -0.00157863 -0.03042612 -1.03993502] [ 0.00188361 0.99994825 0.00999746 -0.06869437] [ 0.03040876 -0.01005013 0.99948702 -0.32853634] [ 0. 0. 0. 1. ]] SLAMing on 109.143133365 meters Centerline goodness : 0.125008 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.06, Z:-0.33 [[ 0.9994654 -0.00171791 -0.03264895 -1.08617509] [ 0.00205445 0.99994508 0.01027721 -0.06495152] [ 0.0326295 -0.01033879 0.99941404 -0.32815521] [ 0. 0. 0. 1. ]] SLAMing on 109.173133365 meters Centerline goodness : 0.234772 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.06, Z:-0.33 [[ 0.99946201 -0.00175228 -0.03275091 -1.08575943] [ 0.00208304 0.99994715 0.01006768 -0.06367849] [ 0.03273153 -0.01013049 0.99941284 -0.3283945 ] [ 0. 0. 0. 1. ]] SLAMing on 109.203133365 meters Centerline goodness : 0.093321 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.06, Z:-0.33 [[ 0.99946529 0.00219336 -0.03262406 -1.08617562] [-0.00174424 0.99990341 0.01378865 -0.06287981] [ 0.03265115 -0.01372437 0.99937258 -0.32825612] [ 0. 0. 0. 1. ]] SLAMing on 109.23313336499999 meters Centerline goodness : 0.133294 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.06, Z:-0.33 [[ 0.99947417 0.00212186 -0.03235556 -1.08708188] [-0.00168683 0.99990789 0.01346689 -0.06119147] [ 0.03238115 -0.01340523 0.99938569 -0.32780018] [ 0. 0. 0. 1. ]] SLAMing on 109.26313336499999 meters Centerline goodness : 0.180824 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.06, Z:-0.33 [[ 0.99948039 0.00198585 -0.03217153 -1.08794393] [-0.00156607 0.99991338 0.01306841 -0.05942375] [ 0.03219469 -0.01301123 0.99939692 -0.32716651] [ 0. 0. 0. 1. ]] SLAMing on 109.29313336499999 meters Centerline goodness : 0.097689 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.05, Z:-0.33 [[ 0.99948259 -0.00582452 -0.03163258 -1.10652886] [ 0.00627751 0.9998789 0.01424 -0.05148957] [ 0.0315458 -0.0144312 0.99939812 -0.32908705] [ 0. 0. 0. 1. ]] SLAMing on 109.32313336499999 meters Centerline goodness : 0.100557 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.05, Z:-0.33 [[ 0.99947799 -0.00581374 -0.03177983 -1.10608539] [ 0.0062615 0.99988228 0.01400815 -0.04973567] [ 0.03169465 -0.01419983 0.99939673 -0.32924265] [ 0. 0. 0. 1. ]] SLAMing on 109.35313336499999 meters Centerline goodness : 0.124108 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.05, Z:-0.33 [[ 0.99946919 -0.00582298 -0.0320537 -1.10507498] [ 0.00626877 0.99988478 0.01382486 -0.0483499 ] [ 0.0319695 -0.01401846 0.99939053 -0.32978291] [ 0. 0. 0. 1. ]] SLAMing on 109.38313336499999 meters Centerline goodness : 0.088868 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.05, Z:-0.33 [[ 0.99946176 -0.00602753 -0.03224683 -1.104243 ] [ 0.00646129 0.99988982 0.01336404 -0.046431 ] [ 0.03216272 -0.01356521 0.99939059 -0.33035685] [ 0. 0. 0. 1. ]] SLAMing on 109.413133365 meters SLAMing on 109.443133365 meters Centerline goodness : 0.087911 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.04, Z:-0.33 [[ 0.99946828 -0.00619504 -0.03201231 -1.10526057] [ 0.00661046 0.9998951 0.01288733 -0.04393273] [ 0.03192911 -0.0130921 0.99940439 -0.32975063] [ 0. 0. 0. 1. ]] SLAMing on 109.473133365 meters Centerline goodness : 0.092030 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.05, Z:-0.33 [[ 0.99950703 0.00179477 -0.03134435 -1.12510783] [-0.00141105 0.99992385 0.01225993 -0.04596869] [ 0.03136397 -0.01220966 0.99943345 -0.33189024] [ 0. 0. 0. 1. ]] SLAMing on 109.503133365 meters Centerline goodness : 0.100070 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.05, Z:-0.33 [[ 0.99950822 0.00176801 -0.03130792 -1.12505412] [-0.00138775 0.99992506 0.01216338 -0.04519091] [ 0.03132708 -0.01211395 0.99943577 -0.33215897] [ 0. 0. 0. 1. ]] SLAMing on 109.533133365 meters Centerline goodness : 0.044205 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 0.99950714 0.00162692 -0.03135004 -1.12476446] [-0.00125101 0.99992714 0.01200649 -0.04470798] [ 0.03136729 -0.01196136 0.99943635 -0.33247974] [ 0. 0. 0. 1. ]] SLAMing on 109.563133365 meters Centerline goodness : 0.086695 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99489406e-01 1.19494492e-03 -3.19296126e-02 -1.12293018e+00] [-8.25380906e-04 9.99932551e-01 1.15850089e-02 -4.39295172e-02] [ 3.19413025e-02 -1.15527396e-02 9.99422977e-01 -3.33185508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59313336499999 meters Centerline goodness : 0.272073 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99482128e-01 1.11689250e-03 -3.21594286e-02 -1.12209061e+00] [-7.49024150e-04 9.99934181e-01 1.14486716e-02 -4.32818078e-02] [ 3.21700988e-02 -1.14186544e-02 9.99417180e-01 -3.33643660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62313336499999 meters Centerline goodness : 0.197268 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99482359e-01 1.06495382e-03 -3.21540164e-02 -1.12192989e+00] [-7.01565675e-04 9.99935786e-01 1.13106529e-02 -4.25566616e-02] [ 3.21639970e-02 -1.12822399e-02 9.99418925e-01 -3.33928210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65313336499999 meters Centerline goodness : 0.118241 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99487969e-01 9.95575315e-04 -3.19813865e-02 -1.12248632e+00] [-6.40156964e-04 9.99937948e-01 1.11216052e-02 -4.15632360e-02] [ 3.19904744e-02 -1.10954375e-02 9.99426586e-01 -3.33711408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68313336499999 meters Centerline goodness : 0.117615 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99494387e-01 9.32220046e-04 -3.17820983e-02 -1.12304690e+00] [-5.83776988e-04 9.99939646e-01 1.09710176e-02 -4.08605378e-02] [ 3.17904075e-02 -1.09469169e-02 9.99434608e-01 -3.33636074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71313336499999 meters Centerline goodness : 0.117615 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99494387e-01 9.32220046e-04 -3.17820983e-02 -1.12304690e+00] [-5.83776988e-04 9.99939646e-01 1.09710176e-02 -4.08605378e-02] [ 3.17904075e-02 -1.09469169e-02 9.99434608e-01 -3.33636074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74313336499999 meters Centerline goodness : 0.101116 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99495259e-01 8.33487983e-04 -3.17574135e-02 -1.12295177e+00] [-4.88340636e-04 9.99940752e-01 1.08744514e-02 -4.05055290e-02] [ 3.17645957e-02 -1.08534542e-02 9.99436448e-01 -3.33929529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77313336499999 meters Centerline goodness : 0.102790 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99497225e-01 8.12496172e-04 -3.16960178e-02 -1.12328516e+00] [-4.63174276e-04 9.99939096e-01 1.10267885e-02 -4.14949908e-02] [ 3.17030466e-02 -1.10065637e-02 9.99436728e-01 -3.33705010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.803133365 meters Centerline goodness : 0.100407 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99428792e-01 -5.78922183e-04 -3.37898610e-02 -1.16983340e+00] [ 9.36199386e-04 9.99943818e-01 1.05586396e-02 -4.01220865e-02] [ 3.37818500e-02 -1.05842424e-02 9.99373184e-01 -3.33286366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.833133365 meters SLAMing on 109.863133365 meters Centerline goodness : 0.100527 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99415311e-01 -8.41737314e-04 -3.41807956e-02 -1.16881075e+00] [ 1.20782995e-03 9.99942118e-01 1.06912418e-02 -4.22667500e-02] [ 3.41698179e-02 -1.07262754e-02 9.99358480e-01 -3.33558915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.893133365 meters Centerline goodness : 0.103951 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99416605e-01 -7.80098553e-04 -3.41444271e-02 -1.16898274e+00] [ 1.15103423e-03 9.99940524e-01 1.08454173e-02 -4.29054503e-02] [ 3.41339358e-02 -1.08783916e-02 9.99358061e-01 -3.33461436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.923133365 meters Centerline goodness : 0.095499 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99424782e-01 -6.89817244e-04 -3.39061920e-02 -1.17003096e+00] [ 1.06378566e-03 9.99938793e-01 1.10127004e-02 -4.34744930e-02] [ 3.38965200e-02 -1.10424346e-02 9.99364343e-01 -3.32712551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.953133365 meters SLAMing on 109.98313336499999 meters Centerline goodness : 0.115605 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99438473e-01 -6.70950203e-04 -3.35005639e-02 -1.17154290e+00] [ 1.03783611e-03 9.99939668e-01 1.09354463e-02 -4.30450416e-02] [ 3.34912056e-02 -1.09640738e-02 9.99378871e-01 -3.31857900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01313336499999 meters Centerline goodness : 0.101037 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99442495e-01 -7.05992138e-04 -3.33796441e-02 -1.17192345e+00] [ 1.06619793e-03 9.99941384e-01 1.07746135e-02 -4.21836373e-02] [ 3.33700807e-02 -1.08041960e-02 9.99384664e-01 -3.31696640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04313336499999 meters Centerline goodness : 0.158469 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99445561e-01 -7.67874431e-04 -3.32863335e-02 -1.17208113e+00] [ 1.11882584e-03 9.99943974e-01 1.05260650e-02 -4.08890445e-02] [ 3.32763859e-02 -1.05574706e-02 9.99390425e-01 -3.31772338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07313336499999 meters Centerline goodness : 0.099470 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99446629e-01 -7.97738794e-04 -3.32535497e-02 -1.17204949e+00] [ 1.14146244e-03 9.99946109e-01 1.03187476e-02 -3.96884462e-02] [ 3.32435260e-02 -1.03509952e-02 9.99393679e-01 -3.31936156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10313336499999 meters Centerline goodness : 0.241509 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.04, Z:-0.33 [[ 0.99944113 0.00760561 -0.03255129 -1.15208125] [-0.00730806 0.99993051 0.00925017 -0.04272284] [ 0.03261938 -0.00900712 0.99942726 -0.33085475] [ 0. 0. 0. 1. ]] SLAMing on 110.13313336499999 meters SLAMing on 110.163133365 meters Centerline goodness : 0.268438 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.03, Z:-0.33 [[ 0.99950977 0.00196843 -0.03124655 -1.173026 ] [-0.00160648 0.99993138 0.01160447 -0.03178576] [ 0.03126725 -0.01154858 0.99944434 -0.33136731] [ 0. 0. 0. 1. ]] SLAMing on 110.193133365 meters Centerline goodness : 0.114931 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.03, Z:-0.33 [[ 9.99427553e-01 1.50352752e-03 -3.37980070e-02 -1.21793878e+00] [-1.11360379e-03 9.99932645e-01 1.15527504e-02 -2.77221282e-02] [ 3.38131004e-02 -1.15084995e-02 9.99361911e-01 -3.31692108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.223133365 meters SLAMing on 110.253133365 meters Centerline goodness : 0.094395 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.03, Z:-0.33 [[ 0.99943161 0.00735101 -0.03290016 -1.19530512] [-0.00707544 0.99993897 0.00848453 -0.02895283] [ 0.03296053 -0.00824692 0.99942263 -0.33265102] [ 0. 0. 0. 1. ]] SLAMing on 110.283133365 meters Centerline goodness : 0.096455 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.02, Z:-0.33 [[ 0.99944561 -0.00139208 -0.03326454 -1.21575248] [ 0.00170501 0.99995454 0.00938097 -0.02316297] [ 0.03324997 -0.00943248 0.99940256 -0.33385206] [ 0. 0. 0. 1. ]] SLAMing on 110.313133365 meters Centerline goodness : 0.157523 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.02, Z:-0.33 [[ 0.99944421 -0.00138283 -0.03330708 -1.21562848] [ 0.00170156 0.99995302 0.00954289 -0.02397949] [ 0.03329232 -0.00959426 0.99939961 -0.33397518] [ 0. 0. 0. 1. ]] SLAMing on 110.34313336499999 meters Centerline goodness : 0.126549 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.03, Z:-0.33 [[ 0.99938191 0.00351438 -0.03497773 -1.19425062] [-0.00328375 0.9999725 0.00664895 -0.03059489] [ 0.03500014 -0.00652998 0.99936597 -0.33339739] [ 0. 0. 0. 1. ]] SLAMing on 110.37313336499999 meters Centerline goodness : 0.094075 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.03, Z:-0.33 [[ 0.99933298 -0.0054263 -0.03611293 -1.21467344] [ 0.00569715 0.99995638 0.00740135 -0.02664209] [ 0.03607119 -0.00760215 0.99932031 -0.33425891] [ 0. 0. 0. 1. ]] SLAMing on 110.40313336499999 meters Centerline goodness : 0.123358 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.03, Z:-0.33 [[ 0.99933606 -0.00539589 -0.03603212 -1.2149727 ] [ 0.00567014 0.9999557 0.00751339 -0.02725568] [ 0.03598998 -0.00771271 0.99932239 -0.33414436] [ 0. 0. 0. 1. ]] SLAMing on 110.43313336499999 meters Centerline goodness : 0.094588 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.03, Z:-0.33 [[ 0.99939022 0.0026925 -0.03481294 -1.19649166] [-0.00247395 0.99997697 0.00631944 -0.03238546] [ 0.03482915 -0.00622947 0.99937387 -0.33256957] [ 0. 0. 0. 1. ]] SLAMing on 110.46313336499999 meters Centerline goodness : 0.094503 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.03, Z:-0.33 [[ 0.99939339 0.00266625 -0.03472386 -1.19692002] [-0.00245264 0.99997782 0.00619286 -0.03164952] [ 0.0347396 -0.00610394 0.99937776 -0.33223666] [ 0. 0. 0. 1. ]] SLAMing on 110.49313336499999 meters Centerline goodness : 0.097290 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.03, Z:-0.33 [[ 0.99939482 0.0026045 -0.0346872 -1.19702998] [-0.00239895 0.99997933 0.00596609 -0.03042233] [ 0.03470202 -0.00587927 0.99938041 -0.33215967] [ 0. 0. 0. 1. ]] SLAMing on 110.52313336499999 meters Centerline goodness : 0.093716 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.03, Z:-0.33 [[ 0.99938979 0.00251038 -0.03483876 -1.19647757] [-0.00232575 0.99998304 0.00533901 -0.02703013] [ 0.03485157 -0.00525472 0.99937868 -0.3322909 ] [ 0. 0. 0. 1. ]] SLAMing on 110.553133365 meters Centerline goodness : 0.095590 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.02, Z:-0.33 [[ 0.99938587 0.00238805 -0.03495979 -1.19612139] [-0.00221762 0.99998547 0.00491292 -0.02480458] [ 0.03497101 -0.00483238 0.99937664 -0.332318 ] [ 0. 0. 0. 1. ]] SLAMing on 110.583133365 meters Centerline goodness : 0.139814 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.02, Z:-0.33 [[ 0.99938671 0.00227696 -0.03494302 -1.19620459] [-0.00212229 0.99998779 0.00446297 -0.02240006] [ 0.03495276 -0.00438607 0.99937934 -0.33219911] [ 0. 0. 0. 1. ]] SLAMing on 110.613133365 meters Centerline goodness : 0.102635 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.02, Z:-0.33 [[ 0.99938935 0.00216445 -0.03487462 -1.19648817] [-0.00202425 0.99998973 0.00405481 -0.02021044] [ 0.03488304 -0.00398174 0.99938347 -0.33196089] [ 0. 0. 0. 1. ]] SLAMing on 110.643133365 meters Centerline goodness : 0.225793 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.02, Z:-0.33 [[ 0.99939036 0.00200315 -0.0348553 -1.19651519] [-0.001879 0.99999178 0.00359403 -0.01790269] [ 0.03486221 -0.00352635 0.99938591 -0.33193168] [ 0. 0. 0. 1. ]] SLAMing on 110.673133365 meters Centerline goodness : 0.101422 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.02, Z:-0.33 [[ 0.99939029 0.00187188 -0.03486471 -1.19643118] [-0.00175962 0.99999317 0.00325014 -0.01616573] [ 0.03487056 -0.00318681 0.99938676 -0.33202841] [ 0. 0. 0. 1. ]] SLAMing on 110.703133365 meters Centerline goodness : 0.149155 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.01, Z:-0.33 [[ 0.99939171 0.00156331 -0.03483917 -1.19638654] [-0.00147374 0.99999554 0.00259647 -0.01323604] [ 0.03484307 -0.00254355 0.99938956 -0.33218912] [ 0. 0. 0. 1. ]] SLAMing on 110.73313336499999 meters Centerline goodness : 0.094781 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.01, Z:-0.33 [[ 0.99939545 0.0014396 -0.03473715 -1.1966856 ] [-0.00135811 0.99999627 0.0023695 -0.01217156] [ 0.03474043 -0.00232089 0.99939367 -0.33213803] [ 0. 0. 0. 1. ]] SLAMing on 110.76313336499999 meters Centerline goodness : 0.116100 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.01, Z:-0.33 [[ 0.9993976 0.00130767 -0.03468023 -1.19679881] [-0.00123424 0.99999695 0.00213859 -0.01115282] [ 0.03468292 -0.00209449 0.99939617 -0.33219366] [ 0. 0. 0. 1. ]] SLAMing on 110.79313336499999 meters Centerline goodness : 0.099033 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.01, Z:-0.33 [[ 9.99394196e-01 1.18475694e-03 -3.47827104e-02 -1.19648455e+00] [-1.11923368e-03 9.99997563e-01 1.90319859e-03 -1.00685390e-02] [ 3.47848804e-02 -1.86311564e-03 9.99393086e-01 -3.32306456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82313336499999 meters Centerline goodness : 0.096522 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.01, Z:-0.33 [[ 9.99386370e-01 1.01649855e-03 -3.50121389e-02 -1.19583612e+00] [-9.60471564e-04 9.99998231e-01 1.61699823e-03 -8.72457767e-03] [ 3.50137206e-02 -1.58237783e-03 9.99385579e-01 -3.32437846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85313336499999 meters Centerline goodness : 0.108703 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.01, Z:-0.33 [[ 9.99384267e-01 8.78172762e-04 -3.50758473e-02 -1.19561905e+00] [-8.34009875e-04 9.99998841e-01 1.27367975e-03 -6.94971208e-03] [ 3.50769252e-02 -1.24364190e-03 9.99383842e-01 -3.32518337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88313336499999 meters Centerline goodness : 0.101320 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.00, Z:-0.33 [[ 9.99379044e-01 5.20799067e-04 -3.52314392e-02 -1.19512016e+00] [-5.05396625e-04 9.99999773e-01 4.46083187e-04 -2.90471943e-03] [ 3.52316635e-02 -4.28000339e-04 9.99379081e-01 -3.32609000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.913133365 meters Centerline goodness : 0.093526 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.00, Z:-0.33 [[ 9.99295436e-01 5.18226104e-04 -3.75281545e-02 -1.24124633e+00] [-5.03060072e-04 9.99999788e-01 4.13565770e-04 2.98163180e-03] [ 3.75283608e-02 -3.94395470e-04 9.99295485e-01 -3.32414955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.943133365 meters SLAMing on 110.973133365 meters SLAMing on 111.003133365 meters Centerline goodness : 0.105846 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.01, Z:-0.33 [[ 0.99931174 -0.00723065 -0.03638349 -1.22280552] [ 0.00728687 0.99997245 0.00141265 0.01170666] [ 0.03637228 -0.0016768 0.9993369 -0.32966929] [ 0. 0. 0. 1. ]] SLAMing on 111.033133365 meters SLAMing on 111.063133365 meters SLAMing on 111.09313336499999 meters SLAMing on 111.12313336499999 meters Centerline goodness : 0.177683 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.01, Z:-0.33 [[ 9.99293585e-01 -7.86122195e-03 -3.67495753e-02 -1.22142510e+00] [ 7.90344007e-03 9.99968264e-01 1.00367141e-03 1.23304677e-02] [ 3.67405189e-02 -1.29341047e-03 9.99324002e-01 -3.30531855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15313336499999 meters SLAMing on 111.18313336499999 meters SLAMing on 111.21313336499999 meters Centerline goodness : 0.092347 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.01, Z:-0.33 [[ 9.99382141e-01 8.55154441e-05 -3.51472567e-02 -1.20442999e+00] [-8.94282049e-05 9.99999990e-01 -1.09752734e-04 5.40354397e-03] [ 3.51472470e-02 1.12828078e-04 9.99382138e-01 -3.27939553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24313336499999 meters SLAMing on 111.27313336499999 meters Centerline goodness : 0.136412 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.00, Z:-0.33 [[ 9.99386852e-01 2.02131643e-04 -3.50125592e-02 -1.20489020e+00] [-1.98311057e-04 9.99999974e-01 1.12593140e-04 3.98157818e-03] [ 3.50125811e-02 -1.05580726e-04 9.99386866e-01 -3.27711709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.303133365 meters SLAMing on 111.333133365 meters SLAMing on 111.363133365 meters Centerline goodness : 0.094968 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.00, Z:-0.33 [[ 9.99362478e-01 5.11715065e-04 -3.56983952e-02 -1.20293975e+00] [-4.99215468e-04 9.99999811e-01 3.59057072e-04 3.34033118e-03] [ 3.56985722e-02 -3.41006974e-04 9.99362545e-01 -3.28119859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.393133365 meters Centerline goodness : 0.097864 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.00, Z:-0.33 [[ 9.99358910e-01 5.48276014e-04 -3.57976076e-02 -1.20278087e+00] [-5.40694067e-04 9.99999829e-01 2.21480915e-04 4.27315988e-03] [ 3.57977230e-02 -2.01983372e-04 9.99359036e-01 -3.27925992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.423133365 meters Centerline goodness : 0.097715 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.01, Z:-0.33 [[ 9.99358140e-01 5.53464227e-04 -3.58190065e-02 -1.20279670e+00] [-5.53424856e-04 9.99999847e-01 1.10139082e-05 5.50386700e-03] [ 3.58190071e-02 8.81628971e-06 9.99358293e-01 -3.27750396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.453133365 meters SLAMing on 111.48313336499999 meters Centerline goodness : 0.100596 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.01, Z:-0.33 [[ 9.99308367e-01 1.00534406e-02 -3.58010666e-02 -1.22655131e+00] [-1.00768248e-02 9.99949116e-01 -4.72789863e-04 7.80534597e-03] [ 3.57944917e-02 8.33223943e-04 9.99358824e-01 -3.27781390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51313336499999 meters Centerline goodness : 0.105372 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-0.33 [[ 9.99361066e-01 2.38306885e-03 -3.56620407e-02 -1.20633507e+00] [-2.36981521e-03 9.99997106e-01 4.13910693e-04 1.22845589e-02] [ 3.56629238e-02 -3.29133785e-04 9.99363821e-01 -3.26191645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54313336499999 meters Centerline goodness : 0.161010 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 9.99268473e-01 2.18619516e-03 -3.81803449e-02 -1.25136088e+00] [-2.17870813e-03 9.99997598e-01 2.37702515e-04 1.56795392e-02] [ 3.81807729e-02 -1.54344801e-04 9.99270837e-01 -3.26584172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57313336499999 meters Centerline goodness : 0.101786 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.02, Z:-0.32 [[ 9.99260147e-01 -5.78283365e-03 -3.80225888e-02 -1.23098157e+00] [ 5.83236624e-03 9.99982281e-01 1.19192203e-03 1.85650807e-02] [ 3.80150225e-02 -1.41280184e-03 9.99276169e-01 -3.24917861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60313336499999 meters Centerline goodness : 0.049849 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.01, Z:-0.33 [[ 9.99277974e-01 2.73270389e-03 -3.78954163e-02 -1.25203785e+00] [-2.70521119e-03 9.99996039e-01 7.76746102e-04 1.47760083e-02] [ 3.78973888e-02 -6.73670168e-04 9.99281409e-01 -3.26445322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63313336499999 meters Centerline goodness : 0.049849 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.01, Z:-0.33 [[ 9.99277974e-01 2.73270389e-03 -3.78954163e-02 -1.25203785e+00] [-2.70521119e-03 9.99996039e-01 7.76746102e-04 1.47760083e-02] [ 3.78973888e-02 -6.73670168e-04 9.99281409e-01 -3.26445322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.663133365 meters Centerline goodness : 0.113405 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.01, Z:-0.33 [[ 9.99283828e-01 2.83362675e-03 -3.77333083e-02 -1.25260977e+00] [-2.79740117e-03 9.99995574e-01 1.01280442e-03 1.37546498e-02] [ 3.77360112e-02 -9.06523877e-04 9.99287332e-01 -3.26209414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.693133365 meters Centerline goodness : 0.096719 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.01, Z:-0.33 [[ 9.99314212e-01 2.63069235e-03 -3.69348808e-02 -1.25530076e+00] [-2.58936276e-03 9.99995967e-01 1.16677620e-03 1.15376746e-02] [ 3.69378012e-02 -1.07033823e-03 9.99316993e-01 -3.25084167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.723133365 meters Centerline goodness : 0.088511 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.01, Z:-0.33 [[ 9.99316989e-01 2.62677104e-03 -3.68599454e-02 -1.25556449e+00] [-2.58129576e-03 9.99995848e-01 1.28126678e-03 1.06050863e-02] [ 3.68631579e-02 -1.18524524e-03 9.99319620e-01 -3.25013244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.753133365 meters Centerline goodness : 0.104387 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.01, Z:-0.33 [[ 0.99931632 0.00265846 -0.03687573 -1.25552431] [-0.00260968 0.99999565 0.00137103 0.01016552] [ 0.03687921 -0.00127386 0.99931892 -0.32505366] [ 0. 0. 0. 1. ]] SLAMing on 111.783133365 meters SLAMing on 111.813133365 meters Centerline goodness : 0.122495 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.01, Z:-0.32 [[ 9.99321079e-01 2.64671915e-03 -3.67474681e-02 -1.25614199e+00] [-2.60528560e-03 9.99995915e-01 1.17536057e-03 1.13922728e-02] [ 3.67504289e-02 -1.07882494e-03 9.99323892e-01 -3.24530505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84313336499999 meters Centerline goodness : 0.196655 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.01, Z:-0.32 [[ 9.99320514e-01 2.55765755e-03 -3.67691148e-02 -1.25625187e+00] [-2.52792281e-03 9.99996439e-01 8.55155673e-04 1.30790738e-02] [ 3.67711711e-02 -7.61625123e-04 9.99323422e-01 -3.24228067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87313336499999 meters Centerline goodness : 0.044591 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-0.32 [[ 0.9992965 0.00641594 -0.03695043 -1.25553007] [-0.00626699 0.99997177 0.00414551 0.01630024] [ 0.03697598 -0.00391103 0.9993085 -0.32456499] [ 0. 0. 0. 1. ]] SLAMing on 111.90313336499999 meters Centerline goodness : 0.112121 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-0.32 [[ 0.99929393 0.00628807 -0.03704193 -1.25504968] [-0.0061555 0.99997424 0.003692 0.01879321] [ 0.03706419 -0.00346138 0.99930689 -0.32488909] [ 0. 0. 0. 1. ]] SLAMing on 111.93313336499999 meters Centerline goodness : 0.096691 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 0.99929676 0.00610658 -0.03699578 -1.25496266] [-0.00598987 0.99997673 0.00326477 0.02086717] [ 0.03701486 -0.00304087 0.99931009 -0.32517371] [ 0. 0. 0. 1. ]] SLAMing on 111.96313336499999 meters SLAMing on 111.99313336499999 meters Centerline goodness : 0.101327 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-0.32 [[ 0.9993076 0.00576763 -0.03675676 -1.25577362] [-0.00567162 0.99998023 0.00271554 0.02337559] [ 0.0367717 -0.00250519 0.99932055 -0.32490431] [ 0. 0. 0. 1. ]] SLAMing on 112.02313336499999 meters SLAMing on 112.053133365 meters Centerline goodness : 0.092997 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 0.99929704 0.00516169 -0.03713209 -1.25474722] [-0.00507031 0.99998388 0.0025548 0.02252936] [ 0.03714468 -0.00236473 0.9993071 -0.32529401] [ 0. 0. 0. 1. ]] SLAMing on 112.083133365 meters SLAMing on 112.113133365 meters Centerline goodness : 0.128050 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 9.99304260e-01 8.82855995e-04 -3.72855993e-02 -1.25357717e+00] [-9.12666336e-04 9.99999277e-01 -7.82500498e-04 1.85405854e-02] [ 3.72848815e-02 8.15985392e-04 9.99304344e-01 -3.26721978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.143133365 meters Centerline goodness : 0.103085 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 9.99311574e-01 9.48499511e-04 -3.70874375e-02 -1.25420088e+00] [-9.64908453e-04 9.99999444e-01 -4.24542696e-04 1.66152263e-02] [ 3.70870143e-02 4.60036412e-04 9.99311934e-01 -3.26609857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.173133365 meters Centerline goodness : 0.100679 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 9.99313215e-01 1.05104858e-03 -3.70404218e-02 -1.25453131e+00] [-1.05722509e-03 9.99999430e-01 -1.47164156e-04 1.53418512e-02] [ 3.70402460e-02 1.86223150e-04 9.99313757e-01 -3.26343279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.203133365 meters Centerline goodness : 0.096019 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.01, Z:-0.33 [[ 9.99312226e-01 1.10530837e-03 -3.70655165e-02 -1.25449835e+00] [-1.10660784e-03 9.99999388e-01 -1.45431571e-05 1.46277878e-02] [ 3.70654777e-02 5.55501457e-05 9.99312838e-01 -3.26293000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23313336499999 meters Centerline goodness : 0.131656 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.01, Z:-0.33 [[ 9.99304845e-01 1.08879325e-03 -3.72644717e-02 -1.25395621e+00] [-1.09203100e-03 9.99999402e-01 -6.65318251e-05 1.46640180e-02] [ 3.72643769e-02 1.07179534e-04 9.99305436e-01 -3.26320245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26313336499999 meters Centerline goodness : 0.096814 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 9.99299127e-01 1.05948926e-03 -3.74183464e-02 -1.25343695e+00] [-1.06884361e-03 9.99999402e-01 -2.29990599e-04 1.52751046e-02] [ 3.74180804e-02 2.69823765e-04 9.99299662e-01 -3.26472288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29313336499999 meters Centerline goodness : 0.097826 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 9.99300926e-01 1.64235188e-03 -3.73491812e-02 -1.25382430e+00] [-1.65056068e-03 9.99998620e-01 -1.88951928e-04 1.69231419e-02] [ 3.73488193e-02 2.50466927e-04 9.99302258e-01 -3.26009803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32313336499999 meters Centerline goodness : 0.141329 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 9.99312687e-01 1.83918261e-03 -3.70239310e-02 -1.25485100e+00] [-1.85449966e-03 9.99998208e-01 -3.79368605e-04 1.87237275e-02] [ 3.70231670e-02 4.47768727e-04 9.99314307e-01 -3.25519885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35313336499999 meters Centerline goodness : 0.135456 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-0.33 [[ 9.99326525e-01 1.94951159e-03 -3.66428102e-02 -1.25590168e+00] [-1.97319019e-03 9.99997867e-01 -6.10047579e-04 2.05008546e-02] [ 3.66415428e-02 6.81939961e-04 9.99328241e-01 -3.25214816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38313336499999 meters SLAMing on 112.413133365 meters Centerline goodness : 0.088765 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-0.33 [[ 9.99347001e-01 2.26068446e-03 -3.60619013e-02 -1.25719383e+00] [-2.29382945e-03 9.99996984e-01 -8.77766814e-04 2.31187480e-02] [ 3.60598082e-02 9.59913484e-04 9.99349173e-01 -3.25254836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.443133365 meters Centerline goodness : 0.089012 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-0.33 [[ 9.99354560e-01 2.18793286e-03 -3.58563387e-02 -1.25776309e+00] [-2.23041552e-03 9.99996857e-01 -1.14484444e-03 2.44296231e-02] [ 3.58537212e-02 1.22408004e-03 9.99356299e-01 -3.25109940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.473133365 meters Centerline goodness : 0.097989 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.03, Z:-0.32 [[ 9.99374591e-01 -5.68468616e-03 -3.49014472e-02 -1.23867441e+00] [ 5.67854410e-03 9.99983839e-01 -2.75106048e-04 2.86730383e-02] [ 3.49024471e-02 7.67445868e-05 9.99390721e-01 -3.23238494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.503133365 meters Centerline goodness : 0.094473 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.03, Z:-0.32 [[ 0.99938032 0.00267698 -0.03509707 -1.25924223] [-0.00272353 0.99999547 -0.00127848 0.02708303] [ 0.03509349 0.00137328 0.99938309 -0.3248001 ] [ 0. 0. 0. 1. ]] SLAMing on 112.533133365 meters Centerline goodness : 0.093899 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.03, Z:-0.33 [[ 0.99937071 0.00259025 -0.03537609 -1.25835978] [-0.00264481 0.99999538 -0.00149548 0.0282521 ] [ 0.03537205 0.0015881 0.99937295 -0.32511423] [ 0. 0. 0. 1. ]] SLAMing on 112.563133365 meters Centerline goodness : 0.088285 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.03, Z:-0.33 [[ 0.99935596 0.00247632 -0.0357985 -1.25691443] [-0.00254691 0.9999949 -0.00192643 0.03098167] [ 0.03579355 0.00201636 0.99935717 -0.32573318] [ 0. 0. 0. 1. ]] SLAMing on 112.59313336499999 meters Centerline goodness : 0.100403 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.03, Z:-0.33 [[ 0.99935291 0.00240738 -0.03588829 -1.25676139] [-0.00248491 0.99999467 -0.0021158 0.0320467 ] [ 0.03588301 0.00220361 0.99935357 -0.32562536] [ 0. 0. 0. 1. ]] SLAMing on 112.62313336499999 meters Centerline goodness : 0.088434 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.03, Z:-0.33 [[ 0.99935504 0.00232515 -0.03583441 -1.25716336] [-0.00241096 0.99999433 -0.00235159 0.03335825] [ 0.03582874 0.00243647 0.99935497 -0.325219 ] [ 0. 0. 0. 1. ]] SLAMing on 112.65313336499999 meters Centerline goodness : 0.088693 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.03, Z:-0.32 [[ 0.9993588 0.00226227 -0.03573333 -1.25767168] [-0.00235382 0.99999405 -0.0025201 0.03423859] [ 0.03572742 0.0026026 0.99935818 -0.32480488] [ 0. 0. 0. 1. ]] SLAMing on 112.68313336499999 meters SLAMing on 112.71313336499999 meters Centerline goodness : 0.188574 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.04, Z:-0.32 [[ 0.99937276 0.00198521 -0.0353574 -1.25909049] [-0.00209394 0.99999319 -0.00303859 0.03638435] [ 0.03535113 0.00311072 0.99937011 -0.32397487] [ 0. 0. 0. 1. ]] SLAMing on 112.74313336499999 meters Centerline goodness : 0.101710 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.04, Z:-0.32 [[ 0.99937685 0.00194192 -0.03524408 -1.25937694] [-0.00205446 0.9999929 -0.00315743 0.03707004] [ 0.03523769 0.00322787 0.99937375 -0.32398423] [ 0. 0. 0. 1. ]] SLAMing on 112.77313336499999 meters SLAMing on 112.803133365 meters SLAMing on 112.833133365 meters Centerline goodness : 0.105476 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.04, Z:-0.32 [[ 0.99937649 0.00181682 -0.03526092 -1.2594869 ] [-0.00195342 0.99999072 -0.00383977 0.04148748] [ 0.03525362 0.00390625 0.99937076 -0.32362185] [ 0. 0. 0. 1. ]] SLAMing on 112.863133365 meters SLAMing on 112.893133365 meters SLAMing on 112.923133365 meters SLAMing on 112.953133365 meters SLAMing on 112.98313336499999 meters SLAMing on 113.01313336499999 meters Centerline goodness : 0.091189 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.05, Z:-0.32 [[ 0.99944048 0.01321879 -0.03072436 -1.24413841] [-0.01332693 0.99990569 -0.00331772 0.05176857] [ 0.03067761 0.00372532 0.99952239 -0.32103585] [ 0. 0. 0. 1. ]] SLAMing on 113.04313336499999 meters Centerline goodness : 0.093471 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.05, Z:-0.32 [[ 0.99944465 0.01318138 -0.03060456 -1.24436024] [-0.01329113 0.99990594 -0.00338535 0.05190357] [ 0.03055706 0.00379024 0.99952584 -0.32117806] [ 0. 0. 0. 1. ]] SLAMing on 113.07313336499999 meters Centerline goodness : 0.097262 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.06, Z:-0.32 [[ 0.99957771 0.00668791 -0.02827865 -1.26187115] [-0.00675963 0.99997417 -0.00244145 0.05854367] [ 0.0282616 0.00263157 0.9995971 -0.32370542] [ 0. 0. 0. 1. ]] SLAMing on 113.10313336499999 meters SLAMing on 113.13313336499999 meters Centerline goodness : 0.100931 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.06, Z:-0.32 [[ 0.99958442 0.00708532 -0.02794242 -1.26318979] [-0.00715388 0.99997164 -0.00235437 0.05950891] [ 0.02792495 0.00255329 0.99960676 -0.32282518] [ 0. 0. 0. 1. ]] SLAMing on 113.163133365 meters Centerline goodness : 0.131099 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.06, Z:-0.32 [[ 0.99958095 0.0071156 -0.02805861 -1.26289038] [-0.00719074 0.99997082 -0.0025779 0.0608687 ] [ 0.02803945 0.00277858 0.99960296 -0.32280504] [ 0. 0. 0. 1. ]] SLAMing on 113.193133365 meters Centerline goodness : 0.093863 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.06, Z:-0.32 [[ 0.99956165 0.00785874 -0.02854373 -1.26128708] [-0.0079356 0.99996518 -0.00258029 0.06402803] [ 0.02852246 0.00280567 0.99958921 -0.32344989] [ 0. 0. 0. 1. ]] SLAMing on 113.223133365 meters Centerline goodness : 0.041389 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.32 [[ 0.99955437 0.00801373 -0.02875492 -1.26060604] [-0.00809911 0.99996313 -0.00285419 0.06631234] [ 0.02873099 0.00308581 0.99958242 -0.32373219] [ 0. 0. 0. 1. ]] SLAMing on 113.253133365 meters Centerline goodness : 0.114751 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.32 [[ 0.99954939 0.0081133 -0.02889957 -1.26007086] [-0.00820969 0.99996112 -0.00321796 0.06886566] [ 0.02887234 0.00345377 0.99957714 -0.32400368] [ 0. 0. 0. 1. ]] SLAMing on 113.283133365 meters Centerline goodness : 0.040656 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.32 [[ 0.99954609 0.00824237 -0.02897706 -1.25985016] [-0.00834927 0.99995877 -0.00357004 0.07143095] [ 0.02894644 0.00381036 0.9995737 -0.32406952] [ 0. 0. 0. 1. ]] SLAMing on 113.313133365 meters Centerline goodness : 0.196452 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.32 [[ 0.99954241 0.00836244 -0.02906961 -1.25955523] [-0.00848208 0.99995605 -0.0039947 0.07442378] [ 0.02903492 0.00423945 0.99956941 -0.32416915] [ 0. 0. 0. 1. ]] SLAMing on 113.34313336499999 meters Centerline goodness : 0.041468 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.08, Z:-0.32 [[ 0.99952312 0.00876752 -0.02960842 -1.25771983] [-0.00890152 0.99995071 -0.00439674 0.08036499] [ 0.02956841 0.0046582 0.9995519 -0.3249364 ] [ 0. 0. 0. 1. ]] SLAMing on 113.37313336499999 meters Centerline goodness : 0.139422 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.08, Z:-0.33 [[ 0.99951721 0.00860371 -0.02985504 -1.25670601] [-0.00875183 0.99995002 -0.00483396 0.08230134] [ 0.02981196 0.00509291 0.99954255 -0.32563908] [ 0. 0. 0. 1. ]] SLAMing on 113.40313336499999 meters Centerline goodness : 0.040127 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.09, Z:-0.33 [[ 9.99511545e-01 6.88409739e-04 -3.12441521e-02 -1.27459029e+00] [-8.01121512e-04 9.99993217e-01 -3.59507694e-03 8.84401107e-02] [ 3.12414653e-02 3.61835127e-03 9.99505317e-01 -3.27799604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43313336499999 meters Centerline goodness : 0.089251 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.09, Z:-0.33 [[ 9.99501658e-01 6.45707639e-04 -3.15597511e-02 -1.27349054e+00] [-7.63489338e-04 9.99992789e-01 -3.72011414e-03 8.90492722e-02] [ 3.15571215e-02 3.74235579e-03 9.99494944e-01 -3.28366060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46313336499999 meters Centerline goodness : 0.108403 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.33 [[ 0.99947155 -0.0071263 -0.03171484 -1.25335331] [ 0.00704725 0.99997178 -0.00260341 0.09388163] [ 0.0317325 0.00237853 0.99949357 -0.327074 ] [ 0. 0. 0. 1. ]] SLAMing on 113.49313336499999 meters Centerline goodness : 0.099070 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.33 [[ 0.99947436 -0.0070916 -0.03163418 -1.25376649] [ 0.00701604 0.99997226 -0.00249899 0.09341211] [ 0.03165102 0.00227573 0.99949639 -0.32675186] [ 0. 0. 0. 1. ]] SLAMing on 113.52313336499999 meters Centerline goodness : 0.099070 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.33 [[ 0.99947436 -0.0070916 -0.03163418 -1.25376649] [ 0.00701604 0.99997226 -0.00249899 0.09341211] [ 0.03165102 0.00227573 0.99949639 -0.32675186] [ 0. 0. 0. 1. ]] SLAMing on 113.553133365 meters Centerline goodness : 0.092727 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.33 [[ 0.99948177 -0.00712214 -0.03139209 -1.25461603] [ 0.00705064 0.99997229 -0.00238768 0.09234456] [ 0.03140822 0.00216511 0.9995043 -0.32636769] [ 0. 0. 0. 1. ]] SLAMing on 113.583133365 meters Centerline goodness : 0.152000 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.09, Z:-0.33 [[ 0.99948759 -0.00712492 -0.03120556 -1.25531006] [ 0.00706054 0.99997271 -0.00217285 0.09076414] [ 0.03122019 0.00195141 0.99951063 -0.32601989] [ 0. 0. 0. 1. ]] SLAMing on 113.613133365 meters Centerline goodness : 0.103267 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.09, Z:-0.33 [[ 0.99948921 -0.00705935 -0.03116868 -1.25544096] [ 0.00700664 0.99997383 -0.0018002 0.0885445 ] [ 0.03118057 0.00158089 0.99951252 -0.32599196] [ 0. 0. 0. 1. ]] SLAMing on 113.643133365 meters Centerline goodness : 0.098401 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.08, Z:-0.32 [[ 9.99501168e-01 -5.91797823e-04 -3.15763464e-02 -1.23697960e+00] [ 4.97881294e-04 9.99995430e-01 -2.98204810e-03 7.78852363e-02] [ 3.15779669e-02 2.96483929e-03 9.99496894e-01 -3.24175527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.673133365 meters Centerline goodness : 0.099723 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.08, Z:-0.32 [[ 9.99505090e-01 -4.29468743e-04 -3.14545792e-02 -1.23728496e+00] [ 3.50993230e-04 9.99996812e-01 -2.50036264e-03 7.53395923e-02] [ 3.14555528e-02 2.48808484e-03 9.99502055e-01 -3.24196884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.703133365 meters Centerline goodness : 0.321558 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99501916e-01 -2.72776948e-04 -3.15570136e-02 -1.23693709e+00] [ 2.06599029e-04 9.99997773e-01 -2.10033231e-03 7.33105772e-02] [ 3.15575162e-02 2.09276652e-03 9.99499747e-01 -3.24348253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73313336499999 meters Centerline goodness : 0.056897 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99497297e-01 -1.04335772e-04 -3.17039697e-02 -1.23646280e+00] [ 4.89022329e-05 9.99998469e-01 -1.74924349e-03 7.16457342e-02] [ 3.17041036e-02 1.74681374e-03 9.99495772e-01 -3.24538407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76313336499999 meters Centerline goodness : 0.252860 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99492481e-01 8.54567878e-05 -3.18554905e-02 -1.23593089e+00] [-1.30802392e-04 9.99998981e-01 -1.42139726e-03 7.02595345e-02] [ 3.18553366e-02 1.42484265e-03 9.99491474e-01 -3.24764226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79313336499999 meters Centerline goodness : 0.094784 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.07, Z:-0.32 [[ 9.99477459e-01 6.64159598e-04 -3.23166674e-02 -1.23478472e+00] [-6.88458364e-04 9.99999489e-01 -7.40774365e-04 6.77388929e-02] [ 3.23161589e-02 7.62635960e-04 9.99477406e-01 -3.24820457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82313336499999 meters Centerline goodness : 0.088576 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99480447e-01 8.54873371e-04 -3.22196301e-02 -1.23511712e+00] [-8.73456569e-04 9.99999460e-01 -5.62695867e-04 6.71529526e-02] [ 3.22191316e-02 5.90545964e-04 9.99480655e-01 -3.24666037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85313336499999 meters Centerline goodness : 0.097069 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.07, Z:-0.32 [[ 9.99417236e-01 1.70088797e-03 -3.40924432e-02 -1.28251614e+00] [-1.69941831e-03 9.99998553e-01 7.20852392e-05 6.60727893e-02] [ 3.40925165e-02 -1.41059084e-05 9.99418681e-01 -3.24021683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88313336499999 meters Centerline goodness : 0.045660 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99483235e-01 3.16761006e-03 -3.19879472e-02 -1.23987650e+00] [-3.14993060e-03 9.99994857e-01 6.03069288e-04 6.67106250e-02] [ 3.19896930e-02 -5.01997830e-04 9.99488073e-01 -3.22558374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.913133365 meters Centerline goodness : 0.106388 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99501956e-01 3.43510864e-03 -3.13694065e-02 -1.24149499e+00] [-3.41776680e-03 9.99993976e-01 6.06429647e-04 6.74517469e-02] [ 3.13713007e-02 -4.98914302e-04 9.99507675e-01 -3.22363860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.943133365 meters Centerline goodness : 0.100325 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99513838e-01 3.63909197e-03 -3.09652017e-02 -1.24256528e+00] [-3.62472841e-03 9.99993295e-01 5.19982379e-04 6.84701036e-02] [ 3.09668863e-02 -4.07489137e-04 9.99520328e-01 -3.22271601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.973133365 meters Centerline goodness : 0.130671 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99509998e-01 3.77540397e-03 -3.10726485e-02 -1.24222790e+00] [-3.76515415e-03 9.99992836e-01 3.88370751e-04 6.95857229e-02] [ 3.10738921e-02 -2.71187137e-04 9.99517053e-01 -3.22483868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.003133365 meters Centerline goodness : 0.131453 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99504136e-01 3.84653518e-03 -3.12519790e-02 -1.24166972e+00] [-3.84000219e-03 9.99992591e-01 2.69058223e-04 7.04878021e-02] [ 3.12527824e-02 -1.48917139e-04 9.99511501e-01 -3.22798212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.033133365 meters Centerline goodness : 0.131248 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99501786e-01 4.01084595e-03 -3.13064417e-02 -1.24155139e+00] [-4.00170839e-03 9.99991930e-01 3.54524644e-04 7.05875059e-02] [ 3.13076110e-02 -2.29068765e-04 9.99509770e-01 -3.22867343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.063133365 meters Centerline goodness : 0.132780 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99510520e-01 4.04504856e-03 -3.10219075e-02 -1.24244315e+00] [-4.03237114e-03 9.99991759e-01 4.71210532e-04 6.98527622e-02] [ 3.10235580e-02 -3.45888039e-04 9.99518594e-01 -3.22569668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09313336499999 meters Centerline goodness : 0.149231 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99523255e-01 4.07402219e-03 -3.06049927e-02 -1.24386028e+00] [-4.05486873e-03 9.99991542e-01 6.87866248e-04 6.83944050e-02] [ 3.06075363e-02 -5.63439083e-04 9.99531321e-01 -3.21938786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12313336499999 meters Centerline goodness : 0.129490 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.07, Z:-0.32 [[ 9.99536438e-01 4.09739412e-03 -3.01681995e-02 -1.24515311e+00] [-4.07016945e-03 9.99991252e-01 9.63782966e-04 6.66209303e-02] [ 3.01718846e-02 -8.40546509e-04 9.99544372e-01 -3.21559969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15313336499999 meters Centerline goodness : 0.130568 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.06, Z:-0.32 [[ 9.99541504e-01 4.17846456e-03 -2.99886983e-02 -1.24561817e+00] [-4.14082293e-03 9.99990559e-01 1.31718751e-03 6.46850339e-02] [ 2.99939190e-02 -1.19240569e-03 9.99549370e-01 -3.21476705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18313336499999 meters Centerline goodness : 0.131249 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.06, Z:-0.32 [[ 0.99954246 0.00430829 -0.02993827 -1.24551899] [-0.0042577 0.9999894 0.00175333 0.06252686] [ 0.0299455 -0.00162506 0.99955021 -0.32181027] [ 0. 0. 0. 1. ]] SLAMing on 114.21313336499999 meters Centerline goodness : 0.128798 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.06, Z:-0.32 [[ 0.99953135 0.00441685 -0.03029152 -1.24442596] [-0.00434532 0.99998761 0.00242679 0.05857726] [ 0.03030187 -0.00229402 0.99953816 -0.3221498 ] [ 0. 0. 0. 1. ]] SLAMing on 114.24313336499999 meters Centerline goodness : 0.128798 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.06, Z:-0.32 [[ 0.99953135 0.00441685 -0.03029152 -1.24442596] [-0.00434532 0.99998761 0.00242679 0.05857726] [ 0.03030187 -0.00229402 0.99953816 -0.3221498 ] [ 0. 0. 0. 1. ]] SLAMing on 114.27313336499999 meters Centerline goodness : 0.130385 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.05, Z:-0.32 [[ 0.99952377 0.00461625 -0.03051096 -1.24384073] [-0.00452176 0.99998477 0.00316517 0.05446956] [ 0.03052511 -0.0030257 0.99952942 -0.32221937] [ 0. 0. 0. 1. ]] SLAMing on 114.303133365 meters Centerline goodness : 0.130401 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.05, Z:-0.32 [[ 0.99952076 0.00479 -0.03058277 -1.24365995] [-0.00468131 0.99998247 0.00362454 0.05224281] [ 0.0305996 -0.00347963 0.99952567 -0.32220995] [ 0. 0. 0. 1. ]] SLAMing on 114.333133365 meters Centerline goodness : 0.131059 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.05, Z:-0.32 [[ 0.99951534 0.00494836 -0.03073421 -1.24323907] [-0.00482542 0.99998006 0.00407289 0.04986522] [ 0.03075375 -0.00392261 0.99951929 -0.32229693] [ 0. 0. 0. 1. ]] SLAMing on 114.363133365 meters Centerline goodness : 0.133411 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.05, Z:-0.32 [[ 0.99950544 0.00504158 -0.03103961 -1.24230812] [-0.00490568 0.99997805 0.00445287 0.04755173] [ 0.03106137 -0.00429839 0.99950824 -0.32256799] [ 0. 0. 0. 1. ]] SLAMing on 114.393133365 meters Centerline goodness : 0.133490 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.32 [[ 0.99949703 0.00520335 -0.03128289 -1.2415321 ] [-0.00505088 0.99997499 0.00495111 0.04482481] [ 0.03130787 -0.00479061 0.99949831 -0.32284306] [ 0. 0. 0. 1. ]] SLAMing on 114.423133365 meters Centerline goodness : 0.130523 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.32 [[ 0.99949335 0.0053974 -0.03136749 -1.24133362] [-0.00522914 0.99997151 0.0054438 0.04238379] [ 0.03139598 -0.00527701 0.99949309 -0.32282702] [ 0. 0. 0. 1. ]] SLAMing on 114.453133365 meters Centerline goodness : 0.131047 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.32 [[ 0.99949386 0.005646 -0.03130719 -1.24152576] [-0.00546095 0.99996713 0.00599316 0.0399714 ] [ 0.03133999 -0.00581916 0.99949184 -0.32275472] [ 0. 0. 0. 1. ]] SLAMing on 114.48313336499999 meters Centerline goodness : 0.127320 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.04, Z:-0.32 [[ 0.99955444 -0.00197459 -0.02978288 -1.22227333] [ 0.00219805 0.99996967 0.00747205 0.03994492] [ 0.02976723 -0.00753418 0.99952846 -0.32147922] [ 0. 0. 0. 1. ]] SLAMing on 114.51313336499999 meters Centerline goodness : 0.168120 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.03, Z:-0.32 [[ 0.9995388 0.00582309 -0.029804 -1.24219257] [-0.00562984 0.99996261 0.00656407 0.03246591] [ 0.02984111 -0.00639325 0.99953421 -0.32313848] [ 0. 0. 0. 1. ]] SLAMing on 114.54313336499999 meters Centerline goodness : 0.152195 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.03, Z:-0.32 [[ 0.99953621 0.00594113 -0.02986758 -1.24210615] [-0.00573892 0.99996006 0.00685114 0.03093463] [ 0.02990709 -0.00667655 0.99953038 -0.32297054] [ 0. 0. 0. 1. ]] SLAMing on 114.57313336499999 meters Centerline goodness : 0.131467 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.03, Z:-0.32 [[ 0.99953686 0.0061128 -0.02981102 -1.24216616] [-0.00589931 0.99995636 0.00724431 0.02888155] [ 0.02985401 -0.00706509 0.9995293 -0.32309234] [ 0. 0. 0. 1. ]] SLAMing on 114.60313336499999 meters Centerline goodness : 0.162168 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.03, Z:-0.32 [[ 0.99953606 0.00631429 -0.02979596 -1.24210297] [-0.00608641 0.99995158 0.00773251 0.02637005] [ 0.02984334 -0.00754757 0.99952609 -0.32321757] [ 0. 0. 0. 1. ]] SLAMing on 114.63313336499999 meters Centerline goodness : 0.160269 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.02, Z:-0.32 [[ 0.9995542 0.0031036 -0.02969466 -1.24207286] [-0.00296582 0.99998464 0.00468308 0.0244317 ] [ 0.02970874 -0.00459292 0.99954805 -0.32366697] [ 0. 0. 0. 1. ]] SLAMing on 114.663133365 meters Centerline goodness : 0.142613 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.02, Z:-0.32 [[ 0.99948 0.00183694 -0.03219255 -1.28694601] [-0.0016951 0.99998874 0.00443266 0.01893119] [ 0.03220033 -0.00437578 0.99947186 -0.32412306] [ 0. 0. 0. 1. ]] SLAMing on 114.693133365 meters Centerline goodness : 0.154978 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.01, Z:-0.33 [[ 9.99455220e-01 2.85584386e-04 -3.30027548e-02 -1.28320365e+00] [-1.67815556e-04 9.99993609e-01 3.57116939e-03 1.19723669e-02] [ 3.30035637e-02 -3.56368551e-03 9.99448881e-01 -3.26075062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.723133365 meters Centerline goodness : 0.152135 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.01, Z:-0.33 [[ 9.99454686e-01 4.71942160e-04 -3.30167872e-02 -1.28304138e+00] [-3.38651381e-04 9.99991772e-01 4.04253649e-03 9.66305128e-03] [ 3.30184234e-02 -4.02915086e-03 9.99446622e-01 -3.26254532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.753133365 meters Centerline goodness : 0.149301 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.01, Z:-0.33 [[ 9.99456910e-01 6.61339328e-04 -3.29461443e-02 -1.28323210e+00] [-5.13785611e-04 9.99989802e-01 4.48689849e-03 7.45698592e-03] [ 3.29487756e-02 -4.46753444e-03 9.99447057e-01 -3.26170378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.783133365 meters Centerline goodness : 0.145626 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.01, Z:-0.33 [[ 9.99459583e-01 8.09937838e-04 -3.28616302e-02 -1.28340395e+00] [-6.51292650e-04 9.99988084e-01 4.83808947e-03 5.69223115e-03] [ 3.28651572e-02 -4.81407234e-03 9.99448201e-01 -3.26209980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.813133365 meters Centerline goodness : 0.141572 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.00, Z:-0.33 [[ 9.99462545e-01 9.72023113e-04 -3.27670127e-02 -1.28345260e+00] [-8.03200802e-04 9.99986339e-01 5.16497241e-03 4.23927059e-03] [ 3.27715856e-02 -5.13587798e-03 9.99449672e-01 -3.26499537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84313336499999 meters Centerline goodness : 0.152133 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.00, Z:-0.33 [[ 9.99461688e-01 1.13323602e-03 -3.27879610e-02 -1.28319987e+00] [-9.54181034e-04 9.99984551e-01 5.47612981e-03 2.81648820e-03] [ 3.27936601e-02 -5.44189629e-03 9.99447328e-01 -3.26803997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87313336499999 meters Centerline goodness : 0.138130 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.00, Z:-0.33 [[ 9.99457771e-01 1.38813994e-03 -3.28973706e-02 -1.28280396e+00] [-1.18694734e-03 9.99980479e-01 6.13450541e-03 -7.16216937e-04] [ 3.29052439e-02 -6.09213165e-03 9.99439909e-01 -3.26970735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90313336499999 meters Centerline goodness : 0.150409 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.00, Z:-0.33 [[ 0.99945542 0.00153071 -0.03296239 -1.28279035] [-0.00131363 0.99997732 0.00660614 -0.00341155] [ 0.03297176 -0.00655925 0.99943476 -0.32676011] [ 0. 0. 0. 1. ]] SLAMing on 114.93313336499999 meters Centerline goodness : 0.143187 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.33 [[ 0.99945348 0.00172048 -0.03301179 -1.28284215] [-0.00148286 0.99997283 0.00722138 -0.00661813] [ 0.03302332 -0.00716849 0.99942887 -0.32644924] [ 0. 0. 0. 1. ]] SLAMing on 114.96313336499999 meters Centerline goodness : 0.151518 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.33 [[ 0.99945159 0.00189838 -0.03305917 -1.28293082] [-0.00163995 0.9999679 0.00784252 -0.00988856] [ 0.03307299 -0.007784 0.99942263 -0.3261053 ] [ 0. 0. 0. 1. ]] SLAMing on 114.99313336499999 meters Centerline goodness : 0.140626 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.01, Z:-0.32 [[ 9.99480025e-01 -1.18009829e-04 -3.22438427e-02 -1.28603786e+00] [ 3.21700798e-04 9.99980027e-01 6.31209040e-03 -1.40878435e-02] [ 3.22424538e-02 -6.31918114e-03 9.99460100e-01 -3.24925489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02313336499999 meters Centerline goodness : 0.140755 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.32 [[ 9.99473527e-01 3.57541748e-05 -3.24448320e-02 -1.28555754e+00] [ 1.88266630e-04 9.99976166e-01 6.90158716e-03 -1.73784774e-02] [ 3.24443054e-02 -6.90406194e-03 9.99449699e-01 -3.24831136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.053133365 meters Centerline goodness : 0.152196 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.02, Z:-0.33 [[ 9.99465943e-01 2.10762511e-04 -3.26769698e-02 -1.28479402e+00] [ 3.38856279e-05 9.99971978e-01 7.48613283e-03 -2.07236987e-02] [ 3.26776319e-02 -7.48324209e-03 9.99437929e-01 -3.25068251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.083133365 meters Centerline goodness : 0.153968 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.02, Z:-0.32 [[ 9.99463268e-01 3.65629246e-04 -3.27573279e-02 -1.28465533e+00] [-1.04513198e-04 9.99968213e-01 7.97258316e-03 -2.34113370e-02] [ 3.27592017e-02 -7.96488045e-03 9.99431536e-01 -3.24920050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.113133365 meters Centerline goodness : 0.155463 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 9.99461623e-01 6.95226799e-04 -3.28021480e-02 -1.28500324e+00] [-4.09735096e-04 9.99961989e-01 8.70936469e-03 -2.68234082e-02] [ 3.28069561e-02 -8.69123558e-03 9.99423917e-01 -3.24153381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.143133365 meters Centerline goodness : 0.134100 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 9.99461248e-01 8.77270094e-04 -3.28092154e-02 -1.28496635e+00] [-5.82069547e-04 9.99959276e-01 9.00595789e-03 -2.78658681e-02] [ 3.28157799e-02 -8.98200867e-03 9.99421056e-01 -3.24175502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.173133365 meters Centerline goodness : 0.126945 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 9.99458522e-01 1.01218298e-03 -3.28882549e-02 -1.28466376e+00] [-7.08896371e-04 9.99957132e-01 9.23208214e-03 -2.88274684e-02] [ 3.28961896e-02 -9.20376881e-03 9.99416395e-01 -3.24326152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20313336499999 meters Centerline goodness : 0.131464 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 9.99456295e-01 1.06817334e-03 -3.29541057e-02 -1.28436155e+00] [-7.59168682e-04 9.99955644e-01 9.38790578e-03 -2.98434522e-02] [ 3.29626719e-02 -9.35778381e-03 9.99412775e-01 -3.24533908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23313336499999 meters Centerline goodness : 0.160782 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 9.99452201e-01 1.10041642e-03 -3.30769763e-02 -1.28403124e+00] [-7.84806148e-04 9.99954060e-01 9.55315966e-03 -3.11462524e-02] [ 3.30859692e-02 -9.52196744e-03 9.99407150e-01 -3.24549643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26313336499999 meters Centerline goodness : 0.126324 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 9.99449759e-01 1.20266717e-03 -3.31471404e-02 -1.28382554e+00] [-8.77813781e-04 9.99951465e-01 9.81315507e-03 -3.25750428e-02] [ 3.31573335e-02 -9.77865845e-03 9.99402306e-01 -3.24588969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29313336499999 meters SLAMing on 115.32313336499999 meters Centerline goodness : 0.141485 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 9.99459742e-01 1.52523717e-03 -3.28313509e-02 -1.28492486e+00] [-1.18501056e-03 9.99945426e-01 1.03798220e-02 -3.46409045e-02] [ 3.28453908e-02 -1.03353088e-02 9.99407005e-01 -3.24053905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35313336499999 meters Centerline goodness : 0.142613 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 0.99948559 0.00175065 -0.03202313 -1.28765784] [-0.0014062 0.99994095 0.0107756 -0.03642947] [ 0.0320401 -0.01072503 0.99942904 -0.32284086] [ 0. 0. 0. 1. ]] SLAMing on 115.38313336499999 meters Centerline goodness : 0.157801 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 0.99948888 0.00180465 -0.03191741 -1.28811342] [-0.0014584 0.99993987 0.01086832 -0.03691471] [ 0.03193511 -0.01081622 0.99943142 -0.32250742] [ 0. 0. 0. 1. ]] SLAMing on 115.413133365 meters Centerline goodness : 0.057037 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 0.99948794 0.00185894 -0.03194374 -1.28790124] [-0.00151145 0.99993946 0.01089897 -0.03691491] [ 0.03196207 -0.01084511 0.99943024 -0.32276059] [ 0. 0. 0. 1. ]] SLAMing on 115.443133365 meters Centerline goodness : 0.057037 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 0.99948794 0.00185894 -0.03194374 -1.28790124] [-0.00151145 0.99993946 0.01089897 -0.03691491] [ 0.03196207 -0.01084511 0.99943024 -0.32276059] [ 0. 0. 0. 1. ]] SLAMing on 115.473133365 meters Centerline goodness : 0.140441 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 0.99948368 0.00188594 -0.03207516 -1.28724726] [-0.00153943 0.99994023 0.01082442 -0.03639787] [ 0.03209366 -0.01076946 0.99942684 -0.32329159] [ 0. 0. 0. 1. ]] SLAMing on 115.503133365 meters Centerline goodness : 0.142363 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 0.99948306 0.00187898 -0.03209503 -1.28700492] [-0.00153623 0.99994157 0.01070044 -0.03571086] [ 0.03211326 -0.01064561 0.99942754 -0.32363713] [ 0. 0. 0. 1. ]] SLAMing on 115.533133365 meters SLAMing on 115.563133365 meters Centerline goodness : 0.111998 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 0.99948755 0.00192894 -0.03195185 -1.28722922] [-0.00159258 0.99994309 0.01054924 -0.03464776] [ 0.03197038 -0.01049295 0.99943374 -0.3239005 ] [ 0. 0. 0. 1. ]] SLAMing on 115.59313336499999 meters Centerline goodness : 0.138492 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 0.99949065 0.0019085 -0.03185599 -1.28747048] [-0.00157611 0.99994409 0.01045588 -0.03403118] [ 0.03187417 -0.01040035 0.99943778 -0.32393407] [ 0. 0. 0. 1. ]] SLAMing on 115.62313336499999 meters SLAMing on 115.65313336499999 meters Centerline goodness : 0.137869 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 0.99947729 0.00184236 -0.0322762 -1.28601463] [-0.00150523 0.99994409 0.01046634 -0.03446906] [ 0.03229367 -0.01041228 0.99942419 -0.32457962] [ 0. 0. 0. 1. ]] SLAMing on 115.68313336499999 meters Centerline goodness : 0.142138 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 9.99483352e-01 -1.21463778e-03 -3.21178140e-02 -1.28619019e+00] [ 1.45465643e-03 9.99971185e-01 7.45075943e-03 -3.48080553e-02] [ 3.21078385e-02 -7.49363040e-03 9.99456318e-01 -3.24918201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71313336499999 meters Centerline goodness : 0.140046 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 9.99481433e-01 -1.21877976e-03 -3.21773250e-02 -1.28615330e+00] [ 1.46438835e-03 9.99969967e-01 7.61050875e-03 -3.58816813e-02] [ 3.21670831e-02 -7.65368229e-03 9.99453200e-01 -3.24733544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74313336499999 meters Centerline goodness : 0.144612 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 9.99481782e-01 -1.12756381e-03 -3.21698090e-02 -1.28625862e+00] [ 1.38348007e-03 9.99967568e-01 7.93401937e-03 -3.74522934e-02] [ 3.21598195e-02 -7.97441410e-03 9.99450927e-01 -3.24559053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77313336499999 meters Centerline goodness : 0.142713 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.32 [[ 0.99939805 -0.0028026 -0.03457866 -1.3319314 ] [ 0.00308827 0.99996152 0.00821071 -0.04243778] [ 0.03455432 -0.00831256 0.99936825 -0.32443238] [ 0. 0. 0. 1. ]] SLAMing on 115.803133365 meters Centerline goodness : 0.055125 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.32 [[ 0.9993878 -0.00321191 -0.03483841 -1.33138091] [ 0.00350792 0.99995824 0.0084388 -0.04595502] [ 0.03480985 -0.00855585 0.99935733 -0.32411856] [ 0. 0. 0. 1. ]] SLAMing on 115.833133365 meters Centerline goodness : 0.148372 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.32 [[ 0.99938807 -0.00313121 -0.03483795 -1.33162643] [ 0.00344093 0.99995506 0.00883373 -0.0482885 ] [ 0.03480872 -0.0089482 0.99935393 -0.32366447] [ 0. 0. 0. 1. ]] SLAMing on 115.863133365 meters Centerline goodness : 0.170069 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.32 [[ 0.99939097 -0.00303421 -0.03476335 -1.33205116] [ 0.00335489 0.99995233 0.00917007 -0.05013797] [ 0.03473387 -0.00928111 0.9993535 -0.32319457] [ 0. 0. 0. 1. ]] SLAMing on 115.893133365 meters Centerline goodness : 0.141943 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-0.32 [[ 0.99939643 0.0054018 -0.03431607 -1.31325936] [-0.00512832 0.99995443 0.00805238 -0.05539712] [ 0.03435801 -0.00787153 0.99937859 -0.3213418 ] [ 0. 0. 0. 1. ]] SLAMing on 115.923133365 meters Centerline goodness : 0.146604 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-0.32 [[ 0.99938877 0.00559078 -0.03450843 -1.31231708] [-0.00530503 0.99995093 0.00836644 -0.0565851 ] [ 0.03455352 -0.00817825 0.99936939 -0.32195305] [ 0. 0. 0. 1. ]] SLAMing on 115.95313336499999 meters Centerline goodness : 0.144674 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-0.32 [[ 0.99937262 0.00576765 -0.03494429 -1.31073553] [-0.00546859 0.99994765 0.00864787 -0.05783564] [ 0.03499234 -0.00845135 0.99935185 -0.32258706] [ 0. 0. 0. 1. ]] SLAMing on 115.98313336499999 meters Centerline goodness : 0.172206 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-0.32 [[ 0.99935864 0.00589275 -0.03532125 -1.30942835] [-0.00558147 0.99994477 0.00890511 -0.05933768] [ 0.03537177 -0.00870225 0.99933633 -0.32301462] [ 0. 0. 0. 1. ]] SLAMing on 116.01313336499999 meters Centerline goodness : 0.142739 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-0.32 [[ 0.9993506 0.00599917 -0.03553017 -1.30892273] [-0.00567673 0.99994185 0.00916905 -0.06088197] [ 0.03558311 -0.0089614 0.99932654 -0.32286508] [ 0. 0. 0. 1. ]] SLAMing on 116.04313336499999 meters Centerline goodness : 0.168064 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-0.32 [[ 0.99933669 0.00632584 -0.03586302 -1.30805913] [-0.00597623 0.99993365 0.00984735 -0.06422793] [ 0.03592294 -0.0096265 0.9993082 -0.32274522] [ 0. 0. 0. 1. ]] SLAMing on 116.07313336499999 meters Centerline goodness : 0.120388 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.07, Z:-0.32 [[ 0.99932313 0.00653961 -0.03620113 -1.3069656 ] [-0.00617444 0.99992902 0.01019005 -0.06565885] [ 0.0362652 -0.00995963 0.99929257 -0.32303962] [ 0. 0. 0. 1. ]] SLAMing on 116.10313336499999 meters Centerline goodness : 0.131886 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.07, Z:-0.32 [[ 0.99931064 0.00669267 -0.03651658 -1.30598735] [-0.00631552 0.99992562 0.01043376 -0.06682955] [ 0.0365837 -0.01019595 0.99927858 -0.32322476] [ 0. 0. 0. 1. ]] SLAMing on 116.13313336499999 meters Centerline goodness : 0.094533 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.07, Z:-0.32 [[ 0.99930074 0.0067912 -0.03676842 -1.30542699] [-0.00640569 0.99992338 0.01059244 -0.06773377] [ 0.03683754 -0.01034951 0.99926767 -0.32302563] [ 0. 0. 0. 1. ]] SLAMing on 116.163133365 meters Centerline goodness : 0.132657 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.07, Z:-0.32 [[ 0.99929568 0.00691222 -0.03688322 -1.30538342] [-0.00651984 0.99992098 0.01074822 -0.06841284] [ 0.0369546 -0.01050018 0.99926178 -0.32254979] [ 0. 0. 0. 1. ]] SLAMing on 116.193133365 meters Centerline goodness : 0.129906 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.07, Z:-0.32 [[ 0.99929741 0.00702562 -0.03681463 -1.30580813] [-0.00663011 0.99991911 0.01085442 -0.0687181 ] [ 0.03688791 -0.01060271 0.99926316 -0.32205741] [ 0. 0. 0. 1. ]] SLAMing on 116.223133365 meters Centerline goodness : 0.124158 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.07, Z:-0.32 [[ 0.99924423 0.01699301 -0.03496018 -1.2862396 ] [-0.0166246 0.99980345 0.01080177 -0.0729261 ] [ 0.03513686 -0.01021241 0.99933033 -0.32054088] [ 0. 0. 0. 1. ]] SLAMing on 116.253133365 meters Centerline goodness : 0.142535 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.07, Z:-0.32 [[ 0.99924606 0.01688796 -0.0349586 -1.2863999 ] [-0.01652674 0.99980728 0.01059617 -0.07252023] [ 0.03513081 -0.01001043 0.99933259 -0.3201725 ] [ 0. 0. 0. 1. ]] SLAMing on 116.283133365 meters Centerline goodness : 0.126578 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.07, Z:-0.32 [[ 0.99929564 0.01429356 -0.03469758 -1.28680772] [-0.01402568 0.99987002 0.00795148 -0.07383594] [ 0.03480673 -0.00745923 0.99936623 -0.320457 ] [ 0. 0. 0. 1. ]] SLAMing on 116.313133365 meters Centerline goodness : 0.124020 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.07, Z:-0.32 [[ 0.9992944 0.01425422 -0.0347495 -1.28684921] [-0.01398867 0.99987116 0.00787291 -0.07382119] [ 0.03485724 -0.00738125 0.99936504 -0.32015597] [ 0. 0. 0. 1. ]] SLAMing on 116.34313336499999 meters Centerline goodness : 0.123341 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.07, Z:-0.32 [[ 0.99929187 0.01430326 -0.03480189 -1.2868329 ] [-0.0140345 0.99986987 0.00795443 -0.07429183] [ 0.03491113 -0.00746037 0.99936257 -0.31997999] [ 0. 0. 0. 1. ]] SLAMing on 116.37313336499999 meters Centerline goodness : 0.053025 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99937545 0.0059262 -0.0348365 -1.30439057] [-0.0056173 0.9999441 0.00895825 -0.06885897] [ 0.03488764 -0.00875697 0.99935287 -0.32176903] [ 0. 0. 0. 1. ]] SLAMing on 116.40313336499999 meters Centerline goodness : 0.119969 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99934544 0.00569604 -0.03572457 -1.30164966] [-0.00537754 0.99994499 0.00900531 -0.07022382] [ 0.0357739 -0.0088073 0.9993211 -0.3226275 ] [ 0. 0. 0. 1. ]] SLAMing on 116.43313336499999 meters Centerline goodness : 0.119969 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99934544 0.00569604 -0.03572457 -1.30164966] [-0.00537754 0.99994499 0.00900531 -0.07022382] [ 0.0357739 -0.0088073 0.9993211 -0.3226275 ] [ 0. 0. 0. 1. ]] SLAMing on 116.46313336499999 meters Centerline goodness : 0.128087 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99935829 0.00258611 -0.03572556 -1.30089712] [-0.00236524 0.99997784 0.00622355 -0.0723949 ] [ 0.03574086 -0.00613506 0.99934226 -0.32369713] [ 0. 0. 0. 1. ]] SLAMing on 116.49313336499999 meters Centerline goodness : 0.089912 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.08, Z:-0.32 [[ 0.9993576 0.00257422 -0.03574566 -1.3010767 ] [-0.00233696 0.99997497 0.00667763 -0.07518734] [ 0.03576195 -0.0065898 0.99933861 -0.32322979] [ 0. 0. 0. 1. ]] SLAMing on 116.52313336499999 meters Centerline goodness : 0.148520 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.08, Z:-0.32 [[ 0.99935802 0.00260069 -0.03573212 -1.30120561] [-0.00235788 0.99997386 0.00683587 -0.07605052] [ 0.03574897 -0.00674723 0.99933802 -0.32303066] [ 0. 0. 0. 1. ]] SLAMing on 116.553133365 meters Centerline goodness : 0.156031 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.08, Z:-0.32 [[ 0.99936147 0.00260367 -0.03563524 -1.30146936] [-0.00236058 0.99997367 0.00686212 -0.07621773] [ 0.03565217 -0.00677362 0.9993413 -0.32298538] [ 0. 0. 0. 1. ]] SLAMing on 116.583133365 meters Centerline goodness : 0.137026 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.08, Z:-0.32 [[ 0.99936373 0.00255302 -0.03557549 -1.30163273] [-0.00231419 0.99997452 0.00675302 -0.07577292] [ 0.03559183 -0.00666639 0.99934418 -0.32293549] [ 0. 0. 0. 1. ]] SLAMing on 116.613133365 meters Centerline goodness : 0.129605 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99936376 0.0024134 -0.03558435 -1.30171963] [-0.00218581 0.99997692 0.00643343 -0.07456274] [ 0.03559905 -0.00635156 0.99934597 -0.32272475] [ 0. 0. 0. 1. ]] SLAMing on 116.643133365 meters Centerline goodness : 0.122166 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99936534 0.00232751 -0.03554575 -1.30187605] [-0.00210827 0.99997853 0.00620402 -0.07359009] [ 0.03555943 -0.00612514 0.99934879 -0.32260423] [ 0. 0. 0. 1. ]] SLAMing on 116.673133365 meters Centerline goodness : 0.128125 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99936629 0.00220851 -0.03552666 -1.30188756] [-0.00200373 0.99998118 0.00579869 -0.07130949] [ 0.0355388 -0.00572383 0.99935191 -0.32272291] [ 0. 0. 0. 1. ]] SLAMing on 116.70313336499999 meters SLAMing on 116.73313336499999 meters Centerline goodness : 0.120226 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99936343 0.0020038 -0.03561902 -1.30158359] [-0.00180986 0.99998337 0.00547627 -0.07012186] [ 0.0356294 -0.00540831 0.99935044 -0.32285771] [ 0. 0. 0. 1. ]] SLAMing on 116.76313336499999 meters Centerline goodness : 0.146597 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99935557 0.00193076 -0.03584298 -1.30116202] [-0.00173485 0.99998339 0.0054961 -0.07063225] [ 0.03585299 -0.00543038 0.99934232 -0.32266569] [ 0. 0. 0. 1. ]] SLAMing on 116.79313336499999 meters Centerline goodness : 0.149663 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99934961 0.00191594 -0.03600959 -1.30110315] [-0.00171537 0.99998285 0.00560002 -0.07130281] [ 0.0360197 -0.00553461 0.99933575 -0.32215374] [ 0. 0. 0. 1. ]] SLAMing on 116.82313336499999 meters Centerline goodness : 0.119092 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.07, Z:-0.32 [[ 0.99932173 -0.00532729 -0.03643767 -1.28086394] [ 0.00558269 0.99996053 0.00691117 -0.06729799] [ 0.03639941 -0.0071099 0.99931203 -0.3200714 ] [ 0. 0. 0. 1. ]] SLAMing on 116.85313336499999 meters Centerline goodness : 0.150577 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99934625 0.0037837 -0.035955 -1.29880848] [-0.00355089 0.99997233 0.00653664 -0.07380741] [ 0.03597874 -0.00640469 0.99933203 -0.32173003] [ 0. 0. 0. 1. ]] SLAMing on 116.88313336499999 meters SLAMing on 116.913133365 meters Centerline goodness : 0.143915 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99934211 0.00361597 -0.03608711 -1.29836427] [-0.00340314 0.99997647 0.00595712 -0.07155658] [ 0.0361078 -0.00583039 0.99933089 -0.3216757 ] [ 0. 0. 0. 1. ]] SLAMing on 116.943133365 meters Centerline goodness : 0.120228 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99932922 0.00362557 -0.03644112 -1.29738089] [-0.00342426 0.99997854 0.00558491 -0.06973449] [ 0.03646059 -0.00545637 0.9993202 -0.32168575] [ 0. 0. 0. 1. ]] SLAMing on 116.973133365 meters Centerline goodness : 0.147124 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99932349 0.00363563 -0.03659701 -1.29692451] [-0.0034459 0.9999803 0.00524595 -0.06800683] [ 0.03661536 -0.00511629 0.99931634 -0.32165572] [ 0. 0. 0. 1. ]] SLAMing on 117.003133365 meters Centerline goodness : 0.148751 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99931914 0.00360758 -0.03671832 -1.29676934] [-0.00343066 0.99998221 0.00488035 -0.06626891] [ 0.03673527 -0.00475106 0.99931374 -0.32135066] [ 0. 0. 0. 1. ]] SLAMing on 117.033133365 meters Centerline goodness : 0.062310 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.07, Z:-0.32 [[ 0.99929409 0.01245803 -0.03544185 -1.27693109] [-0.01233893 0.99991747 0.00357719 -0.06692336] [ 0.03548349 -0.00313735 0.99936534 -0.32007074] [ 0. 0. 0. 1. ]] SLAMing on 117.063133365 meters Centerline goodness : 0.134358 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.07, Z:-0.32 [[ 0.99931934 0.01276808 -0.03460975 -1.27893917] [-0.01265093 0.99991349 0.00360195 -0.06523655] [ 0.03465274 -0.00316165 0.99939441 -0.3200331 ] [ 0. 0. 0. 1. ]] SLAMing on 117.09313336499999 meters Centerline goodness : 0.057535 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 0.99936406 0.00583165 -0.03517766 -1.26179502] [-0.00566129 0.99997177 0.00494049 -0.05683298] [ 0.03520547 -0.0047382 0.99936886 -0.31804814] [ 0. 0. 0. 1. ]] SLAMing on 117.12313336499999 meters Centerline goodness : 0.142904 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 0.99936907 0.00582358 -0.03503626 -1.26217886] [-0.00565724 0.99997226 0.00484494 -0.0561541 ] [ 0.0350635 -0.00464368 0.9993743 -0.31802721] [ 0. 0. 0. 1. ]] SLAMing on 117.15313336499999 meters Centerline goodness : 0.089120 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 0.99937155 0.00578535 -0.03497192 -1.26243024] [-0.00562253 0.9999729 0.00475228 -0.05566945] [ 0.03499847 -0.00455266 0.999377 -0.31789836] [ 0. 0. 0. 1. ]] SLAMing on 117.18313336499999 meters Centerline goodness : 0.054334 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 0.99937329 0.00574453 -0.03492893 -1.26271154] [-0.00558372 0.99997337 0.00469994 -0.05551231] [ 0.034955 -0.00450196 0.99937875 -0.31762538] [ 0. 0. 0. 1. ]] SLAMing on 117.21313336499999 meters SLAMing on 117.24313336499999 meters SLAMing on 117.27313336499999 meters Centerline goodness : 0.145503 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99395964e-01 1.48949256e-03 -3.47201359e-02 -1.26330617e+00] [-1.45336042e-03 9.99998376e-01 1.06588275e-03 -5.80831903e-02] [ 3.47216672e-02 -1.01477804e-03 9.99396506e-01 -3.17511224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.303133365 meters Centerline goodness : 0.143326 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99383071e-01 1.48894889e-03 -3.50893244e-02 -1.26210929e+00] [-1.44769868e-03 9.99998231e-01 1.20095520e-03 -5.88179273e-02] [ 3.50910505e-02 -1.14941552e-03 9.99383458e-01 -3.17976359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.333133365 meters Centerline goodness : 0.143326 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99383071e-01 1.48894889e-03 -3.50893244e-02 -1.26210929e+00] [-1.44769868e-03 9.99998231e-01 1.20095520e-03 -5.88179273e-02] [ 3.50910505e-02 -1.14941552e-03 9.99383458e-01 -3.17976359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.363133365 meters Centerline goodness : 0.139158 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99366573e-01 1.43286048e-03 -3.55583867e-02 -1.26057822e+00] [-1.39021973e-03 9.99998285e-01 1.22387133e-03 -5.91524437e-02] [ 3.55600794e-02 -1.17366212e-03 9.99366851e-01 -3.18543042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.393133365 meters Centerline goodness : 0.144149 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99352435e-01 1.34786640e-03 -3.59568235e-02 -1.25929418e+00] [-1.30769460e-03 9.99998494e-01 1.14071783e-03 -5.91109557e-02] [ 3.59583069e-02 -1.09295859e-03 9.99352693e-01 -3.19002631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.423133365 meters Centerline goodness : 0.182937 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99346772e-01 1.25641114e-03 -3.61171884e-02 -1.25899596e+00] [-1.21787539e-03 9.99998665e-01 1.08894491e-03 -5.93483838e-02] [ 3.61185084e-02 -1.04424735e-03 9.99346968e-01 -3.18819274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45313336499999 meters Centerline goodness : 0.139474 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.07, Z:-0.32 [[ 9.99363004e-01 9.27944976e-03 -3.44598053e-02 -1.27997462e+00] [-9.26157512e-03 9.99956881e-01 6.78300253e-04 -6.77156551e-02] [ 3.44646137e-02 -3.58716103e-04 9.99405854e-01 -3.19927815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48313336499999 meters Centerline goodness : 0.139474 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.07, Z:-0.32 [[ 9.99363004e-01 9.27944976e-03 -3.44598053e-02 -1.27997462e+00] [-9.26157512e-03 9.99956881e-01 6.78300253e-04 -6.77156551e-02] [ 3.44646137e-02 -3.58716103e-04 9.99405854e-01 -3.19927815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51313336499999 meters SLAMing on 117.54313336499999 meters Centerline goodness : 0.143223 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99479042e-01 1.00513806e-03 -3.22588649e-02 -1.26307956e+00] [-9.54468719e-04 9.99998287e-01 1.58607123e-03 -6.32223521e-02] [ 3.22604038e-02 -1.55445488e-03 9.99478289e-01 -3.18431210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57313336499999 meters Centerline goodness : 0.138003 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99478455e-01 1.03240368e-03 -3.22761914e-02 -1.26315934e+00] [-9.78826293e-04 9.99998117e-01 1.67572273e-03 -6.38346779e-02] [ 3.22778606e-02 -1.64325598e-03 9.99477583e-01 -3.18219688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60313336499999 meters Centerline goodness : 0.080944 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99479981e-01 1.13838593e-03 -3.22253404e-02 -1.26333234e+00] [-1.07869989e-03 9.99997671e-01 1.86947060e-03 -6.45797563e-02] [ 3.22273935e-02 -1.83373697e-03 9.99478880e-01 -3.18143475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63313336499999 meters Centerline goodness : 0.153803 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-0.32 [[ 9.99483898e-01 1.27774729e-03 -3.20983713e-02 -1.26364543e+00] [-1.21162332e-03 9.99997104e-01 2.07940744e-03 -6.52358472e-02] [ 3.21009353e-02 -2.03944311e-03 9.99482551e-01 -3.18152240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.663133365 meters SLAMing on 117.693133365 meters Centerline goodness : 0.136061 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-0.32 [[ 9.99490260e-01 1.33099373e-03 -3.18974710e-02 -1.26437148e+00] [-1.26109631e-03 9.99996760e-01 2.21133347e-03 -6.62911325e-02] [ 3.19003109e-02 -2.16998048e-03 9.99488700e-01 -3.17494392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.723133365 meters SLAMing on 117.753133365 meters Centerline goodness : 0.130718 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.07, Z:-0.32 [[ 0.99951019 0.00170043 -0.03124892 -1.26609728] [-0.00162373 0.99999561 0.00247971 -0.06652175] [ 0.031253 -0.00242775 0.99950856 -0.31730885] [ 0. 0. 0. 1. ]] SLAMing on 117.783133365 meters Centerline goodness : 0.151549 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.07, Z:-0.32 [[ 0.99951859 0.00175884 -0.03097577 -1.26660384] [-0.00168675 0.99999581 0.00235333 -0.06541774] [ 0.03097977 -0.00229995 0.99951737 -0.31759208] [ 0. 0. 0. 1. ]] SLAMing on 117.813133365 meters Centerline goodness : 0.137342 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.06, Z:-0.32 [[ 0.99952497 0.00173841 -0.03077022 -1.26687244] [-0.00167603 0.99999649 0.00205298 -0.06363135] [ 0.03077368 -0.00200043 0.99952438 -0.31797399] [ 0. 0. 0. 1. ]] SLAMing on 117.84313336499999 meters Centerline goodness : 0.078044 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.06, Z:-0.32 [[ 0.99952926 0.00158842 -0.03063886 -1.2669282 ] [-0.00154244 0.99999765 0.00152424 -0.06102919] [ 0.03064121 -0.00147626 0.99952936 -0.31843419] [ 0. 0. 0. 1. ]] SLAMing on 117.87313336499999 meters Centerline goodness : 0.079112 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.06, Z:-0.32 [[ 9.99526835e-01 1.49024469e-03 -3.07227215e-02 -1.26641288e+00] [-1.45997538e-03 9.99998427e-01 1.00765076e-03 -5.82065107e-02] [ 3.07241749e-02 -9.62319562e-04 9.99527438e-01 -3.19040115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90313336499999 meters Centerline goodness : 0.134040 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.06, Z:-0.32 [[ 9.99522090e-01 1.49313993e-03 -3.08765737e-02 -1.26567163e+00] [-1.47638152e-03 9.99998750e-01 5.65545862e-04 -5.52154501e-02] [ 3.08773795e-02 -5.19689979e-04 9.99523045e-01 -3.19800817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93313336499999 meters Centerline goodness : 0.124604 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 9.99519534e-01 1.45443522e-03 -3.09610371e-02 -1.26532509e+00] [-1.45921435e-03 9.99998927e-01 -1.31765205e-04 -4.98819657e-02] [ 3.09608122e-02 1.76880686e-04 9.99520583e-01 -3.20227887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96313336499999 meters Centerline goodness : 0.080885 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.05, Z:-0.32 [[ 9.99438075e-01 -4.47736894e-04 -3.35161747e-02 -1.31101050e+00] [ 4.34564561e-04 9.99999825e-01 -4.00297711e-04 -5.16943093e-02] [ 3.35163481e-02 3.85507832e-04 9.99438095e-01 -3.19920855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99313336499999 meters Centerline goodness : 0.149067 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 9.99497776e-01 -5.03446760e-04 -3.16850424e-02 -1.26737340e+00] [ 4.33090783e-04 9.99997426e-01 -2.22730299e-03 -4.59805357e-02] [ 3.16860822e-02 2.21246189e-03 9.99495421e-01 -3.18975804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02313336499999 meters Centerline goodness : 0.081164 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.05, Z:-0.32 [[ 0.99948199 0.00468902 -0.03183964 -1.2902377 ] [-0.00485548 0.99997494 -0.00515265 -0.04868703] [ 0.03181468 0.00530458 0.99947971 -0.31948048] [ 0. 0. 0. 1. ]] SLAMing on 118.053133365 meters Centerline goodness : 0.135062 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.05, Z:-0.32 [[ 0.99948289 0.00461957 -0.03182145 -1.29034365] [-0.00478816 0.99997489 -0.00522369 -0.04832044] [ 0.03179652 0.00537335 0.99947992 -0.31944546] [ 0. 0. 0. 1. ]] SLAMing on 118.083133365 meters Centerline goodness : 0.131200 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99950133 -0.00288994 -0.0314442 -1.27055859] [ 0.00275929 0.99998738 -0.00419753 -0.04311169] [ 0.03145593 0.00410868 0.99949669 -0.3178079 ] [ 0. 0. 0. 1. ]] SLAMing on 118.113133365 meters Centerline goodness : 0.137997 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99949328 -0.00341479 -0.03164669 -1.269932 ] [ 0.00328079 0.99998544 -0.00428537 -0.04442812] [ 0.03166087 0.00417937 0.99948993 -0.31785961] [ 0. 0. 0. 1. ]] SLAMing on 118.143133365 meters Centerline goodness : 0.138298 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99948153 -0.00347329 -0.03200933 -1.26894282] [ 0.00334549 0.99998622 -0.00404504 -0.04615023] [ 0.03202294 0.00393586 0.99947938 -0.31804166] [ 0. 0. 0. 1. ]] SLAMing on 118.173133365 meters SLAMing on 118.20313336499999 meters Centerline goodness : 0.155715 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99944569 -0.00369091 -0.03308617 -1.26606613] [ 0.00357212 0.99998696 -0.00364894 -0.04949647] [ 0.03309921 0.00352873 0.99944584 -0.31845256] [ 0. 0. 0. 1. ]] SLAMing on 118.23313336499999 meters Centerline goodness : 0.140388 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99944278 -0.00358093 -0.03318599 -1.26589278] [ 0.00347224 0.99998842 -0.00333226 -0.05105859] [ 0.03319754 0.00321517 0.99944364 -0.31831156] [ 0. 0. 0. 1. ]] SLAMing on 118.26313336499999 meters Centerline goodness : 0.147027 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99944884 -0.00349917 -0.03301184 -1.26651339] [ 0.0033975 0.99998931 -0.00313553 -0.05207508] [ 0.03302246 0.00302164 0.99945004 -0.31795972] [ 0. 0. 0. 1. ]] SLAMing on 118.29313336499999 meters Centerline goodness : 0.133452 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99945821 -0.00345139 -0.03273197 -1.26745024] [ 0.0033516 0.99998957 -0.00310326 -0.05221148] [ 0.03274234 0.00299187 0.99945935 -0.3175046 ] [ 0. 0. 0. 1. ]] SLAMing on 118.32313336499999 meters Centerline goodness : 0.137917 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99949927 -0.0018919 -0.03158533 -1.27162708] [ 0.00183107 0.99999641 -0.00195458 -0.05108148] [ 0.03158891 0.00189576 0.99949915 -0.316049 ] [ 0. 0. 0. 1. ]] SLAMing on 118.35313336499999 meters SLAMing on 118.38313336499999 meters Centerline goodness : 0.126720 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 9.99506664e-01 2.06151952e-03 -3.13397301e-02 -1.27193004e+00] [-2.03405069e-03 9.99997519e-01 9.08341748e-04 -4.54756352e-02] [ 3.13415249e-02 -8.44147030e-04 9.99508377e-01 -3.16591619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.413133365 meters Centerline goodness : 0.130290 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 9.99508800e-01 2.22126931e-03 -3.12605872e-02 -1.27181244e+00] [-2.21001758e-03 9.99997480e-01 3.94480740e-04 -4.20382911e-02] [ 3.12613846e-02 -3.25200524e-04 9.99511191e-01 -3.17286491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.443133365 meters Centerline goodness : 0.128602 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 9.99506119e-01 2.25229902e-03 -3.13439874e-02 -1.27126408e+00] [-2.26056089e-03 9.99997419e-01 -2.28153481e-04 -3.83864660e-02] [ 3.13433927e-02 2.98895793e-04 9.99508630e-01 -3.18029552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.473133365 meters Centerline goodness : 0.131766 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 9.99508586e-01 2.31116289e-03 -3.12609267e-02 -1.27129128e+00] [-2.33662397e-03 9.99996967e-01 -7.77962799e-04 -3.48834070e-02] [ 3.12590339e-02 8.50625527e-04 9.99510955e-01 -3.18530059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.503133365 meters Centerline goodness : 0.146145 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 0.9995071 0.00230962 -0.03130866 -1.27105646] [-0.00235262 0.99999634 -0.00133667 -0.03130352] [ 0.03130546 0.00140967 0.99950887 -0.31892832] [ 0. 0. 0. 1. ]] SLAMing on 118.533133365 meters Centerline goodness : 0.127470 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 0.99951292 0.00221059 -0.03112944 -1.27149058] [-0.00226791 0.9999958 -0.00180627 -0.02858209] [ 0.03112531 0.00187599 0.99951373 -0.31908024] [ 0. 0. 0. 1. ]] SLAMing on 118.563133365 meters Centerline goodness : 0.122093 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 0.99952217 0.00197364 -0.03084714 -1.27253039] [-0.00204855 0.99999503 -0.00239718 -0.02549663] [ 0.03084226 0.00245922 0.99952124 -0.31869738] [ 0. 0. 0. 1. ]] SLAMing on 118.59313336499999 meters Centerline goodness : 0.128825 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 0.9995208 0.00184469 -0.03089934 -1.27246617] [-0.00192404 0.99999493 -0.00253859 -0.02502506] [ 0.0308945 0.00259682 0.99951928 -0.31862965] [ 0. 0. 0. 1. ]] SLAMing on 118.62313336499999 meters Centerline goodness : 0.120803 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 0.99951638 0.00174683 -0.0310477 -1.27213468] [-0.00182697 0.99999507 -0.00255302 -0.02509502] [ 0.03104309 0.00260851 0.99951464 -0.31858067] [ 0. 0. 0. 1. ]] SLAMing on 118.65313336499999 meters Centerline goodness : 0.083072 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 0.99951477 0.00166024 -0.031104 -1.27209327] [-0.00173911 0.99999534 -0.00250874 -0.02543859] [ 0.03109969 0.00256162 0.99951301 -0.3184392 ] [ 0. 0. 0. 1. ]] SLAMing on 118.68313336499999 meters Centerline goodness : 0.140161 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.02, Z:-0.32 [[ 0.99951468 -0.00606614 -0.03055484 -1.25184505] [ 0.00601814 0.99998051 -0.00166293 -0.02053141] [ 0.03056433 0.00147824 0.99953171 -0.31700641] [ 0. 0. 0. 1. ]] SLAMing on 118.71313336499999 meters Centerline goodness : 0.291336 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 9.99567415e-01 -1.07138428e-03 -2.93910687e-02 -1.27466131e+00] [ 9.44469715e-04 9.99990172e-01 -4.33167644e-03 -2.58821710e-02] [ 2.93954208e-02 4.30204365e-03 9.99558603e-01 -3.17911755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74313336499999 meters Centerline goodness : 0.141280 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.03, Z:-0.32 [[ 0.99951476 -0.00413607 -0.03087306 -1.32049855] [ 0.00398594 0.99997994 -0.00492288 -0.03294274] [ 0.0308928 0.00479743 0.99951119 -0.31796092] [ 0. 0. 0. 1. ]] SLAMing on 118.77313336499999 meters Centerline goodness : 0.087484 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 0.99955889 -0.00363596 -0.02947566 -1.2761756 ] [ 0.00348102 0.99997986 -0.00530617 -0.0321878 ] [ 0.02949436 0.00520123 0.99955141 -0.31709372] [ 0. 0. 0. 1. ]] SLAMing on 118.803133365 meters Centerline goodness : 0.087484 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 0.99955889 -0.00363596 -0.02947566 -1.2761756 ] [ 0.00348102 0.99997986 -0.00530617 -0.0321878 ] [ 0.02949436 0.00520123 0.99955141 -0.31709372] [ 0. 0. 0. 1. ]] SLAMing on 118.833133365 meters SLAMing on 118.863133365 meters Centerline goodness : 0.152124 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99954143 -0.00646579 -0.02958262 -1.27374246] [ 0.00625695 0.99995489 -0.00714669 -0.03914283] [ 0.02962749 0.00695832 0.99953679 -0.31943042] [ 0. 0. 0. 1. ]] SLAMing on 118.893133365 meters Centerline goodness : 0.148648 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99954744 -0.00631041 -0.02941261 -1.27428301] [ 0.00611438 0.99995852 -0.00675005 -0.04101381] [ 0.02945399 0.00656715 0.99954456 -0.31918799] [ 0. 0. 0. 1. ]] SLAMing on 118.923133365 meters Centerline goodness : 0.136186 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99955119 -0.0062158 -0.02930503 -1.27465192] [ 0.00602606 0.99996034 -0.00655854 -0.04184594] [ 0.02934464 0.006379 0.999549 -0.31899057] [ 0. 0. 0. 1. ]] SLAMing on 118.95313336499999 meters Centerline goodness : 0.122438 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99955282 -0.00618854 -0.02925521 -1.27482489] [ 0.00599952 0.99996059 -0.00654462 -0.04184472] [ 0.02929456 0.00636618 0.99955055 -0.31892695] [ 0. 0. 0. 1. ]] SLAMing on 118.98313336499999 meters Centerline goodness : 0.174840 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.9995498 -0.00613727 -0.02936882 -1.274473 ] [ 0.0059464 0.99996066 -0.00658199 -0.04135818] [ 0.02940806 0.00640439 0.99954697 -0.31911444] [ 0. 0. 0. 1. ]] SLAMing on 119.01313336499999 meters Centerline goodness : 0.121689 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:-0.32 [[ 0.99956895 -0.00574455 -0.02879092 -1.27581638] [ 0.00556139 0.99996381 -0.00643783 -0.0405199 ] [ 0.02882686 0.00627494 0.99956472 -0.31925793] [ 0. 0. 0. 1. ]] SLAMing on 119.04313336499999 meters Centerline goodness : 0.123539 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:-0.32 [[ 0.99958305 -0.0056846 -0.02830939 -1.2773026 ] [ 0.00550478 0.9999642 -0.00642581 -0.04033457] [ 0.0283449 0.0062673 0.99957855 -0.318781 ] [ 0. 0. 0. 1. ]] SLAMing on 119.07313336499999 meters Centerline goodness : 0.100362 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:-0.32 [[ 0.99959204 -0.00567184 -0.02799268 -1.27837515] [ 0.00549489 0.99996446 -0.00639432 -0.04059658] [ 0.02802795 0.0062379 0.99958768 -0.31831256] [ 0. 0. 0. 1. ]] SLAMing on 119.10313336499999 meters SLAMing on 119.13313336499999 meters Centerline goodness : 0.130133 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:-0.32 [[ 0.99957275 -0.00594761 -0.0286173 -1.27661554] [ 0.00576292 0.99996206 -0.00653187 -0.04115644] [ 0.02865506 0.00636416 0.9995691 -0.31873283] [ 0. 0. 0. 1. ]] SLAMing on 119.163133365 meters Centerline goodness : 0.171533 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:-0.32 [[ 0.99955882 -0.00598259 -0.02909258 -1.27502466] [ 0.00579663 0.99996226 -0.00647199 -0.04166859] [ 0.0291302 0.00630049 0.99955577 -0.31943608] [ 0. 0. 0. 1. ]] SLAMing on 119.193133365 meters Centerline goodness : 0.132432 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99954986 -0.00607607 -0.02937962 -1.27411344] [ 0.00589483 0.99996308 -0.00625137 -0.04332136] [ 0.02941652 0.00607537 0.99954878 -0.3197485 ] [ 0. 0. 0. 1. ]] SLAMing on 119.223133365 meters Centerline goodness : 0.125566 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99955018 -0.00605965 -0.02937217 -1.27427851] [ 0.0058835 0.99996421 -0.00608007 -0.04447333] [ 0.02940796 0.00590453 0.99955005 -0.31948652] [ 0. 0. 0. 1. ]] SLAMing on 119.253133365 meters Centerline goodness : 0.125566 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99955018 -0.00605965 -0.02937217 -1.27427851] [ 0.0058835 0.99996421 -0.00608007 -0.04447333] [ 0.02940796 0.00590453 0.99955005 -0.31948652] [ 0. 0. 0. 1. ]] SLAMing on 119.283133365 meters Centerline goodness : 0.126658 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99954499 -0.00603575 -0.02955319 -1.27402633] [ 0.0058629 0.99996522 -0.00593193 -0.04550204] [ 0.02958796 0.00575596 0.99954561 -0.31916962] [ 0. 0. 0. 1. ]] SLAMing on 119.313133365 meters Centerline goodness : 0.146096 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99953846 -0.00596175 -0.02978794 -1.27360481] [ 0.00579429 0.99996694 -0.00570486 -0.04676754] [ 0.02982096 0.00552962 0.99953996 -0.3189593 ] [ 0. 0. 0. 1. ]] SLAMing on 119.34313336499999 meters Centerline goodness : 0.162095 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99953371 -0.00582331 -0.02997416 -1.27319878] [ 0.00566346 0.9999693 -0.00541531 -0.04806877] [ 0.03000478 0.00524302 0.999536 -0.31889257] [ 0. 0. 0. 1. ]] SLAMing on 119.37313336499999 meters Centerline goodness : 0.155630 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99953714 -0.00560199 -0.02990174 -1.27344033] [ 0.00545673 0.99997292 -0.00493711 -0.05028987] [ 0.02992859 0.00477166 0.99954065 -0.31873271] [ 0. 0. 0. 1. ]] SLAMing on 119.40313336499999 meters Centerline goodness : 0.155630 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99953714 -0.00560199 -0.02990174 -1.27344033] [ 0.00545673 0.99997292 -0.00493711 -0.05028987] [ 0.02992859 0.00477166 0.99954065 -0.31873271] [ 0. 0. 0. 1. ]] SLAMing on 119.43313336499999 meters Centerline goodness : 0.136014 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99955191 -0.0054398 -0.02943463 -1.27460972] [ 0.0053081 0.99997556 -0.00455064 -0.05244363] [ 0.02945866 0.00439236 0.99955635 -0.31865966] [ 0. 0. 0. 1. ]] SLAMing on 119.46313336499999 meters Centerline goodness : 0.124621 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.05, Z:-0.32 [[ 0.99956287 -0.0053254 -0.02908102 -1.27555057] [ 0.00519969 0.99997682 -0.00439649 -0.05287905] [ 0.02910376 0.00424336 0.99956739 -0.31856973] [ 0. 0. 0. 1. ]] SLAMing on 119.49313336499999 meters Centerline goodness : 0.137707 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.05, Z:-0.32 [[ 0.99962052 0.00351167 -0.02732199 -1.25634854] [-0.00366071 0.99997868 -0.00540674 -0.05497489] [ 0.02730243 0.0055047 0.99961206 -0.31783687] [ 0. 0. 0. 1. ]] SLAMing on 119.52313336499999 meters Centerline goodness : 0.123052 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.9995991 -0.00483502 -0.02789752 -1.27484896] [ 0.00473683 0.99998236 -0.00358453 -0.0514969 ] [ 0.02791436 0.00345094 0.99960436 -0.32017753] [ 0. 0. 0. 1. ]] SLAMing on 119.553133365 meters Centerline goodness : 0.136483 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99959681 -0.00479904 -0.0279856 -1.27438741] [ 0.00470152 0.99998265 -0.00354964 -0.05148053] [ 0.02800215 0.00341663 0.99960202 -0.32061839] [ 0. 0. 0. 1. ]] SLAMing on 119.583133365 meters Centerline goodness : 0.128126 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99960996 0.00366234 -0.02768586 -1.2539801 ] [-0.00379827 0.99998098 -0.00485888 -0.05401093] [ 0.02766754 0.00496214 0.99960486 -0.31973863] [ 0. 0. 0. 1. ]] SLAMing on 119.613133365 meters Centerline goodness : 0.126202 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959619 0.00361906 -0.02818451 -1.25209224] [-0.00375699 0.99998122 -0.00484232 -0.05442412] [ 0.02816646 0.00494626 0.99959101 -0.32085164] [ 0. 0. 0. 1. ]] SLAMing on 119.643133365 meters Centerline goodness : 0.135102 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959105 0.0036409 -0.02836347 -1.2515669 ] [-0.00377765 0.99998149 -0.00476954 -0.05486197] [ 0.02834557 0.00487474 0.9995863 -0.32098147] [ 0. 0. 0. 1. ]] SLAMing on 119.673133365 meters Centerline goodness : 0.125504 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-0.32 [[ 0.99959256 0.00364451 -0.02830968 -1.25186078] [-0.00378025 0.99998161 -0.00474277 -0.05505256] [ 0.02829187 0.00484786 0.99958795 -0.32072012] [ 0. 0. 0. 1. ]] SLAMing on 119.70313336499999 meters Centerline goodness : 0.121543 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959618 0.00366355 -0.02817886 -1.25252666] [-0.00379938 0.99998141 -0.00476852 -0.0547703 ] [ 0.02816086 0.00487365 0.99959152 -0.32019003] [ 0. 0. 0. 1. ]] SLAMing on 119.73313336499999 meters Centerline goodness : 0.129570 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99960087 0.00369135 -0.02800843 -1.25307535] [-0.00382805 0.99998101 -0.00482891 -0.054158 ] [ 0.02799008 0.0049342 0.99959602 -0.31998226] [ 0. 0. 0. 1. ]] SLAMing on 119.76313336499999 meters SLAMing on 119.79313336499999 meters Centerline goodness : 0.148613 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99958697 0.00364173 -0.02850645 -1.25124428] [-0.00379801 0.99997804 -0.00543011 -0.05057233] [ 0.02848605 0.00553614 0.99957886 -0.32111715] [ 0. 0. 0. 1. ]] SLAMing on 119.82313336499999 meters Centerline goodness : 0.148613 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99958697 0.00364173 -0.02850645 -1.25124428] [-0.00379801 0.99997804 -0.00543011 -0.05057233] [ 0.02848605 0.00553614 0.99957886 -0.32111715] [ 0. 0. 0. 1. ]] SLAMing on 119.85313336499999 meters Centerline goodness : 0.128532 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99958137 0.0035814 -0.0287098 -1.25064084] [-0.0037428 0.99997748 -0.00556986 -0.04990594] [ 0.0286892 0.00567499 0.99957227 -0.3213459 ] [ 0. 0. 0. 1. ]] SLAMing on 119.88313336499999 meters Centerline goodness : 0.125930 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.04, Z:-0.32 [[ 0.99955447 -0.00350182 -0.02964108 -1.23177467] [ 0.00336717 0.99998379 -0.00459132 -0.04471762] [ 0.02965668 0.00448947 0.99955006 -0.3186566 ] [ 0. 0. 0. 1. ]] SLAMing on 119.913133365 meters Centerline goodness : 0.125293 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.05, Z:-0.32 [[ 0.99955158 -0.00350266 -0.02973839 -1.23183008] [ 0.00337124 0.99998433 -0.00446837 -0.04560035] [ 0.02975358 0.00436611 0.99954773 -0.31821288] [ 0. 0. 0. 1. ]] SLAMing on 119.943133365 meters Centerline goodness : 0.080127 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.05, Z:-0.32 [[ 0.99954936 -0.00354538 -0.0298079 -1.23194857] [ 0.00341777 0.99998478 -0.00433089 -0.04673607] [ 0.0298228 0.00422706 0.99954626 -0.31775497] [ 0. 0. 0. 1. ]] SLAMing on 119.973133365 meters Centerline goodness : 0.142973 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.05, Z:-0.32 [[ 0.99955269 -0.00348988 -0.0297025 -1.23242897] [ 0.00337101 0.99998611 -0.00405139 -0.04827845] [ 0.02971622 0.00394945 0.99955057 -0.31738119] [ 0. 0. 0. 1. ]] SLAMing on 120.003133365 meters Centerline goodness : 0.124461 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.05, Z:-0.32 [[ 0.99955694 -0.00340579 -0.02956884 -1.23297047] [ 0.00329535 0.99998742 -0.0037828 -0.04949418] [ 0.02958135 0.00368369 0.99955559 -0.31702096] [ 0. 0. 0. 1. ]] SLAMing on 120.033133365 meters Centerline goodness : 0.160942 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.05, Z:-0.32 [[ 0.99957191 -0.00318324 -0.02908386 -1.23429504] [ 0.00308729 0.99998964 -0.00334356 -0.05096848] [ 0.0290942 0.00325234 0.99957138 -0.31674186] [ 0. 0. 0. 1. ]] SLAMing on 120.063133365 meters Centerline goodness : 0.130870 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.05, Z:-0.32 [[ 0.99957928 -0.0031029 -0.02883802 -1.23492021] [ 0.00301029 0.99999017 -0.0032544 -0.05118598] [ 0.02884784 0.00316622 0.9995788 -0.31671352] [ 0. 0. 0. 1. ]] SLAMing on 120.09313336499999 meters Centerline goodness : 0.143052 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-0.32 [[ 0.999596 0.00422367 -0.02810691 -1.254625 ] [-0.00434565 0.9999814 -0.00428036 -0.05644367] [ 0.02808831 0.00440078 0.99959576 -0.31878025] [ 0. 0. 0. 1. ]] SLAMing on 120.12313336499999 meters Centerline goodness : 0.123460 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-0.32 [[ 0.99959024 0.00412989 -0.02832489 -1.25408397] [-0.00426173 0.99998036 -0.00459553 -0.05524794] [ 0.02830535 0.00471436 0.99958821 -0.31868862] [ 0. 0. 0. 1. ]] SLAMing on 120.15313336499999 meters Centerline goodness : 0.130737 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99958107 0.00413061 -0.02864651 -1.25309202] [-0.00427138 0.99997909 -0.00485449 -0.05392459] [ 0.02862586 0.00497482 0.99957782 -0.31895753] [ 0. 0. 0. 1. ]] SLAMing on 120.18313336499999 meters Centerline goodness : 0.128545 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.9995781 0.00416982 -0.02874435 -1.25251334] [-0.00431594 0.99997807 -0.00502316 -0.05270486] [ 0.02872278 0.0051451 0.99957417 -0.31958875] [ 0. 0. 0. 1. ]] SLAMing on 120.21313336499999 meters Centerline goodness : 0.129828 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99957936 0.00422248 -0.0286927 -1.2523196 ] [-0.0043728 0.99997703 -0.00517818 -0.05139634] [ 0.02867018 0.00530147 0.99957487 -0.32016356] [ 0. 0. 0. 1. ]] SLAMing on 120.24313336499999 meters Centerline goodness : 0.123356 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99958711 0.00425534 -0.02841657 -1.25284594] [-0.00440785 0.99997621 -0.00530619 -0.05033806] [ 0.02839331 0.00542926 0.99958208 -0.32038114] [ 0. 0. 0. 1. ]] SLAMing on 120.27313336499999 meters Centerline goodness : 0.124339 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959478 0.00425365 -0.02814564 -1.25352025] [-0.00440758 0.99997566 -0.00540918 -0.04973955] [ 0.02812194 0.00553104 0.9995892 -0.320392 ] [ 0. 0. 0. 1. ]] SLAMing on 120.303133365 meters Centerline goodness : 0.147271 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959192 0.00413595 -0.0282647 -1.25291758] [-0.00430033 0.99997418 -0.00575766 -0.04822335] [ 0.02824016 0.00587686 0.99958389 -0.32095539] [ 0. 0. 0. 1. ]] SLAMing on 120.333133365 meters Centerline goodness : 0.125201 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99958972 0.00414086 -0.02834163 -1.25249858] [-0.00430757 0.99997376 -0.0058236 -0.04771064] [ 0.02831678 0.00594329 0.99958133 -0.32135932] [ 0. 0. 0. 1. ]] SLAMing on 120.363133365 meters Centerline goodness : 0.126398 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.9995896 0.00417979 -0.02834021 -1.25234472] [-0.004346 0.9999737 -0.0058058 -0.04753197] [ 0.0283152 0.00592659 0.99958147 -0.32165456] [ 0. 0. 0. 1. ]] SLAMing on 120.393133365 meters Centerline goodness : 0.131219 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959117 0.00419504 -0.02828255 -1.25241467] [-0.00435993 0.99997384 -0.00577118 -0.04759502] [ 0.0282576 0.00589214 0.99958331 -0.32176104] [ 0. 0. 0. 1. ]] SLAMing on 120.423133365 meters Centerline goodness : 0.133049 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959362 0.00419082 -0.0281963 -1.25272391] [-0.00435377 0.99997416 -0.00572009 -0.04802377] [ 0.0281716 0.00584052 0.99958604 -0.32159557] [ 0. 0. 0. 1. ]] SLAMing on 120.45313336499999 meters Centerline goodness : 0.165996 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959479 0.00417691 -0.02815681 -1.25300126] [-0.0043385 0.99997446 -0.00568032 -0.04844247] [ 0.02813237 0.00580018 0.99958738 -0.32131667] [ 0. 0. 0. 1. ]] SLAMing on 120.48313336499999 meters Centerline goodness : 0.128580 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959408 0.00417043 -0.02818299 -1.25297929] [-0.00433206 0.99997451 -0.00567638 -0.0484514 ] [ 0.0281586 0.00579617 0.99958666 -0.32127962] [ 0. 0. 0. 1. ]] SLAMing on 120.51313336499999 meters Centerline goodness : 0.137300 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.9995911 0.00412265 -0.02829551 -1.25242668] [-0.00428899 0.99997386 -0.0058205 -0.04760283] [ 0.02827078 0.00593948 0.99958266 -0.32174489] [ 0. 0. 0. 1. ]] SLAMing on 120.54313336499999 meters Centerline goodness : 0.126361 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99958429 0.00406103 -0.02854408 -1.25135297] [-0.00423434 0.99997295 -0.00601409 -0.04659017] [ 0.02851888 0.00613245 0.99957444 -0.32250408] [ 0. 0. 0. 1. ]] SLAMing on 120.57313336499999 meters Centerline goodness : 0.137231 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99957577 0.00394793 -0.02885633 -1.250052 ] [-0.00413329 0.99997119 -0.00636688 -0.04482245] [ 0.02883037 0.00648345 0.99956329 -0.32339441] [ 0. 0. 0. 1. ]] SLAMing on 120.60313336499999 meters Centerline goodness : 0.144081 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.05, Z:-0.32 [[ 0.9994905 0.00304973 -0.03177183 -1.29411054] [-0.00324096 0.99997693 -0.00596895 -0.04599049] [ 0.0317529 0.00606888 0.99947732 -0.32403708] [ 0. 0. 0. 1. ]] SLAMing on 120.63313336499999 meters Centerline goodness : 0.135952 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:-0.32 [[ 0.99946301 -0.00332986 -0.0325977 -1.27689825] [ 0.00315324 0.99998008 -0.0054682 -0.03575245] [ 0.03261526 0.00536247 0.9994536 -0.32165535] [ 0. 0. 0. 1. ]] SLAMing on 120.663133365 meters Centerline goodness : 0.136244 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 0.99946937 -0.00339916 -0.03239495 -1.27758661] [ 0.00321414 0.99997824 -0.00576176 -0.03400639] [ 0.03241383 0.00565458 0.99945854 -0.32147701] [ 0. 0. 0. 1. ]] SLAMing on 120.693133365 meters Centerline goodness : 0.130843 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 0.99947561 -0.00342586 -0.03219891 -1.27825868] [ 0.00323514 0.99997693 -0.0059734 -0.0324429 ] [ 0.03221863 0.0058661 0.99946363 -0.32127061] [ 0. 0. 0. 1. ]] SLAMing on 120.723133365 meters Centerline goodness : 0.130804 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 0.99948192 -0.00350071 -0.0319942 -1.27879144] [ 0.00330251 0.99997504 -0.00624567 -0.0307493 ] [ 0.03201527 0.00613677 0.99946854 -0.32129455] [ 0. 0. 0. 1. ]] SLAMing on 120.753133365 meters SLAMing on 120.783133365 meters Centerline goodness : 0.057841 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 0.99948372 -0.00374946 -0.03190988 -1.27902774] [ 0.00353297 0.99997038 -0.00683807 -0.02792334] [ 0.03193458 0.00672181 0.99946736 -0.32131499] [ 0. 0. 0. 1. ]] SLAMing on 120.813133365 meters Centerline goodness : 0.136892 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 0.99947915 -0.00387396 -0.03203792 -1.27870918] [ 0.00364719 0.9999679 -0.00713353 -0.02653532] [ 0.03206453 0.00701296 0.9994612 -0.32137622] [ 0. 0. 0. 1. ]] SLAMing on 120.84313336499999 meters SLAMing on 120.87313336499999 meters SLAMing on 120.90313336499999 meters Centerline goodness : 0.139348 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.02, Z:-0.32 [[ 9.99461089e-01 -5.69273707e-04 -3.28208299e-02 -1.27656260e+00] [ 4.12656757e-04 9.99988498e-01 -4.77845285e-03 -1.93699233e-02] [ 3.28231726e-02 4.76233395e-03 9.99449828e-01 -3.21962356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93313336499999 meters SLAMing on 120.96313336499999 meters Centerline goodness : 0.162401 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.32 [[ 9.99469543e-01 -9.46599130e-04 -3.25535830e-02 -1.27734224e+00] [ 7.61632999e-04 9.99983500e-01 -5.69382870e-03 -1.49430482e-02] [ 3.25584356e-02 5.66601449e-03 9.99453773e-01 -3.21888644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99313336499999 meters Centerline goodness : 0.087621 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.32 [[ 9.99477201e-01 -1.07782589e-03 -3.23135122e-02 -1.27811909e+00] [ 8.83053014e-04 9.99981362e-01 -6.04126380e-03 -1.30742324e-02] [ 3.23194213e-02 6.00957089e-03 9.99459524e-01 -3.21664133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02313336499999 meters Centerline goodness : 0.179402 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.32 [[ 9.99479105e-01 -1.19260821e-03 -3.22505209e-02 -1.27848969e+00] [ 9.89059925e-04 9.99979497e-01 -6.32668955e-03 -1.15740397e-02] [ 3.22574049e-02 6.29149632e-03 9.99459793e-01 -3.21393560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.053133365 meters SLAMing on 121.083133365 meters Centerline goodness : 0.132696 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.32 [[ 0.99948037 -0.00154622 -0.03219639 -1.27895056] [ 0.00132145 0.99997462 -0.00700147 -0.00787132] [ 0.03220639 0.00695529 0.99945704 -0.32095719] [ 0. 0. 0. 1. ]] SLAMing on 121.113133365 meters Centerline goodness : 0.060803 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.32 [[ 0.99948244 -0.0016447 -0.03212706 -1.27925102] [ 0.00141363 0.99997298 -0.00721373 -0.00681968] [ 0.03213805 0.00716458 0.99945776 -0.32076332] [ 0. 0. 0. 1. ]] SLAMing on 121.143133365 meters Centerline goodness : 0.060803 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.32 [[ 0.99948244 -0.0016447 -0.03212706 -1.27925102] [ 0.00141363 0.99997298 -0.00721373 -0.00681968] [ 0.03213805 0.00716458 0.99945776 -0.32076332] [ 0. 0. 0. 1. ]] SLAMing on 121.173133365 meters Centerline goodness : 0.130119 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.32 [[ 0.99948175 -0.00179159 -0.03214069 -1.27921631] [ 0.00155171 0.99997077 -0.00748673 -0.0057193 ] [ 0.03215316 0.00743298 0.99945531 -0.32081486] [ 0. 0. 0. 1. ]] SLAMing on 121.20313336499999 meters Centerline goodness : 0.133274 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.00, Z:-0.32 [[ 0.99948092 -0.00187892 -0.0321616 -1.27905967] [ 0.00163264 0.99996916 -0.00768207 -0.00482113] [ 0.03217504 0.00762558 0.99945316 -0.32100034] [ 0. 0. 0. 1. ]] SLAMing on 121.23313336499999 meters Centerline goodness : 0.121923 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.00, Z:-0.32 [[ 0.99947997 -0.00194883 -0.03218694 -1.27881229] [ 0.00169639 0.99996761 -0.00786828 -0.00381591] [ 0.03220123 0.00780959 0.99945089 -0.32133775] [ 0. 0. 0. 1. ]] SLAMing on 121.26313336499999 meters Centerline goodness : 0.131473 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.00, Z:-0.32 [[ 0.99948155 -0.00201048 -0.03213391 -1.27887359] [ 0.00175346 0.99996626 -0.00802466 -0.00288991] [ 0.03214896 0.00796415 0.99945136 -0.3214394 ] [ 0. 0. 0. 1. ]] SLAMing on 121.29313336499999 meters SLAMing on 121.32313336499999 meters Centerline goodness : 0.135132 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.00, Z:-0.32 [[ 9.99483925e-01 -2.24785518e-03 -3.20442000e-02 -1.27890664e+00] [ 1.97746194e-03 9.99962196e-01 -8.46732882e-03 -1.16659440e-03] [ 3.20620219e-02 8.39959286e-03 9.99450586e-01 -3.21749305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35313336499999 meters Centerline goodness : 0.133368 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.00, Z:-0.32 [[ 0.99948141 -0.00254971 -0.03210015 -1.27849016] [ 0.00225719 0.99995563 -0.00914538 0.00184704] [ 0.03212205 0.00906818 0.99944282 -0.32222327] [ 0. 0. 0. 1. ]] SLAMing on 121.38313336499999 meters Centerline goodness : 0.133920 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.00, Z:-0.32 [[ 0.99947783 -0.00269497 -0.03219939 -1.27807806] [ 0.00238888 0.99995163 -0.00954057 0.0038635 ] [ 0.03222355 0.00945867 0.99943593 -0.32254127] [ 0. 0. 0. 1. ]] SLAMing on 121.413133365 meters Centerline goodness : 0.134701 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.01, Z:-0.32 [[ 0.99946516 -0.0028216 -0.0325795 -1.27690782] [ 0.0024982 0.99994725 -0.00996306 0.00611817] [ 0.03260589 0.00987634 0.99941949 -0.3229956 ] [ 0. 0. 0. 1. ]] SLAMing on 121.443133365 meters Centerline goodness : 0.135247 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.01, Z:-0.32 [[ 0.99945381 -0.00301794 -0.03290849 -1.27577045] [ 0.00267528 0.9999418 -0.01045153 0.00849632] [ 0.03293812 0.01035778 0.99940372 -0.32355119] [ 0. 0. 0. 1. ]] SLAMing on 121.473133365 meters Centerline goodness : 0.135780 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.01, Z:-0.32 [[ 0.99944153 -0.0032037 -0.03326214 -1.27452421] [ 0.00284207 0.9999364 -0.01091379 0.01072775] [ 0.03329499 0.01081316 0.99938707 -0.32421341] [ 0. 0. 0. 1. ]] SLAMing on 121.503133365 meters Centerline goodness : 0.140245 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.01, Z:-0.32 [[ 0.99943816 -0.00342983 -0.03334078 -1.27417707] [ 0.00304568 0.99992847 -0.01156601 0.01439555] [ 0.03337807 0.01145797 0.99937712 -0.32452392] [ 0. 0. 0. 1. ]] SLAMing on 121.533133365 meters Centerline goodness : 0.121937 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99935943 -0.00424966 -0.03553414 -1.32020728] [ 0.00384737 0.99992782 -0.01138175 0.01282027] [ 0.03557994 0.01123775 0.99930365 -0.32447516] [ 0. 0. 0. 1. ]] SLAMing on 121.563133365 meters Centerline goodness : 0.139784 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.02, Z:-0.32 [[ 0.99931182 -0.0121892 -0.03503301 -1.30035904] [ 0.01181825 0.99987209 -0.01077633 0.018593 ] [ 0.03515989 0.01035488 0.99932805 -0.32290112] [ 0. 0. 0. 1. ]] SLAMing on 121.59313336499999 meters Centerline goodness : 0.137642 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.02, Z:-0.32 [[ 0.9993058 -0.01227136 -0.03517573 -1.3002174 ] [ 0.0118995 0.99987129 -0.01076151 0.01804796] [ 0.03530326 0.01033546 0.9993232 -0.32258144] [ 0. 0. 0. 1. ]] SLAMing on 121.62313336499999 meters Centerline goodness : 0.139975 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.02, Z:-0.32 [[ 0.9993033 -0.01233779 -0.03522357 -1.30038678] [ 0.01196854 0.99987139 -0.01067472 0.01719072] [ 0.03535074 0.01024571 0.99932245 -0.32213304] [ 0. 0. 0. 1. ]] SLAMing on 121.65313336499999 meters Centerline goodness : 0.141689 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.02, Z:-0.32 [[ 0.99930335 -0.01235353 -0.03521667 -1.30068845] [ 0.01198934 0.99987264 -0.01053374 0.01624988] [ 0.03534232 0.01010417 0.99932418 -0.32166448] [ 0. 0. 0. 1. ]] SLAMing on 121.68313336499999 meters Centerline goodness : 0.141638 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99938532 -0.00438071 -0.03478213 -1.32072882] [ 0.00400451 0.99993281 -0.01087812 0.01022321] [ 0.03482745 0.01073214 0.99933571 -0.3232436 ] [ 0. 0. 0. 1. ]] SLAMing on 121.71313336499999 meters Centerline goodness : 0.144108 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99938293 -0.0043636 -0.03485282 -1.32044149] [ 0.00398792 0.99993328 -0.01084122 0.01021724] [ 0.0348978 0.01069554 0.99933365 -0.32341774] [ 0. 0. 0. 1. ]] SLAMing on 121.74313336499999 meters Centerline goodness : 0.147260 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99937289 -0.00448115 -0.03512485 -1.31950016] [ 0.00409108 0.99992925 -0.01116916 0.01177027] [ 0.03517241 0.01101846 0.99932052 -0.32388689] [ 0. 0. 0. 1. ]] SLAMing on 121.77313336499999 meters Centerline goodness : 0.143082 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99936957 -0.00452633 -0.03521338 -1.31918951] [ 0.00412912 0.99992712 -0.01134463 0.01269372] [ 0.03526217 0.01119208 0.99931542 -0.32408226] [ 0. 0. 0. 1. ]] SLAMing on 121.803133365 meters Centerline goodness : 0.141049 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99937412 -0.00452347 -0.03508433 -1.31960668] [ 0.0041235 0.99992578 -0.01146424 0.01356438] [ 0.03513358 0.01131239 0.9993186 -0.32395763] [ 0. 0. 0. 1. ]] SLAMing on 121.833133365 meters Centerline goodness : 0.142079 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99938967 -0.00442668 -0.03465104 -1.32091027] [ 0.00403046 0.9999258 -0.01149598 0.01442791] [ 0.03469936 0.0113493 0.99933335 -0.32360167] [ 0. 0. 0. 1. ]] SLAMing on 121.863133365 meters Centerline goodness : 0.142114 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99940557 -0.00435888 -0.03419792 -1.32234995] [ 0.00396779 0.99992605 -0.01149564 0.01488546] [ 0.03424549 0.01135311 0.99934896 -0.32308566] [ 0. 0. 0. 1. ]] SLAMing on 121.893133365 meters Centerline goodness : 0.140127 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 0.99942046 -0.00431629 -0.03376559 -1.3238863 ] [ 0.00393057 0.99992636 -0.01148145 0.01501792] [ 0.03381266 0.01134208 0.99936383 -0.32236093] [ 0. 0. 0. 1. ]] SLAMing on 121.923133365 meters Centerline goodness : 0.153549 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 0.99942952 -0.00431774 -0.03349605 -1.32482791] [ 0.00393362 0.99992585 -0.01152493 0.0152806 ] [ 0.03354333 0.0113866 0.9993724 -0.32194319] [ 0. 0. 0. 1. ]] SLAMing on 121.95313336499999 meters Centerline goodness : 0.107877 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 0.99942656 -0.00430849 -0.03358559 -1.32474965] [ 0.00392112 0.99992513 -0.01159118 0.01583412] [ 0.03363302 0.01145284 0.99936863 -0.32174547] [ 0. 0. 0. 1. ]] SLAMing on 121.98313336499999 meters Centerline goodness : 0.141590 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 9.99420890e-01 -3.75958877e-04 -3.40256177e-02 -1.32346557e+00] [ 1.06448633e-04 9.99968613e-01 -7.92226877e-03 1.66059101e-02] [ 3.40275282e-02 7.91405893e-03 9.99389561e-01 -3.22112126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01313336499999 meters Centerline goodness : 0.138842 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 9.99428978e-01 -4.31785634e-04 -3.37865637e-02 -1.32405758e+00] [ 1.56715847e-04 9.99966828e-01 -8.14362044e-03 1.76872070e-02] [ 3.37889593e-02 8.13367536e-03 9.99395892e-01 -3.22076399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04313336499999 meters Centerline goodness : 0.134347 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 9.99438280e-01 -4.92835218e-04 -3.35094392e-02 -1.32499777e+00] [ 2.12654424e-04 9.99964996e-01 -8.36429980e-03 1.86574890e-02] [ 3.35123885e-02 8.35247547e-03 9.99403400e-01 -3.21700222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07313336499999 meters Centerline goodness : 0.138022 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.02, Z:-0.32 [[ 9.99444208e-01 -5.10431040e-04 -3.33318773e-02 -1.32557631e+00] [ 2.26546672e-04 9.99963677e-01 -8.52012441e-03 1.95036051e-02] [ 3.33350155e-02 8.50783777e-03 9.99408022e-01 -3.21494959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10313336499999 meters Centerline goodness : 0.134809 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.02, Z:-0.32 [[ 9.99439627e-01 -4.62400067e-04 -3.34696607e-02 -1.32508257e+00] [ 1.72145604e-04 9.99962361e-01 -8.67452844e-03 2.07228016e-02] [ 3.34724121e-02 8.66390581e-03 9.99402088e-01 -3.21812177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13313336499999 meters Centerline goodness : 0.134276 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 9.99427708e-01 -4.09856147e-04 -3.38243734e-02 -1.32391821e+00] [ 1.09194202e-04 9.99960475e-01 -8.89028255e-03 2.23699057e-02] [ 3.38266802e-02 8.88150128e-03 9.99388250e-01 -3.22334282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.163133365 meters Centerline goodness : 0.139554 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 9.99410722e-01 -4.55641737e-04 -3.43220204e-02 -1.32231200e+00] [ 1.37158534e-04 9.99956921e-01 -9.28105034e-03 2.44792047e-02] [ 3.43247707e-02 9.27087367e-03 9.99367731e-01 -3.23077473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.193133365 meters Centerline goodness : 0.138434 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.03, Z:-0.32 [[ 9.99391994e-01 -5.75115085e-04 -3.48613298e-02 -1.32060128e+00] [ 2.33138602e-04 9.99951825e-01 -9.81289380e-03 2.70502907e-02] [ 3.48652939e-02 9.79879997e-03 9.99343982e-01 -3.23814775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.223133365 meters Centerline goodness : 0.154423 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.03, Z:-0.32 [[ 9.99371345e-01 2.59248614e-04 -3.54520344e-02 -1.31896248e+00] [-6.07040214e-04 9.99951797e-01 -9.79978961e-03 3.35277848e-02] [ 3.54477850e-02 9.81514974e-03 9.99323330e-01 -3.24364613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.253133365 meters Centerline goodness : 0.122406 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.04, Z:-0.32 [[ 9.99374681e-01 3.19834191e-04 -3.53573946e-02 -1.31919858e+00] [-6.79951798e-04 9.99948017e-01 -1.01735167e-02 3.65116255e-02] [ 3.53523028e-02 1.01911964e-02 9.99322948e-01 -3.24514021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.283133365 meters Centerline goodness : 0.156892 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.04, Z:-0.32 [[ 9.99374350e-01 2.73038745e-04 -3.53671381e-02 -1.31903616e+00] [-6.47217996e-04 9.99943939e-01 -1.05688401e-02 3.91341500e-02] [ 3.53622696e-02 1.05851179e-02 9.99318500e-01 -3.24819922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.313133365 meters Centerline goodness : 0.157817 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.04, Z:-0.33 [[ 9.99371796e-01 1.26894447e-04 -3.54400595e-02 -1.31867919e+00] [-5.17002908e-04 9.99939380e-01 -1.09986094e-02 4.13299730e-02] [ 3.54365155e-02 1.10100226e-02 9.99311279e-01 -3.25158640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34313336499999 meters Centerline goodness : 0.121512 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.04, Z:-0.33 [[ 9.99370265e-01 -3.81575181e-06 -3.54834110e-02 -1.31854537e+00] [-3.97483109e-04 9.99936047e-01 -1.13024170e-02 4.26714847e-02] [ 3.54811848e-02 1.13094035e-02 9.99306351e-01 -3.25252851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37313336499999 meters Centerline goodness : 0.158854 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.04, Z:-0.33 [[ 9.99370418e-01 -1.17090001e-04 -3.54789124e-02 -1.31857668e+00] [-2.91244948e-04 9.99933786e-01 -1.15038429e-02 4.34567511e-02] [ 3.54779102e-02 1.15069333e-02 9.99304212e-01 -3.25239945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40313336499999 meters Centerline goodness : 0.129774 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.04, Z:-0.32 [[ 9.99369712e-01 -3.13838021e-04 -3.54975992e-02 -1.31873925e+00] [-1.04953925e-04 9.99930428e-01 -1.17952755e-02 4.46201930e-02] [ 3.54988313e-02 1.17915667e-02 9.99300151e-01 -3.24911180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43313336499999 meters Centerline goodness : 0.129774 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.04, Z:-0.32 [[ 9.99369712e-01 -3.13838021e-04 -3.54975992e-02 -1.31873925e+00] [-1.04953925e-04 9.99930428e-01 -1.17952755e-02 4.46201930e-02] [ 3.54988313e-02 1.17915667e-02 9.99300151e-01 -3.24911180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46313336499999 meters Centerline goodness : 0.165040 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 9.99364481e-01 -4.84491792e-04 -3.56426525e-02 -1.31865951e+00] [ 5.29734669e-05 9.99926709e-01 -1.21067444e-02 4.60091046e-02] [ 3.56459058e-02 1.20971622e-02 9.99291263e-01 -3.24521899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49313336499999 meters Centerline goodness : 0.135871 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 9.99360734e-01 -5.61356872e-04 -3.57464571e-02 -1.31846074e+00] [ 1.21773941e-04 9.99924366e-01 -1.22982347e-02 4.70148744e-02] [ 3.57506572e-02 1.22860199e-02 9.99285217e-01 -3.24444000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52313336499999 meters Centerline goodness : 0.132363 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 9.99357673e-01 -6.05111682e-04 -3.58312142e-02 -1.31827265e+00] [ 1.58342588e-04 9.99922231e-01 -1.24702373e-02 4.80746942e-02] [ 3.58359735e-02 1.24565537e-02 9.99280049e-01 -3.24428535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.553133365 meters Centerline goodness : 0.160669 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 9.99356425e-01 -6.66916874e-04 -3.58648877e-02 -1.31798725e+00] [ 2.11756489e-04 9.99919415e-01 -1.26932761e-02 4.94162681e-02] [ 3.58704629e-02 1.26775124e-02 9.99276033e-01 -3.24776919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.583133365 meters Centerline goodness : 0.144854 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 9.99355586e-01 -7.41390773e-04 -3.58868177e-02 -1.31788190e+00] [ 2.78611963e-04 9.99916768e-01 -1.28987933e-02 5.04288390e-02] [ 3.58933938e-02 1.28804827e-02 9.99272614e-01 -3.24888455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.613133365 meters Centerline goodness : 0.160631 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99932247 -0.00836669 -0.03584121 -1.29875119] [ 0.00793868 0.99989567 -0.01206761 0.05668394] [ 0.03593844 0.0117749 0.99928463 -0.32306204] [ 0. 0. 0. 1. ]] SLAMing on 122.643133365 meters Centerline goodness : 0.148733 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99932851 -0.00842889 -0.03565787 -1.29972505] [ 0.0080011 0.9998945 -0.01212292 0.05686484] [ 0.03575629 0.01182948 0.99929052 -0.32227802] [ 0. 0. 0. 1. ]] SLAMing on 122.673133365 meters Centerline goodness : 0.152000 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99933128 -0.00845137 -0.03557475 -1.2999427 ] [ 0.00802278 0.99989372 -0.0121732 0.05723665] [ 0.03567385 0.01187966 0.99929288 -0.3222794 ] [ 0. 0. 0. 1. ]] SLAMing on 122.70313336499999 meters Centerline goodness : 0.155093 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 9.99359298e-01 -4.36977803e-04 -3.57882879e-02 -1.31930517e+00] [-2.78649113e-05 9.99915663e-01 -1.29871540e-02 5.22266413e-02] [ 3.57909448e-02 1.29798304e-02 9.99275003e-01 -3.24150781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73313336499999 meters Centerline goodness : 0.120479 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99931483 -0.0079453 -0.03614896 -1.30019164] [ 0.00750941 0.99989765 -0.01217808 0.05896574] [ 0.03624202 0.01189828 0.99927221 -0.32237603] [ 0. 0. 0. 1. ]] SLAMing on 122.76313336499999 meters Centerline goodness : 0.161639 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99930896 -0.00807023 -0.03628321 -1.29979729] [ 0.00762331 0.99989357 -0.01243906 0.06014852] [ 0.03637974 0.01215387 0.99926413 -0.32251688] [ 0. 0. 0. 1. ]] SLAMing on 122.79313336499999 meters Centerline goodness : 0.109983 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99930113 -0.00818502 -0.03647267 -1.29927555] [ 0.00772509 0.99988909 -0.01273331 0.0617475 ] [ 0.03657284 0.01244265 0.99925353 -0.32265755] [ 0. 0. 0. 1. ]] SLAMing on 122.82313336499999 meters Centerline goodness : 0.162246 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.06, Z:-0.32 [[ 9.99299085e-01 2.86231254e-04 -3.74333636e-02 -1.32009178e+00] [-7.85747220e-04 9.99910841e-01 -1.33301071e-02 5.88885249e-02] [ 3.74262106e-02 1.33501770e-02 9.99210214e-01 -3.23542904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85313336499999 meters Centerline goodness : 0.128840 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99929246 -0.00537762 -0.03722439 -1.29895052] [ 0.00498977 0.99993238 -0.01050436 0.06427333] [ 0.03727836 0.01031118 0.99925172 -0.32241769] [ 0. 0. 0. 1. ]] SLAMing on 122.88313336499999 meters Centerline goodness : 0.121115 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.07, Z:-0.32 [[ 0.99930504 -0.00565433 -0.03684371 -1.30054297] [ 0.00525533 0.99992659 -0.01091743 0.06569245] [ 0.03690274 0.01071622 0.9992614 -0.32136759] [ 0. 0. 0. 1. ]] SLAMing on 122.913133365 meters Centerline goodness : 0.122044 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.07, Z:-0.32 [[ 0.9993115 -0.0057365 -0.0366555 -1.30133815] [ 0.00533587 0.99992506 -0.01101813 0.06593998] [ 0.03671596 0.01081496 0.99926722 -0.32086891] [ 0. 0. 0. 1. ]] SLAMing on 122.943133365 meters Centerline goodness : 0.122196 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.07, Z:-0.32 [[ 0.9993144 -0.00572433 -0.03657813 -1.30163252] [ 0.00532642 0.99992568 -0.01096678 0.06583955] [ 0.03663819 0.01076443 0.99927062 -0.32071928] [ 0. 0. 0. 1. ]] SLAMing on 122.973133365 meters Centerline goodness : 0.121291 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.07, Z:-0.32 [[ 0.99931359 -0.00564645 -0.03661226 -1.30155362] [ 0.00525594 0.99992837 -0.0107535 0.06501342] [ 0.03667036 0.01055368 0.99927169 -0.3207025 ] [ 0. 0. 0. 1. ]] SLAMing on 123.003133365 meters Centerline goodness : 0.128299 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99930849 -0.0056126 -0.03675646 -1.30119466] [ 0.00522985 0.99993119 -0.01050107 0.06353757] [ 0.03681287 0.01030158 0.99926908 -0.32069482] [ 0. 0. 0. 1. ]] SLAMing on 123.033133365 meters Centerline goodness : 0.163180 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99929967 -0.00564704 -0.03699029 -1.30059967] [ 0.00527116 0.99993356 -0.01025114 0.06170074] [ 0.03704573 0.01004898 0.99926304 -0.32068039] [ 0. 0. 0. 1. ]] SLAMing on 123.063133365 meters Centerline goodness : 0.163180 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99929967 -0.00564704 -0.03699029 -1.30059967] [ 0.00527116 0.99993356 -0.01025114 0.06170074] [ 0.03704573 0.01004898 0.99926304 -0.32068039] [ 0. 0. 0. 1. ]] SLAMing on 123.09313336499999 meters Centerline goodness : 0.156119 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99929511 -0.00563118 -0.03711572 -1.30034241] [ 0.00526557 0.99993672 -0.009941 0.05955131] [ 0.03716935 0.00973856 0.99926153 -0.32054004] [ 0. 0. 0. 1. ]] SLAMing on 123.12313336499999 meters Centerline goodness : 0.164604 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99928894 -0.00558402 -0.03728853 -1.30006238] [ 0.00522692 0.99993961 -0.00966724 0.05787386] [ 0.03734026 0.00946546 0.99925778 -0.32029449] [ 0. 0. 0. 1. ]] SLAMing on 123.15313336499999 meters Centerline goodness : 0.160465 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99928112 -0.00548352 -0.03751229 -1.29945397] [ 0.00513385 0.99994253 -0.00941138 0.05661385] [ 0.03756175 0.00921204 0.99925185 -0.32036368] [ 0. 0. 0. 1. ]] SLAMing on 123.18313336499999 meters Centerline goodness : 0.110071 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99927467 -0.00542007 -0.03769285 -1.29844925] [ 0.00507226 0.99994373 -0.00931706 0.05607336] [ 0.03774123 0.00911912 0.99924594 -0.32120779] [ 0. 0. 0. 1. ]] SLAMing on 123.21313336499999 meters Centerline goodness : 0.153140 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 0.99931404 0.00262636 -0.03693983 -1.3185884 ] [-0.00300304 0.99994403 -0.01014522 0.05127606] [ 0.03691112 0.01024919 0.99926599 -0.3235375 ] [ 0. 0. 0. 1. ]] SLAMing on 123.24313336499999 meters Centerline goodness : 0.068404 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 0.99933043 0.00270631 -0.03648785 -1.31981245] [-0.00307989 0.99994338 -0.01018602 0.05196432] [ 0.03645822 0.01029158 0.99928218 -0.32337193] [ 0. 0. 0. 1. ]] SLAMing on 123.27313336499999 meters Centerline goodness : 0.151969 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 0.99934239 0.00275441 -0.03615534 -1.32070441] [-0.00312788 0.9999423 -0.01027706 0.05282111] [ 0.03612494 0.01038339 0.99929334 -0.32330334] [ 0. 0. 0. 1. ]] SLAMing on 123.303133365 meters Centerline goodness : 0.116396 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 0.99934172 0.00276296 -0.03617309 -1.32069342] [-0.00314144 0.99994088 -0.01041038 0.05378395] [ 0.03614218 0.01051717 0.99929131 -0.32326486] [ 0. 0. 0. 1. ]] SLAMing on 123.333133365 meters Centerline goodness : 0.164187 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.06, Z:-0.32 [[ 0.99933827 0.00268598 -0.03627401 -1.32037452] [-0.00307524 0.99993824 -0.01067965 0.05516042] [ 0.03624308 0.01078413 0.99928481 -0.32343446] [ 0. 0. 0. 1. ]] SLAMing on 123.363133365 meters Centerline goodness : 0.154248 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.06, Z:-0.32 [[ 0.99933493 0.00254017 -0.03637634 -1.32000526] [-0.00295042 0.9999326 -0.01122866 0.05802389] [ 0.03634536 0.01132852 0.99927508 -0.32372386] [ 0. 0. 0. 1. ]] SLAMing on 123.393133365 meters Centerline goodness : 0.124916 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.06, Z:-0.32 [[ 0.99933546 0.00246569 -0.036367 -1.31994205] [-0.0028852 0.99992986 -0.01148732 0.05954393] [ 0.03633612 0.01158461 0.99927248 -0.32388308] [ 0. 0. 0. 1. ]] SLAMing on 123.423133365 meters Centerline goodness : 0.119742 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.06, Z:-0.32 [[ 0.99933359 0.00237839 -0.03642404 -1.31984314] [-0.00280604 0.99992768 -0.01169406 0.06059796] [ 0.0363936 0.01178848 0.999268 -0.3238736 ] [ 0. 0. 0. 1. ]] SLAMing on 123.45313336499999 meters Centerline goodness : 0.155857 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.06, Z:-0.32 [[ 0.99925158 0.00166524 -0.03864586 -1.3661559 ] [-0.00212117 0.9999286 -0.01175974 0.05868447] [ 0.03862352 0.01183291 0.99918377 -0.32382686] [ 0. 0. 0. 1. ]] SLAMing on 123.48313336499999 meters Centerline goodness : 0.164282 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.06, Z:-0.32 [[ 0.99925674 0.00162086 -0.03851426 -1.36692297] [-0.00207426 0.99992899 -0.01173525 0.05851884] [ 0.0384925 0.01180641 0.99918914 -0.32310982] [ 0. 0. 0. 1. ]] SLAMing on 123.51313336499999 meters Centerline goodness : 0.153486 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.06, Z:-0.32 [[ 0.99926235 0.00156161 -0.03837074 -1.36782359] [-0.00200889 0.99993045 -0.01162111 0.05770224] [ 0.03834992 0.01168962 0.999196 -0.32223466] [ 0. 0. 0. 1. ]] SLAMing on 123.54313336499999 meters Centerline goodness : 0.155401 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.06, Z:-0.32 [[ 0.99926547 0.00145332 -0.03829375 -1.36835102] [-0.00189366 0.99993248 -0.01146537 0.05642718] [ 0.0382745 0.01152947 0.99920075 -0.32164555] [ 0. 0. 0. 1. ]] SLAMing on 123.57313336499999 meters Centerline goodness : 0.105752 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.32 [[ 9.99236106e-01 1.02496069e-03 -3.90660191e-02 -1.36603451e+00] [-1.46449831e-03 9.99935934e-01 -1.12241937e-02 5.35579743e-02] [ 3.90520119e-02 1.12728317e-02 9.99173590e-01 -3.22233727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60313336499999 meters Centerline goodness : 0.046759 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.05, Z:-0.32 [[ 9.99220853e-01 1.09118356e-03 -3.94524645e-02 -1.36474850e+00] [-1.52142519e-03 9.99939687e-01 -1.08769384e-02 5.16396249e-02] [ 3.94382163e-02 1.09284876e-02 9.99162247e-01 -3.22733284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63313336499999 meters Centerline goodness : 0.154515 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.05, Z:-0.32 [[ 9.99219718e-01 1.18897481e-03 -3.94783755e-02 -1.36476264e+00] [-1.60816274e-03 9.99942651e-01 -1.05881080e-02 5.01027816e-02] [ 3.94635224e-02 1.06433339e-02 9.99164326e-01 -3.22589647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.663133365 meters Centerline goodness : 0.155022 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.32 [[ 9.99225829e-01 1.22383590e-03 -3.93223082e-02 -1.36553265e+00] [-1.63664347e-03 9.99943874e-01 -1.04675753e-02 4.93390432e-02] [ 3.93072906e-02 1.05238282e-02 9.99171750e-01 -3.21984625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.693133365 meters Centerline goodness : 0.156168 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.32 [[ 9.99236220e-01 1.27294471e-03 -3.90558130e-02 -1.36654474e+00] [-1.68114183e-03 9.99944291e-01 -1.04205748e-02 4.91753435e-02] [ 3.90403725e-02 1.04782741e-02 9.99182694e-01 -3.21419053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.723133365 meters Centerline goodness : 0.140755 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.32 [[ 9.99242692e-01 1.33415201e-03 -3.88878093e-02 -1.36692323e+00] [-1.74289299e-03 9.99943577e-01 -1.04787684e-02 4.97224828e-02] [ 3.88716349e-02 1.05386101e-02 9.99188638e-01 -3.21481214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.753133365 meters Centerline goodness : 0.173241 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.32 [[ 0.99922451 0.00157689 -0.03934328 -1.36528125] [-0.00199643 0.99994155 -0.01062642 0.05116635] [ 0.03932422 0.01069672 0.99916925 -0.32241502] [ 0. 0. 0. 1. ]] SLAMing on 123.783133365 meters Centerline goodness : 0.170371 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.05, Z:-0.32 [[ 0.99921574 0.00161505 -0.03956379 -1.36454355] [-0.0020401 0.99994061 -0.01070556 0.05166248] [ 0.03954416 0.01077788 0.9991597 -0.32276206] [ 0. 0. 0. 1. ]] SLAMing on 123.813133365 meters Centerline goodness : 0.160534 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.05, Z:-0.32 [[ 0.99921455 0.00168108 -0.03959101 -1.36437316] [-0.00210549 0.99994074 -0.01068085 0.05169299] [ 0.03957071 0.01075582 0.99915888 -0.32297069] [ 0. 0. 0. 1. ]] SLAMing on 123.84313336499999 meters Centerline goodness : 0.163707 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.32 [[ 0.99922057 0.00175651 -0.03943553 -1.36505078] [-0.0021737 0.9999421 -0.01053884 0.05096418] [ 0.03941473 0.01061634 0.99916654 -0.32257825] [ 0. 0. 0. 1. ]] SLAMing on 123.87313336499999 meters Centerline goodness : 0.153092 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.32 [[ 0.99923471 0.00181972 -0.03907269 -1.36617219] [-0.00222402 0.99994441 -0.01030634 0.04955351] [ 0.03905176 0.01038535 0.99918322 -0.32220357] [ 0. 0. 0. 1. ]] SLAMing on 123.90313336499999 meters Centerline goodness : 0.158460 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.05, Z:-0.32 [[ 0.99932185 -0.00622573 -0.03629153 -1.34650735] [ 0.00589574 0.99994037 -0.00919264 0.04841271] [ 0.0363466 0.00897244 0.99929896 -0.32128919] [ 0. 0. 0. 1. ]] SLAMing on 123.93313336499999 meters Centerline goodness : 0.109166 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.05, Z:-0.32 [[ 0.99933005 -0.00599883 -0.03610353 -1.34701145] [ 0.00568993 0.99994638 -0.00865251 0.04603896] [ 0.0361535 0.00844129 0.9993106 -0.32121187] [ 0. 0. 0. 1. ]] SLAMing on 123.96313336499999 meters Centerline goodness : 0.141699 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.04, Z:-0.32 [[ 0.99933066 -0.00579151 -0.03612059 -1.34692601] [ 0.00549907 0.99995134 -0.00819023 0.04402971] [ 0.03616627 0.00798612 0.99931388 -0.32127505] [ 0. 0. 0. 1. ]] SLAMing on 123.99313336499999 meters Centerline goodness : 0.146154 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.04, Z:-0.32 [[ 0.99932666 -0.00567428 -0.03624959 -1.34639999] [ 0.00539325 0.99995468 -0.0078458 0.04224426] [ 0.03629246 0.00764502 0.99931197 -0.3215563 ] [ 0. 0. 0. 1. ]] SLAMing on 124.02313336499999 meters Centerline goodness : 0.164746 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.04, Z:-0.32 [[ 0.9993129 -0.0056236 -0.03663462 -1.34523432] [ 0.00534991 0.99995708 -0.00756452 0.04038794] [ 0.03667559 0.00736333 0.9993001 -0.32191927] [ 0. 0. 0. 1. ]] SLAMing on 124.053133365 meters Centerline goodness : 0.121562 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.04, Z:-0.32 [[ 0.99930408 -0.00553373 -0.03688799 -1.34456906] [ 0.00526964 0.99995982 -0.0072525 0.03853094] [ 0.03692664 0.00705307 0.99929309 -0.32199544] [ 0. 0. 0. 1. ]] SLAMing on 124.083133365 meters Centerline goodness : 0.155665 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.04, Z:-0.32 [[ 0.99929655 -0.00539749 -0.03711155 -1.34413362] [ 0.00514409 0.99996282 -0.00692006 0.03692514] [ 0.03714752 0.00672429 0.99928717 -0.32181858] [ 0. 0. 0. 1. ]] SLAMing on 124.113133365 meters Centerline goodness : 0.153390 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.04, Z:-0.32 [[ 0.99929309 -0.00524118 -0.03722711 -1.34390608] [ 0.00499879 0.99996572 -0.00660122 0.03562486] [ 0.03726044 0.00641047 0.99928503 -0.32174288] [ 0. 0. 0. 1. ]] SLAMing on 124.143133365 meters Centerline goodness : 0.140385 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.03, Z:-0.32 [[ 0.99929082 -0.00510921 -0.03730631 -1.34364394] [ 0.0048766 0.99996811 -0.00632362 0.0344776 ] [ 0.03733743 0.00613721 0.99928387 -0.32184987] [ 0. 0. 0. 1. ]] SLAMing on 124.173133365 meters Centerline goodness : 0.149555 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.03, Z:-0.32 [[ 0.99930308 -0.00520297 -0.0369632 -1.34449566] [ 0.00498627 0.99996985 -0.00595241 0.03153088] [ 0.03699306 0.00576395 0.9992989 -0.32173866] [ 0. 0. 0. 1. ]] SLAMing on 124.20313336499999 meters Centerline goodness : 0.143370 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.03, Z:-0.32 [[ 0.9993226 -0.00519444 -0.03643297 -1.34599864] [ 0.00499185 0.99997158 -0.00564955 0.02970828] [ 0.03646128 0.00546385 0.99932013 -0.32135145] [ 0. 0. 0. 1. ]] SLAMing on 124.23313336499999 meters Centerline goodness : 0.144529 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.03, Z:-0.32 [[ 0.99933655 -0.0051393 -0.03605609 -1.34711338] [ 0.00495194 0.99997378 -0.00528388 0.02774829] [ 0.0360823 0.00510182 0.9993358 -0.32102569] [ 0. 0. 0. 1. ]] SLAMing on 124.26313336499999 meters Centerline goodness : 0.148847 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.03, Z:-0.32 [[ 0.99933917 -0.00506481 -0.03599397 -1.34743169] [ 0.00489174 0.99997606 -0.00489466 0.02572055] [ 0.0360179 0.00471536 0.99934002 -0.32076618] [ 0. 0. 0. 1. ]] SLAMing on 124.29313336499999 meters Centerline goodness : 0.145127 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.02, Z:-0.32 [[ 0.99933531 -0.00501543 -0.03610791 -1.34720713] [ 0.00485598 0.99997807 -0.00450227 0.02353703] [ 0.0361297 0.00432394 0.99933775 -0.32064959] [ 0. 0. 0. 1. ]] SLAMing on 124.32313336499999 meters Centerline goodness : 0.149898 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.02, Z:-0.32 [[ 0.99932801 -0.00507441 -0.03630128 -1.34670645] [ 0.0049263 0.99997918 -0.00416837 0.02114782] [ 0.03632167 0.00398673 0.9993322 -0.32065127] [ 0. 0. 0. 1. ]] SLAMing on 124.35313336499999 meters Centerline goodness : 0.148265 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.02, Z:-0.32 [[ 0.99931762 -0.00514633 -0.03657595 -1.34599449] [ 0.00500988 0.99998015 -0.00382129 0.01859307] [ 0.03659489 0.00363544 0.99932357 -0.32071583] [ 0. 0. 0. 1. ]] SLAMing on 124.38313336499999 meters Centerline goodness : 0.151428 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.02, Z:-0.32 [[ 0.99931035 -0.00516528 -0.03677151 -1.3454608 ] [ 0.0050446 0.99998158 -0.0033738 0.0157313 ] [ 0.03678826 0.00318597 0.999318 -0.32082614] [ 0. 0. 0. 1. ]] SLAMing on 124.413133365 meters Centerline goodness : 0.142419 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.01, Z:-0.32 [[ 0.99928753 -0.00855694 -0.03675892 -1.34512462] [ 0.00834803 0.99994814 -0.00583285 0.01005946] [ 0.03680692 0.00552183 0.99930714 -0.32135883] [ 0. 0. 0. 1. ]] SLAMing on 124.443133365 meters Centerline goodness : 0.152516 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.01, Z:-0.32 [[ 0.99927869 -0.00849593 -0.0370123 -1.34442496] [ 0.00830086 0.99995085 -0.00542105 0.0076501 ] [ 0.03705654 0.0051099 0.99930011 -0.32152623] [ 0. 0. 0. 1. ]] SLAMing on 124.473133365 meters Centerline goodness : 0.152170 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.01, Z:-0.32 [[ 0.99926753 -0.00842342 -0.03732886 -1.34354044] [ 0.00823986 0.99995321 -0.0050685 0.0056422 ] [ 0.03736981 0.00475721 0.99929018 -0.32177626] [ 0. 0. 0. 1. ]] SLAMing on 124.503133365 meters Centerline goodness : 0.149279 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.00, Z:-0.32 [[ 0.99925627 -0.00831984 -0.03765232 -1.34263296] [ 0.00814819 0.99995571 -0.00470999 0.00372229] [ 0.03768983 0.00439969 0.9992798 -0.32198518] [ 0. 0. 0. 1. ]] SLAMing on 124.533133365 meters Centerline goodness : 0.150466 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.00, Z:-0.32 [[ 0.99925023 -0.00810826 -0.03785797 -1.34199475] [ 0.00795214 0.99995925 -0.00427253 0.00196363] [ 0.03789107 0.00396827 0.999274 -0.32222559] [ 0. 0. 0. 1. ]] SLAMing on 124.563133365 meters Centerline goodness : 0.166816 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.00, Z:-0.32 [[ 9.99250008e-01 -7.90917010e-03 -3.79060245e-02 -1.34178734e+00] [ 7.76701152e-03 9.99962246e-01 -3.89608720e-03 6.63319565e-04] [ 3.79354082e-02 3.59874864e-03 9.99273713e-01 -3.22421153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59313336499999 meters Centerline goodness : 0.149650 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.01, Z:-0.32 [[ 9.99230688e-01 -5.63190610e-04 -3.92137060e-02 -1.32511854e+00] [ 4.08225887e-04 9.99992077e-01 -3.95969495e-03 -6.05206940e-03] [ 3.92156254e-02 3.94064066e-03 9.99223001e-01 -3.20693298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62313336499999 meters Centerline goodness : 0.149785 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.01, Z:-0.32 [[ 9.99221351e-01 -7.35373478e-04 -3.94480905e-02 -1.32438992e+00] [ 5.81251660e-04 9.99992155e-01 -3.91827940e-03 -7.43207075e-03] [ 3.94506624e-02 3.89229917e-03 9.99213939e-01 -3.20936470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65313336499999 meters Centerline goodness : 0.153994 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.00, Z:-0.32 [[ 0.99919308 -0.00894186 -0.03915663 -1.30379772] [ 0.00881763 0.99995553 -0.00334431 -0.00427099] [ 0.03918479 0.00299634 0.99922749 -0.31942559] [ 0. 0. 0. 1. ]] SLAMing on 124.68313336499999 meters Centerline goodness : 0.153538 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.00, Z:-0.32 [[ 0.99920261 -0.00896669 -0.03890676 -1.30443511] [ 0.00884755 0.99995563 -0.00323324 -0.00481524] [ 0.03893403 0.00288643 0.99923761 -0.31952292] [ 0. 0. 0. 1. ]] SLAMing on 124.71313336499999 meters Centerline goodness : 0.154201 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.32 [[ 0.99921671 -0.00896026 -0.03854463 -1.30551947] [ 0.00884877 0.99995616 -0.00306205 -0.0054492 ] [ 0.03857038 0.00271858 0.99925219 -0.31937395] [ 0. 0. 0. 1. ]] SLAMing on 124.74313336499999 meters Centerline goodness : 0.154682 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.01, Z:-0.32 [[ 9.99270164e-01 -7.22417710e-04 -3.81918420e-02 -1.28828769e+00] [ 5.99371139e-04 9.99994594e-01 -3.23315403e-03 -1.12515491e-02] [ 3.81939712e-02 3.20790327e-03 9.99265195e-01 -3.17973322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77313336499999 meters Centerline goodness : 0.159432 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.01, Z:-0.32 [[ 9.99283870e-01 -7.13811009e-04 -3.78316936e-02 -1.28947534e+00] [ 5.95747681e-04 9.99994918e-01 -3.13193309e-03 -1.17884071e-02] [ 3.78337370e-02 3.10715207e-03 9.99279217e-01 -3.17525188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.803133365 meters Centerline goodness : 0.109310 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.01, Z:-0.32 [[ 9.99308684e-01 -1.00065787e-03 -3.71638635e-02 -1.29157356e+00] [ 8.81522928e-04 9.99994421e-01 -3.22191390e-03 -1.21984903e-02] [ 3.71668802e-02 3.18692575e-03 9.99303991e-01 -3.16768728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.833133365 meters Centerline goodness : 0.142885 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.01, Z:-0.32 [[ 9.99307487e-01 -9.83925835e-04 -3.71964694e-02 -1.29146744e+00] [ 8.68889874e-04 9.99994791e-01 -3.10869700e-03 -1.25702131e-02] [ 3.71993344e-02 3.07422455e-03 9.99303137e-01 -3.16867352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.863133365 meters Centerline goodness : 0.154096 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.32 [[ 9.99229351e-01 -9.30242944e-03 -3.81335595e-02 -1.31042724e+00] [ 9.24693679e-03 9.99955915e-01 -1.63133722e-03 -8.69285479e-03] [ 3.81470538e-02 1.27746142e-03 9.99271320e-01 -3.18906336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.893133365 meters Centerline goodness : 0.103201 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.32 [[ 9.99228136e-01 -9.20842290e-03 -3.81881905e-02 -1.31023398e+00] [ 9.16413714e-03 9.99957118e-01 -1.33455798e-03 -9.81321396e-03] [ 3.81988421e-02 9.83566065e-04 9.99269674e-01 -3.19181126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.923133365 meters Centerline goodness : 0.122359 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.32 [[ 9.99231008e-01 -9.23839369e-03 -3.81056944e-02 -1.31055764e+00] [ 9.20007508e-03 9.99956981e-01 -1.18081988e-03 -1.06229718e-02] [ 3.81149640e-02 8.29336592e-04 9.99273017e-01 -3.19145152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95313336499999 meters Centerline goodness : 0.122359 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.32 [[ 9.99231008e-01 -9.23839369e-03 -3.81056944e-02 -1.31055764e+00] [ 9.20007508e-03 9.99956981e-01 -1.18081988e-03 -1.06229718e-02] [ 3.81149640e-02 8.29336592e-04 9.99273017e-01 -3.19145152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98313336499999 meters Centerline goodness : 0.111996 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.32 [[ 9.99244866e-01 -9.34178248e-03 -3.77151023e-02 -1.31177526e+00] [ 9.30799388e-03 9.99956106e-01 -1.07138338e-03 -1.14630231e-02] [ 3.77234554e-02 7.19522402e-04 9.99287958e-01 -3.18907204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01313336499999 meters Centerline goodness : 0.174809 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.32 [[ 9.99302486e-01 -1.30288550e-03 -3.73208129e-02 -1.29449499e+00] [ 1.25787666e-03 9.99998453e-01 -1.22945362e-03 -1.83375753e-02] [ 3.73223570e-02 1.18165108e-03 9.99302579e-01 -3.17904665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04313336499999 meters Centerline goodness : 0.092233 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.32 [[ 9.99306534e-01 -1.06575724e-03 -3.72198203e-02 -1.29455603e+00] [ 1.04666491e-03 9.99999310e-01 -5.32442653e-04 -2.12848892e-02] [ 3.72203621e-02 4.93116742e-04 9.99306961e-01 -3.18202139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07313336499999 meters Centerline goodness : 0.093201 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.32 [[ 9.99302273e-01 -9.47774486e-04 -3.73372446e-02 -1.29394946e+00] [ 9.38552717e-04 9.99999525e-01 -2.64512635e-04 -2.24520604e-02] [ 3.73374775e-02 2.29285105e-04 9.99302687e-01 -3.18755771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10313336499999 meters Centerline goodness : 0.146649 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.32 [[ 9.99298335e-01 -8.55328116e-04 -3.74447086e-02 -1.29347803e+00] [ 8.53990744e-04 9.99999634e-01 -5.17102372e-05 -2.34476334e-02] [ 3.74447391e-02 1.96965194e-05 9.99298700e-01 -3.19057587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13313336499999 meters Centerline goodness : 0.172818 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.32 [[ 9.99292805e-01 -7.34528909e-04 -3.75945629e-02 -1.29312132e+00] [ 7.41742559e-04 9.99999709e-01 1.77932816e-04 -2.43179155e-02] [ 3.75944213e-02 -2.05692470e-04 9.99293059e-01 -3.19031263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.163133365 meters Centerline goodness : 0.156912 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.32 [[ 9.99291432e-01 -5.88271072e-04 -3.76336036e-02 -1.29318174e+00] [ 6.01941053e-04 9.99999757e-01 3.51909110e-04 -2.48605988e-02] [ 3.76333874e-02 -3.74312969e-04 9.99291543e-01 -3.18790609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.193133365 meters Centerline goodness : 0.162368 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 9.99290905e-01 -3.79648079e-04 -3.76502758e-02 -1.29330514e+00] [ 4.02245997e-04 9.99999743e-01 5.92632714e-04 -2.54854707e-02] [ 3.76500412e-02 -6.07357154e-04 9.99290801e-01 -3.18516932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.223133365 meters Centerline goodness : 0.160680 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 9.99283734e-01 -1.74917694e-04 -3.78416118e-02 -1.29278061e+00] [ 2.07419739e-04 9.99999613e-01 8.54972718e-04 -2.62930551e-02] [ 3.78414476e-02 -8.62209427e-04 9.99283384e-01 -3.18574168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.253133365 meters Centerline goodness : 0.101853 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 9.99252155e-01 3.96495402e-04 -3.86648821e-02 -1.29016747e+00] [-3.42937308e-04 9.99998973e-01 1.39180951e-03 -2.80429322e-02] [ 3.86653942e-02 -1.37750903e-03 9.99251265e-01 -3.19475630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.283133365 meters Centerline goodness : 0.149472 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 9.99223156e-01 8.88628500e-03 -3.83942474e-02 -1.27000781e+00] [-8.88581786e-03 9.99960504e-01 1.82815268e-04 -3.29770383e-02] [ 3.83943555e-02 1.58491040e-04 9.99262652e-01 -3.17794304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.313133365 meters Centerline goodness : 0.143507 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 9.99217553e-01 8.96009359e-03 -3.85226913e-02 -1.26976419e+00] [-8.95552571e-03 9.99959856e-01 2.91137721e-04 -3.36536655e-02] [ 3.85237534e-02 5.40810305e-05 9.99257683e-01 -3.17678295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34313336499999 meters Centerline goodness : 0.102758 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 9.99215251e-01 9.06215278e-03 -3.85585260e-02 -1.26971670e+00] [-9.05222494e-03 9.99958934e-01 4.32055617e-04 -3.43606839e-02] [ 3.85608580e-02 -8.26761104e-05 9.99256250e-01 -3.17584474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37313336499999 meters Centerline goodness : 0.148756 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 9.99215779e-01 9.18944138e-03 -3.85146817e-02 -1.26977190e+00] [-9.17133567e-03 9.99957733e-01 6.46757482e-04 -3.53024331e-02] [ 3.85189972e-02 -2.93019208e-04 9.99257825e-01 -3.17688850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40313336499999 meters Centerline goodness : 0.139213 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-0.32 [[ 0.9992801 0.0018393 -0.03789321 -1.25046538] [-0.00176864 0.99999663 0.00189808 -0.03222521] [ 0.03789658 -0.00182969 0.99927999 -0.31624596] [ 0. 0. 0. 1. ]] SLAMing on 125.43313336499999 meters Centerline goodness : 0.122577 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-0.32 [[ 0.99928425 0.00212899 -0.03776837 -1.25077587] [-0.00203599 0.9999948 0.00250075 -0.03490704] [ 0.0377735 -0.00242207 0.99928339 -0.31621143] [ 0. 0. 0. 1. ]] SLAMing on 125.46313336499999 meters Centerline goodness : 0.141312 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.9992824 0.00225932 -0.03780969 -1.25062587] [-0.00215465 0.99999373 0.002809 -0.03640634] [ 0.0378158 -0.00272552 0.99928101 -0.31629728] [ 0. 0. 0. 1. ]] SLAMing on 125.49313336499999 meters Centerline goodness : 0.140220 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99928378 0.00235453 -0.03776746 -1.25078296] [-0.00224134 0.99999287 0.00303892 -0.03757313] [ 0.03777435 -0.0029521 0.99928193 -0.31620578] [ 0. 0. 0. 1. ]] SLAMing on 125.52313336499999 meters Centerline goodness : 0.140948 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99928302 0.00245525 -0.03778115 -1.25077918] [-0.00233326 0.99999192 0.00327271 -0.03880079] [ 0.03778888 -0.00318221 0.99928068 -0.31616872] [ 0. 0. 0. 1. ]] SLAMing on 125.553133365 meters Centerline goodness : 0.139115 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99928238 0.00251745 -0.03779399 -1.25067894] [-0.00238928 0.99999124 0.00343592 -0.03967735] [ 0.03780231 -0.00334316 0.99927964 -0.3162841 ] [ 0. 0. 0. 1. ]] SLAMing on 125.583133365 meters Centerline goodness : 0.151661 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99928188 0.00254685 -0.0378053 -1.2504058 ] [-0.00241445 0.99999079 0.00354749 -0.04037296] [ 0.03781398 -0.00345366 0.99927883 -0.31665289] [ 0. 0. 0. 1. ]] SLAMing on 125.613133365 meters Centerline goodness : 0.138111 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99927671 0.0025863 -0.03793891 -1.24997462] [-0.00245112 0.99999048 0.00360932 -0.04065326] [ 0.03794788 -0.00351372 0.99927354 -0.31680687] [ 0. 0. 0. 1. ]] SLAMing on 125.643133365 meters Centerline goodness : 0.153963 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99927865 0.00260023 -0.03788703 -1.24998073] [-0.00246611 0.99999053 0.00358638 -0.04045703] [ 0.03789599 -0.00349036 0.99927559 -0.31701156] [ 0. 0. 0. 1. ]] SLAMing on 125.673133365 meters Centerline goodness : 0.145250 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99928272 0.00263358 -0.037777 -1.25028719] [-0.00250142 0.99999059 0.00354551 -0.0399875 ] [ 0.03778599 -0.00344847 0.9992799 -0.31692345] [ 0. 0. 0. 1. ]] SLAMing on 125.70313336499999 meters Centerline goodness : 0.146837 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99930159 0.00277553 -0.03726427 -1.25162342] [-0.00265564 0.99999114 0.0032662 -0.03785593] [ 0.03727301 -0.00316496 0.99930011 -0.31661182] [ 0. 0. 0. 1. ]] SLAMing on 125.73313336499999 meters Centerline goodness : 0.134669 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99929885 0.00277191 -0.03733794 -1.25118073] [-0.00266185 0.99999197 0.00299693 -0.03624331] [ 0.03734595 -0.00289545 0.9992982 -0.31694638] [ 0. 0. 0. 1. ]] SLAMing on 125.76313336499999 meters Centerline goodness : 0.146341 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-0.32 [[ 0.99929529 0.0027355 -0.03743582 -1.250492 ] [-0.00263721 0.99999295 0.00267481 -0.03440521] [ 0.03744287 -0.0025742 0.99929545 -0.31762961] [ 0. 0. 0. 1. ]] SLAMing on 125.79313336499999 meters SLAMing on 125.82313336499999 meters Centerline goodness : 0.162724 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-0.32 [[ 0.99929693 0.00280876 -0.03738647 -1.25015846] [-0.00272223 0.9999935 0.00236521 -0.03218472] [ 0.03739287 -0.00226178 0.99929808 -0.31840126] [ 0. 0. 0. 1. ]] SLAMing on 125.85313336499999 meters SLAMing on 125.88313336499999 meters Centerline goodness : 0.142158 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-0.32 [[ 0.99931413 0.00279936 -0.03692472 -1.25196802] [-0.0027144 0.99999355 0.00235093 -0.03221493] [ 0.03693107 -0.00224908 0.99931528 -0.31736422] [ 0. 0. 0. 1. ]] SLAMing on 125.913133365 meters Centerline goodness : 0.141337 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-0.32 [[ 0.99931258 0.00285067 -0.03696274 -1.25187452] [-0.00276086 0.99999311 0.00248072 -0.03281058] [ 0.03696956 -0.00237697 0.99931357 -0.31739156] [ 0. 0. 0. 1. ]] SLAMing on 125.943133365 meters Centerline goodness : 0.142106 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-0.32 [[ 0.99930698 0.00292294 -0.03710829 -1.25141936] [-0.00282633 0.99999248 0.00265579 -0.03355098] [ 0.03711577 -0.00254907 0.99930772 -0.31755003] [ 0. 0. 0. 1. ]] SLAMing on 125.973133365 meters SLAMing on 126.003133365 meters Centerline goodness : 0.143251 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99930395 0.00311668 -0.03717403 -1.25127637] [-0.00300285 0.99999063 0.00311741 -0.03568355] [ 0.0371834 -0.00300361 0.99930394 -0.31748491] [ 0. 0. 0. 1. ]] SLAMing on 126.033133365 meters Centerline goodness : 0.058481 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99930994 0.00330392 -0.03699633 -1.2521299 ] [-0.00317159 0.99998836 0.00363506 -0.03840294] [ 0.03700791 -0.00351522 0.99930879 -0.31678626] [ 0. 0. 0. 1. ]] SLAMing on 126.063133365 meters Centerline goodness : 0.058481 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99930994 0.00330392 -0.03699633 -1.2521299 ] [-0.00317159 0.99998836 0.00363506 -0.03840294] [ 0.03700791 -0.00351522 0.99930879 -0.31678626] [ 0. 0. 0. 1. ]] SLAMing on 126.09313336499999 meters Centerline goodness : 0.138871 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99930534 0.00353343 -0.03709914 -1.25209497] [-0.003385 0.99998602 0.00406273 -0.04027344] [ 0.03711297 -0.00393433 0.99930333 -0.31633836] [ 0. 0. 0. 1. ]] SLAMing on 126.12313336499999 meters SLAMing on 126.15313336499999 meters SLAMing on 126.18313336499999 meters SLAMing on 126.21313336499999 meters SLAMing on 126.24313336499999 meters SLAMing on 126.27313336499999 meters Centerline goodness : 0.142128 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.9992358 0.00182835 -0.03904461 -1.24577397] [-0.00169398 0.99999253 0.00347418 -0.05114743] [ 0.03905067 -0.00340538 0.99923143 -0.31817564] [ 0. 0. 0. 1. ]] SLAMing on 126.303133365 meters Centerline goodness : 0.135122 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.32 [[ 0.99922136 0.0019174 -0.03940813 -1.24467771] [-0.00176444 0.99999078 0.00391567 -0.05366877] [ 0.03941527 -0.00384309 0.99921553 -0.318479 ] [ 0. 0. 0. 1. ]] SLAMing on 126.333133365 meters SLAMing on 126.363133365 meters SLAMing on 126.393133365 meters Centerline goodness : 0.141087 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-0.32 [[ 0.99925788 -0.00150032 -0.03848944 -1.24829569] [ 0.00157059 0.99999715 0.00179562 -0.06236611] [ 0.03848663 -0.00185474 0.99925739 -0.31679937] [ 0. 0. 0. 1. ]] SLAMing on 126.423133365 meters Centerline goodness : 0.170534 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-0.32 [[ 0.9992694 -0.00136973 -0.0381941 -1.24941183] [ 0.00145417 0.99999656 0.00218291 -0.0643573 ] [ 0.03819098 -0.00223686 0.99926795 -0.31615693] [ 0. 0. 0. 1. ]] SLAMing on 126.45313336499999 meters Centerline goodness : 0.145113 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.07, Z:-0.32 [[ 9.99282661e-01 -1.18201621e-03 -3.78518955e-02 -1.25038671e+00] [ 1.28180343e-03 9.99995767e-01 2.61209453e-03 -6.65931781e-02] [ 3.78486478e-02 -2.65873946e-03 9.99279946e-01 -3.15843526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48313336499999 meters Centerline goodness : 0.144258 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.07, Z:-0.32 [[ 9.99276044e-01 -1.22037266e-03 -3.80249630e-02 -1.24964318e+00] [ 1.31965916e-03 9.99995785e-01 2.58609786e-03 -6.68295672e-02] [ 3.80216467e-02 -2.63440563e-03 9.99273443e-01 -3.16289525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51313336499999 meters Centerline goodness : 0.172745 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.07, Z:-0.32 [[ 9.99256443e-01 -1.05947776e-03 -3.85413798e-02 -1.24808255e+00] [ 1.16144778e-03 9.99995884e-01 2.62343416e-03 -6.69301640e-02] [ 3.85384417e-02 -2.66624729e-03 9.99253561e-01 -3.16595148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54313336499999 meters SLAMing on 126.57313336499999 meters Centerline goodness : 0.146462 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.9992326 0.00827126 -0.03828585 -1.22680866] [-0.00819814 0.99996426 0.0020666 -0.0698907 ] [ 0.03830158 -0.00175114 0.99926469 -0.3160777 ] [ 0. 0. 0. 1. ]] SLAMing on 126.60313336499999 meters Centerline goodness : 0.147032 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.9992435 0.00827733 -0.03799878 -1.22760595] [-0.00820683 0.9999643 0.00201102 -0.06942381] [ 0.03801407 -0.00169765 0.99927576 -0.31591232] [ 0. 0. 0. 1. ]] SLAMing on 126.63313336499999 meters Centerline goodness : 0.167619 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.99924966 0.00824799 -0.03784289 -1.22817428] [-0.00818171 0.99996471 0.00190591 -0.06883522] [ 0.03785728 -0.00159486 0.99928188 -0.31561233] [ 0. 0. 0. 1. ]] SLAMing on 126.663133365 meters Centerline goodness : 0.168650 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.99924877 0.00826847 -0.03786208 -1.22812908] [-0.00820314 0.99996459 0.00188051 -0.0687352 ] [ 0.03787629 -0.00156851 0.9992812 -0.3155807 ] [ 0. 0. 0. 1. ]] SLAMing on 126.693133365 meters Centerline goodness : 0.155374 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.99923791 0.00838188 -0.0381227 -1.22680527] [-0.00831083 0.99996342 0.00202176 -0.06913696] [ 0.03813825 -0.00170339 0.99927102 -0.31656408] [ 0. 0. 0. 1. ]] SLAMing on 126.723133365 meters Centerline goodness : 0.055140 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.99923477 0.00845503 -0.03818875 -1.22646307] [-0.00837941 0.9999626 0.00213964 -0.06962426] [ 0.03820541 -0.001818 0.99926825 -0.31685328] [ 0. 0. 0. 1. ]] SLAMing on 126.753133365 meters Centerline goodness : 0.160796 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.99923984 0.0085372 -0.03803761 -1.22672213] [-0.00845696 0.99996166 0.00227002 -0.06974487] [ 0.03805554 -0.00194661 0.99927373 -0.31706385] [ 0. 0. 0. 1. ]] SLAMing on 126.783133365 meters Centerline goodness : 0.172781 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.99924498 0.00864781 -0.03787735 -1.22713158] [-0.0085628 0.99996044 0.00240601 -0.06991497] [ 0.03789666 -0.00207986 0.9992795 -0.3170225 ] [ 0. 0. 0. 1. ]] SLAMing on 126.813133365 meters Centerline goodness : 0.176249 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.99924676 0.00870886 -0.03781632 -1.22739842] [-0.00862039 0.99995971 0.00250193 -0.07031319] [ 0.03783658 -0.00217406 0.99928158 -0.3168444 ] [ 0. 0. 0. 1. ]] SLAMing on 126.84313336499999 meters SLAMing on 126.87313336499999 meters SLAMing on 126.90313336499999 meters SLAMing on 126.93313336499999 meters Centerline goodness : 0.152997 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.07, Z:-0.32 [[ 0.99917459 0.00801688 -0.03982284 -1.22062123] [-0.00794232 0.9999664 0.00203008 -0.07262336] [ 0.03983778 -0.00171212 0.99920469 -0.31897505] [ 0. 0. 0. 1. ]] SLAMing on 126.96313336499999 meters Centerline goodness : 0.102316 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.07, Z:-0.32 [[ 0.99916642 0.00823186 -0.03998367 -1.21990371] [-0.00813882 0.99996378 0.0024892 -0.07443397] [ 0.04000271 -0.00216171 0.99919723 -0.31942591] [ 0. 0. 0. 1. ]] SLAMing on 126.99313336499999 meters Centerline goodness : 0.181157 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 0.99916053 0.00842859 -0.04008975 -1.21946782] [-0.00831941 0.99996122 0.00288954 -0.07620737] [ 0.04011255 -0.00255359 0.9991919 -0.31963994] [ 0. 0. 0. 1. ]] SLAMing on 127.02313336499999 meters Centerline goodness : 0.056814 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 0.99915724 0.00845866 -0.04016541 -1.21949232] [-0.0083405 0.99996039 0.00310861 -0.0777838 ] [ 0.04019012 -0.00277099 0.99918821 -0.31924001] [ 0. 0. 0. 1. ]] SLAMing on 127.053133365 meters SLAMing on 127.083133365 meters Centerline goodness : 0.129299 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99216636e-01 5.45404168e-03 -3.91965214e-02 -1.22200009e+00] [-5.42416699e-03 9.99984912e-01 8.68482536e-04 -8.32609333e-02] [ 3.92006668e-02 -6.55193720e-04 9.99231144e-01 -3.18924202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.113133365 meters Centerline goodness : 0.100672 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99209464e-01 5.64742648e-03 -3.93516747e-02 -1.22145925e+00] [-5.60756980e-03 9.99983647e-01 1.12313666e-03 -8.41892016e-02] [ 3.93573740e-02 -9.01581518e-04 9.99224792e-01 -3.19067980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.143133365 meters SLAMing on 127.173133365 meters Centerline goodness : 0.158517 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99161467e-01 6.13612457e-03 -4.04809834e-02 -1.21793654e+00] [-6.09282759e-03 9.99980727e-01 1.19285050e-03 -8.39799694e-02] [ 4.04875227e-02 -9.45206606e-04 9.99179597e-01 -3.19834496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20313336499999 meters Centerline goodness : 0.088093 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99157629e-01 6.08107404e-03 -4.05839065e-02 -1.21736787e+00] [-6.04764718e-03 9.99981265e-01 9.46367487e-04 -8.28128910e-02] [ 4.05889011e-02 -7.00133146e-04 9.99175686e-01 -3.20347873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23313336499999 meters Centerline goodness : 0.061046 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99187605e-01 6.32979223e-03 -3.98003054e-02 -1.21916561e+00] [-6.30279988e-03 9.99979814e-01 8.03635537e-04 -8.07533803e-02] [ 3.98045888e-02 -5.52129307e-04 9.99207331e-01 -3.20582592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26313336499999 meters Centerline goodness : 0.061046 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99187605e-01 6.32979223e-03 -3.98003054e-02 -1.21916561e+00] [-6.30279988e-03 9.99979814e-01 8.03635537e-04 -8.07533803e-02] [ 3.98045888e-02 -5.52129307e-04 9.99207331e-01 -3.20582592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29313336499999 meters Centerline goodness : 0.205615 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99201792e-01 6.32496521e-03 -3.94432918e-02 -1.22005235e+00] [-6.30473507e-03 9.99979922e-01 6.37260255e-04 -7.95535552e-02] [ 3.94465305e-02 -3.88072084e-04 9.99221607e-01 -3.20595410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32313336499999 meters Centerline goodness : 0.053757 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99218812e-01 6.25843111e-03 -3.90204824e-02 -1.22155019e+00] [-6.24257577e-03 9.99980375e-01 5.28162409e-04 -7.90428801e-02] [ 3.90230221e-02 -2.84161496e-04 9.99238271e-01 -3.19900278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35313336499999 meters Centerline goodness : 0.151972 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.08, Z:-0.32 [[ 9.99221878e-01 -1.19270561e-03 -3.94235513e-02 -1.20258329e+00] [ 1.24696730e-03 9.99998309e-01 1.35181656e-03 -7.51056514e-02] [ 3.94218723e-02 -1.39992456e-03 9.99221675e-01 -3.17518926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38313336499999 meters SLAMing on 127.413133365 meters Centerline goodness : 0.091040 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.08, Z:-0.32 [[ 0.99919137 -0.00169104 -0.04017138 -1.20043521] [ 0.00174757 0.99999753 0.00137223 -0.07712784] [ 0.04016896 -0.00144132 0.99919186 -0.31789881] [ 0. 0. 0. 1. ]] SLAMing on 127.443133365 meters Centerline goodness : 0.107041 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.08, Z:-0.32 [[ 0.99917854 -0.00176968 -0.04048606 -1.19956909] [ 0.00183681 0.999997 0.00162112 -0.07902792] [ 0.04048307 -0.00169415 0.99917879 -0.3179784 ] [ 0. 0. 0. 1. ]] SLAMing on 127.473133365 meters SLAMing on 127.503133365 meters Centerline goodness : 0.154954 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.09, Z:-0.32 [[ 9.99158978e-01 -4.31597558e-03 -4.07763276e-02 -1.19720670e+00] [ 4.32452138e-03 9.99990642e-01 1.21373670e-04 -8.62341718e-02] [ 4.07754222e-02 -2.97609693e-04 9.99168292e-01 -3.19562742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.533133365 meters Centerline goodness : 0.151566 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.09, Z:-0.32 [[ 9.99162071e-01 -4.08708254e-03 -4.07241010e-02 -1.19718835e+00] [ 4.11842937e-03 9.99991284e-01 6.85871462e-04 -8.80812487e-02] [ 4.07209428e-02 -8.53016084e-04 9.99170194e-01 -3.19930735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.563133365 meters Centerline goodness : 0.148004 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.09, Z:-0.32 [[ 9.99192866e-01 4.74321867e-03 -3.98888252e-02 -1.17865105e+00] [-4.76525943e-03 9.99988541e-01 -4.57494255e-04 -9.19545553e-02] [ 3.98861981e-02 6.47205597e-04 9.99204019e-01 -3.17987802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59313336499999 meters SLAMing on 127.62313336499999 meters Centerline goodness : 0.148865 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.09, Z:-0.32 [[ 9.99210266e-01 4.75775253e-03 -3.94488137e-02 -1.17958648e+00] [-4.78620222e-03 9.99988350e-01 -6.26768960e-04 -9.11417180e-02] [ 3.94453721e-02 8.15083979e-04 9.99221396e-01 -3.17927494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65313336499999 meters Centerline goodness : 0.127071 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.09, Z:-0.32 [[ 9.99135036e-01 6.59182953e-03 -4.10576207e-02 -1.17401175e+00] [-6.58819931e-03 9.99978273e-01 2.23723685e-04 -8.60058511e-02] [ 4.10582033e-02 4.69656160e-05 9.99156755e-01 -3.19200249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68313336499999 meters Centerline goodness : 0.045576 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.08, Z:-0.32 [[ 9.99116648e-01 6.84613979e-03 -4.14614837e-02 -1.17263912e+00] [-6.84629987e-03 9.99976554e-01 1.38130776e-04 -8.49297424e-02] [ 4.14614573e-02 1.45848993e-04 9.99140093e-01 -3.19622726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71313336499999 meters Centerline goodness : 0.127686 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.08, Z:-0.32 [[ 9.99111538e-01 6.90867446e-03 -4.15740949e-02 -1.17235663e+00] [-6.92071517e-03 9.99976041e-01 -1.45702212e-04 -8.31385675e-02] [ 4.15720922e-02 4.33295231e-04 9.99135413e-01 -3.19551709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74313336499999 meters Centerline goodness : 0.090895 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.08, Z:-0.32 [[ 9.99119058e-01 6.80523218e-03 -4.14101131e-02 -1.17274800e+00] [-6.83254663e-03 9.99976524e-01 -5.18113323e-04 -8.11424726e-02] [ 4.14056151e-02 8.00593424e-04 9.99142099e-01 -3.19631888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77313336499999 meters Centerline goodness : 0.155246 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.08, Z:-0.32 [[ 9.99121747e-01 6.64062175e-03 -4.13719253e-02 -1.17265195e+00] [-6.68471188e-03 9.99977227e-01 -9.27452542e-04 -7.92859215e-02] [ 4.13648242e-02 1.20319740e-03 9.99143385e-01 -3.19960833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.803133365 meters Centerline goodness : 0.153964 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.08, Z:-0.32 [[ 0.9991217 0.00650548 -0.04139453 -1.17232712] [-0.00656303 0.99997768 -0.0012545 -0.07778957] [ 0.04138544 0.00152508 0.99914209 -0.32040857] [ 0. 0. 0. 1. ]] SLAMing on 127.833133365 meters Centerline goodness : 0.155665 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.08, Z:-0.32 [[ 0.99912588 0.00638857 -0.04131171 -1.17239437] [-0.00645665 0.99997801 -0.00151491 -0.0764955 ] [ 0.04130113 0.00178032 0.99914516 -0.32066009] [ 0. 0. 0. 1. ]] SLAMing on 127.863133365 meters Centerline goodness : 0.169427 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.07, Z:-0.32 [[ 0.9991355 0.00621336 -0.04110527 -1.17315493] [-0.00629748 0.99997833 -0.00191737 -0.07422549] [ 0.04109246 0.00217458 0.99915298 -0.32032525] [ 0. 0. 0. 1. ]] SLAMing on 127.893133365 meters SLAMing on 127.923133365 meters Centerline goodness : 0.152012 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.07, Z:-0.32 [[ 0.99912791 0.00581527 -0.04134728 -1.17265064] [-0.00592774 0.99997906 -0.00259799 -0.07152765] [ 0.04133131 0.00284082 0.99914146 -0.32021865] [ 0. 0. 0. 1. ]] SLAMing on 127.95313336499999 meters Centerline goodness : 0.121376 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.07, Z:-0.32 [[ 0.99911836 0.0055827 -0.04160936 -1.17185066] [-0.00571447 0.99997903 -0.00304837 -0.06960693] [ 0.04159147 0.00328346 0.99912931 -0.32051295] [ 0. 0. 0. 1. ]] SLAMing on 127.98313336499999 meters Centerline goodness : 0.154638 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.07, Z:-0.32 [[ 0.99911231 0.00540565 -0.04177755 -1.17122242] [-0.00555429 0.99997865 -0.00344259 -0.06762761] [ 0.04175805 0.00367157 0.99912101 -0.32087221] [ 0. 0. 0. 1. ]] SLAMing on 128.013133365 meters Centerline goodness : 0.119184 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.07, Z:-0.32 [[ 0.99911135 0.0052886 -0.04181558 -1.17106555] [-0.00544915 0.99997821 -0.00372641 -0.06611911] [ 0.04179496 0.00395096 0.9991184 -0.32101201] [ 0. 0. 0. 1. ]] SLAMing on 128.043133365 meters Centerline goodness : 0.122319 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.06, Z:-0.32 [[ 0.99911212 -0.0036525 -0.04197172 -1.19077609] [ 0.00354724 0.99999037 -0.0025822 -0.06147683] [ 0.04198075 0.00243103 0.99911546 -0.32283033] [ 0. 0. 0. 1. ]] SLAMing on 128.073133365 meters Centerline goodness : 0.121810 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.06, Z:-0.32 [[ 0.99924399 0.00328258 -0.03873865 -1.17429686] [-0.00348935 0.99998002 -0.00527106 -0.06305021] [ 0.03872057 0.00540225 0.99923547 -0.32070898] [ 0. 0. 0. 1. ]] SLAMing on 128.103133365 meters Centerline goodness : 0.156434 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.06, Z:-0.32 [[ 0.99925832 0.00326091 -0.03836902 -1.17567217] [-0.00346132 0.99998071 -0.00515807 -0.06370963] [ 0.03835146 0.00528705 0.99925033 -0.31998401] [ 0. 0. 0. 1. ]] SLAMing on 128.133133365 meters Centerline goodness : 0.154811 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 0.99930185 -0.00440468 -0.03710001 -1.15664741] [ 0.00425743 0.99998275 -0.00404689 -0.060268 ] [ 0.03711719 0.00388611 0.99930336 -0.31787683] [ 0. 0. 0. 1. ]] SLAMing on 128.163133365 meters Centerline goodness : 0.148614 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 0.99930334 -0.00441381 -0.03705875 -1.15693193] [ 0.00427413 0.99998346 -0.0038474 -0.06149075] [ 0.03707512 0.00368633 0.99930568 -0.31758886] [ 0. 0. 0. 1. ]] SLAMing on 128.193133365 meters Centerline goodness : 0.153965 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 0.99929599 -0.004433 -0.03725408 -1.15642205] [ 0.00429781 0.99998389 -0.0037081 -0.06245895] [ 0.03726992 0.00354538 0.99929895 -0.3176539 ] [ 0. 0. 0. 1. ]] SLAMing on 128.223133365 meters Centerline goodness : 0.105268 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 0.99929034 -0.00441151 -0.03740795 -1.1558544 ] [ 0.00428139 0.99998451 -0.00355779 -0.06331412] [ 0.03742307 0.00339511 0.99929374 -0.31799578] [ 0. 0. 0. 1. ]] SLAMing on 128.253133365 meters Centerline goodness : 0.172310 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 0.99931137 -0.00429397 -0.03685564 -1.15719951] [ 0.00418462 0.99998661 -0.00304378 -0.06453716] [ 0.03686821 0.00288746 0.99931596 -0.3183688 ] [ 0. 0. 0. 1. ]] SLAMing on 128.283133365 meters Centerline goodness : 0.150101 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 9.99328871e-01 -1.59230327e-03 -3.65960666e-02 -1.15859284e+00] [ 1.57838345e-03 9.99998671e-01 -4.09251769e-04 -6.27013614e-02] [ 3.65966697e-02 3.51214483e-04 9.99330056e-01 -3.17645245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.313133365 meters Centerline goodness : 0.114474 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 9.99331069e-01 -1.61311397e-03 -3.65350803e-02 -1.15876836e+00] [ 1.59792659e-03 9.99998624e-01 -4.44888967e-04 -6.25456434e-02] [ 3.65357476e-02 3.86210991e-04 9.99332272e-01 -3.17606058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.343133365 meters Centerline goodness : 0.157356 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 9.99324034e-01 -1.58952207e-03 -3.67280224e-02 -1.15801531e+00] [ 1.57526098e-03 9.99998672e-01 -4.17223826e-04 -6.26314949e-02] [ 3.67286368e-02 3.59085576e-04 9.99325211e-01 -3.18015145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.373133365 meters Centerline goodness : 0.150374 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 9.99310330e-01 -1.49339296e-03 -3.71030170e-02 -1.15679515e+00] [ 1.48091435e-03 9.99998837e-01 -3.63803659e-04 -6.28167387e-02] [ 3.71035172e-02 3.08606364e-04 9.99311380e-01 -3.18445985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.403133365 meters Centerline goodness : 0.152507 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 9.99305503e-01 -1.35552620e-03 -3.72380718e-02 -1.15609257e+00] [ 1.35226775e-03 9.99999079e-01 -1.12689683e-04 -6.35180926e-02] [ 3.72381903e-02 6.22555767e-05 9.99306416e-01 -3.19117119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.433133365 meters Centerline goodness : 0.158112 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 9.99314972e-01 -1.23248226e-03 -3.69874122e-02 -1.15654705e+00] [ 1.24590543e-03 9.99999166e-01 3.39864753e-04 -6.47848564e-02] [ 3.69869625e-02 -3.85714754e-04 9.99315674e-01 -3.19645717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.463133365 meters Centerline goodness : 0.153922 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.07, Z:-0.32 [[ 9.99319047e-01 -1.26975981e-03 -3.68758766e-02 -1.15669276e+00] [ 1.28612328e-03 9.99999085e-01 4.20026370e-04 -6.51012482e-02] [ 3.68753095e-02 -4.67167275e-04 9.99319765e-01 -3.19953441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.493133365 meters Centerline goodness : 0.157384 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.07, Z:-0.32 [[ 9.99309830e-01 -1.31941019e-03 -3.71230828e-02 -1.15588188e+00] [ 1.33504937e-03 9.99999030e-01 3.96493158e-04 -6.52375339e-02] [ 3.71225237e-02 -4.45780658e-04 9.99310622e-01 -3.20307033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52313336499998 meters Centerline goodness : 0.136811 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99295696e-01 -1.19682682e-03 -3.75057275e-02 -1.15459204e+00] [ 1.21874969e-03 9.99999100e-01 5.61662972e-04 -6.56932741e-02] [ 3.75050215e-02 -6.06977484e-04 9.99296255e-01 -3.20963709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55313336499998 meters Centerline goodness : 0.133667 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99289488e-01 -1.09705606e-03 -3.76738184e-02 -1.15396896e+00] [ 1.12326561e-03 9.99999142e-01 6.74537358e-04 -6.58050207e-02] [ 3.76730461e-02 -7.16375795e-04 9.99289862e-01 -3.21373689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58313336499998 meters Centerline goodness : 0.161615 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99283374e-01 -1.04499082e-03 -3.78370961e-02 -1.15346080e+00] [ 1.07315388e-03 9.99999162e-01 7.24021865e-04 -6.58581525e-02] [ 3.78363078e-02 -7.64108039e-04 9.99283658e-01 -3.21610128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61313336499998 meters Centerline goodness : 0.164133 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99270082e-01 -1.22827556e-03 -3.81810864e-02 -1.15248613e+00] [ 1.25263253e-03 9.99999027e-01 6.14017346e-04 -6.58541072e-02] [ 3.81802951e-02 -6.61396035e-04 9.99270648e-01 -3.21883371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64313336499998 meters Centerline goodness : 0.161275 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99270881e-01 -1.25150415e-03 -3.81593948e-02 -1.15266426e+00] [ 1.28069249e-03 9.99998906e-01 7.40471191e-04 -6.67284831e-02] [ 3.81584263e-02 -7.88801750e-04 9.99271391e-01 -3.21716609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67313336499998 meters Centerline goodness : 0.135300 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99269804e-01 -1.39013760e-03 -3.81828037e-02 -1.15288354e+00] [ 1.42233072e-03 9.99998656e-01 8.15980138e-04 -6.77304609e-02] [ 3.81816181e-02 -8.69692887e-04 9.99270438e-01 -3.21292739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70313336499999 meters Centerline goodness : 0.143537 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99257157e-01 -1.65928841e-03 -3.85017078e-02 -1.15235310e+00] [ 1.69254236e-03 9.99998222e-01 8.31121758e-04 -6.88447803e-02] [ 3.85002603e-02 -8.95670136e-04 9.99258189e-01 -3.20949489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.733133365 meters Centerline goodness : 0.156207 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99232677e-01 -1.97232537e-03 -3.91173559e-02 -1.15076213e+00] [ 2.00809938e-03 9.99997601e-01 8.75260624e-04 -7.02213385e-02] [ 3.91155358e-02 -9.53140555e-04 9.99234240e-01 -3.21141666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.763133365 meters Centerline goodness : 0.156207 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99232677e-01 -1.97232537e-03 -3.91173559e-02 -1.15076213e+00] [ 2.00809938e-03 9.99997601e-01 8.75260624e-04 -7.02213385e-02] [ 3.91155358e-02 -9.53140555e-04 9.99234240e-01 -3.21141666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.793133365 meters Centerline goodness : 0.127294 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99204401e-01 -2.13428749e-03 -3.98247505e-02 -1.14883115e+00] [ 2.18138926e-03 9.99996972e-01 1.13930946e-03 -7.22799352e-02] [ 3.98221983e-02 -1.22527631e-03 9.99206030e-01 -3.21563351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.823133365 meters Centerline goodness : 0.139472 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.08, Z:-0.32 [[ 0.99918149 -0.00270243 -0.04036156 -1.14681246] [ 0.0027632 0.99999513 0.00144988 -0.07648388] [ 0.04035745 -0.00156022 0.99918409 -0.32251111] [ 0. 0. 0. 1. ]] SLAMing on 128.853133365 meters Centerline goodness : 0.123124 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.08, Z:-0.32 [[ 0.99916686 -0.00283021 -0.04071344 -1.14606465] [ 0.00290356 0.99999427 0.0017427 -0.07891099] [ 0.04070828 -0.00185946 0.99916934 -0.32233697] [ 0. 0. 0. 1. ]] SLAMing on 128.883133365 meters Centerline goodness : 0.144754 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.08, Z:-0.32 [[ 0.9991627 -0.00280694 -0.04081689 -1.14602043] [ 0.00289681 0.99999351 0.00214285 -0.08139746] [ 0.04081061 -0.00225929 0.99916435 -0.32202235] [ 0. 0. 0. 1. ]] SLAMing on 128.913133365 meters Centerline goodness : 0.130282 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.08, Z:-0.32 [[ 0.9991635 -0.00265143 -0.04080763 -1.14617599] [ 0.0027625 0.99999263 0.00266553 -0.08402745] [ 0.04080026 -0.00277603 0.99916347 -0.3218636 ] [ 0. 0. 0. 1. ]] SLAMing on 128.943133365 meters Centerline goodness : 0.148570 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.09, Z:-0.32 [[ 0.99916244 -0.00247078 -0.04084499 -1.14625977] [ 0.00260398 0.99999146 0.00320829 -0.08667322] [ 0.04083672 -0.00331196 0.99916034 -0.32160608] [ 0. 0. 0. 1. ]] SLAMing on 128.973133365 meters Centerline goodness : 0.134181 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.09, Z:-0.32 [[ 0.99916372 -0.0022771 -0.04082504 -1.14641427] [ 0.00243146 0.99999008 0.00373181 -0.08931102] [ 0.04081613 -0.00382795 0.99915934 -0.32141171] [ 0. 0. 0. 1. ]] SLAMing on 129.003133365 meters Centerline goodness : 0.134986 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.10, Z:-0.32 [[ 0.99918848 0.00618747 -0.03980082 -1.12776321] [-0.00609129 0.99997823 0.00253738 -0.09757375] [ 0.03981565 -0.00229288 0.99920441 -0.31925583] [ 0. 0. 0. 1. ]] SLAMing on 129.033133365 meters Centerline goodness : 0.137824 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.10, Z:-0.32 [[ 0.99919748 0.00631164 -0.03955455 -1.12863553] [-0.00621059 0.99997713 0.00267718 -0.09806288] [ 0.03957054 -0.00242938 0.99921383 -0.31877657] [ 0. 0. 0. 1. ]] SLAMing on 129.063133365 meters Centerline goodness : 0.109926 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.10, Z:-0.32 [[ 0.99920886 0.00645366 -0.03924284 -1.12962577] [-0.00635139 0.9999761 0.0027303 -0.09789893] [ 0.03925952 -0.00247889 0.99922597 -0.31831452] [ 0. 0. 0. 1. ]] SLAMing on 129.093133365 meters Centerline goodness : 0.147208 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:-0.32 [[ 9.99251701e-01 3.43427496e-06 -3.86786423e-02 -1.11230674e+00] [ 1.50925847e-04 9.99992037e-01 3.98791551e-03 -9.28353715e-02] [ 3.86783480e-02 -3.99076896e-03 9.99243744e-01 -3.15952538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.123133365 meters Centerline goodness : 0.152325 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:-0.32 [[ 9.99265558e-01 1.25655292e-04 -3.83187817e-02 -1.11321794e+00] [ 1.99369918e-05 9.99992783e-01 3.79909611e-03 -9.14421238e-02] [ 3.83189825e-02 -3.79706986e-03 9.99258344e-01 -3.15805048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.153133365 meters Centerline goodness : 0.161582 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:-0.32 [[ 9.99284787e-01 3.03014136e-04 -3.78129849e-02 -1.11443588e+00] [-1.68152287e-04 9.99993615e-01 3.56967796e-03 -8.95359704e-02] [ 3.78138251e-02 -3.56076654e-03 9.99278457e-01 -3.15764405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.183133365 meters Centerline goodness : 0.134539 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.09, Z:-0.32 [[ 0.99928102 0.00429719 -0.03766927 -1.11510422] [-0.00404127 0.99996825 0.00686745 -0.08579744] [ 0.03769759 -0.00671028 0.99926666 -0.31530258] [ 0. 0. 0. 1. ]] SLAMing on 129.213133365 meters Centerline goodness : 0.140805 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.08, Z:-0.32 [[ 0.99928642 0.00425235 -0.03753103 -1.11535092] [-0.00401077 0.99997077 0.00650966 -0.08357767] [ 0.03755761 -0.00635449 0.99927426 -0.31547376] [ 0. 0. 0. 1. ]] SLAMing on 129.243133365 meters Centerline goodness : 0.143635 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.08, Z:-0.32 [[ 0.99928308 0.00410389 -0.03763619 -1.11505165] [-0.0038767 0.99997383 0.00610765 -0.08164466] [ 0.03766027 -0.00595737 0.99927284 -0.31555777] [ 0. 0. 0. 1. ]] SLAMing on 129.27313336499998 meters Centerline goodness : 0.159444 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.08, Z:-0.32 [[ 0.99927793 0.00393138 -0.03779115 -1.11459887] [-0.00371597 0.99997646 0.00576857 -0.08026882] [ 0.03781293 -0.00562398 0.99926901 -0.31567608] [ 0. 0. 0. 1. ]] SLAMing on 129.30313336499998 meters Centerline goodness : 0.139351 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.07, Z:-0.31 [[ 0.99924977 -0.00337793 -0.03858088 -1.09497289] [ 0.00362362 0.99997359 0.00630012 -0.07422077] [ 0.03855858 -0.0064352 0.99923562 -0.31345677] [ 0. 0. 0. 1. ]] SLAMing on 129.33313336499998 meters Centerline goodness : 0.142965 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.07, Z:-0.31 [[ 0.99924571 -0.00346935 -0.03867781 -1.0947406 ] [ 0.00370747 0.9999746 0.00608661 -0.07311658] [ 0.03865571 -0.00622542 0.9992332 -0.31348757] [ 0. 0. 0. 1. ]] SLAMing on 129.36313336499998 meters Centerline goodness : 0.145398 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.07, Z:-0.31 [[ 0.99924152 -0.0035691 -0.03877681 -1.09448925] [ 0.00379951 0.99997555 0.00586988 -0.07203269] [ 0.03875491 -0.00601277 0.99923066 -0.31355189] [ 0. 0. 0. 1. ]] SLAMing on 129.39313336499998 meters Centerline goodness : 0.128126 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.07, Z:-0.31 [[ 0.9992341 -0.003708 -0.03895456 -1.09391586] [ 0.00392929 0.99997657 0.00560549 -0.07085314] [ 0.03893286 -0.00575426 0.99922526 -0.31380178] [ 0. 0. 0. 1. ]] SLAMing on 129.42313336499998 meters Centerline goodness : 0.152894 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.07, Z:-0.31 [[ 0.99922945 -0.00392902 -0.039052 -1.09326751] [ 0.00412809 0.99997889 0.00501828 -0.06769066] [ 0.03903146 -0.00517562 0.99922458 -0.31450075] [ 0. 0. 0. 1. ]] SLAMing on 129.45313336499999 meters SLAMing on 129.483133365 meters Centerline goodness : 0.172779 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.07, Z:-0.31 [[ 0.99927656 0.00467826 -0.03774216 -1.07375892] [-0.00454943 0.99998353 0.0034986 -0.06659956] [ 0.03775791 -0.00332437 0.99928139 -0.31353527] [ 0. 0. 0. 1. ]] SLAMing on 129.513133365 meters Centerline goodness : 0.085950 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.06, Z:-0.31 [[ 0.99927197 0.00444599 -0.03789141 -1.07341655] [-0.0043391 0.99998637 0.00290273 -0.06369634] [ 0.0379038 -0.0027362 0.99927765 -0.31351523] [ 0. 0. 0. 1. ]] SLAMing on 129.543133365 meters Centerline goodness : 0.134034 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.06, Z:-0.31 [[ 0.99926269 0.00430113 -0.03815209 -1.07249839] [-0.00420476 0.99998777 0.00260562 -0.06248173] [ 0.03816283 -0.00244328 0.99926855 -0.31394098] [ 0. 0. 0. 1. ]] SLAMing on 129.573133365 meters Centerline goodness : 0.133524 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.06, Z:-0.31 [[ 0.99925631 0.00419755 -0.03833029 -1.07189031] [-0.00411151 0.99998885 0.00232311 -0.06114615] [ 0.03833962 -0.00216378 0.99926242 -0.31418434] [ 0. 0. 0. 1. ]] SLAMing on 129.603133365 meters Centerline goodness : 0.142623 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.06, Z:-0.31 [[ 0.99925283 0.00412971 -0.03842816 -1.07146546] [-0.00405493 0.99998973 0.0020238 -0.0594588 ] [ 0.03843613 -0.00186647 0.99925932 -0.31444853] [ 0. 0. 0. 1. ]] SLAMing on 129.633133365 meters Centerline goodness : 0.140757 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.06, Z:-0.31 [[ 0.99925162 0.0041 -0.0384628 -1.07135642] [-0.00403695 0.99999038 0.00171665 -0.05762827] [ 0.03846947 -0.00156009 0.99925856 -0.31449532] [ 0. 0. 0. 1. ]] SLAMing on 129.663133365 meters Centerline goodness : 0.141846 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.06, Z:-0.31 [[ 0.99925916 0.00406463 -0.03827019 -1.07184263] [-0.00401436 0.99999098 0.0013905 -0.05580502] [ 0.0382755 -0.00123584 0.99926646 -0.31442124] [ 0. 0. 0. 1. ]] SLAMing on 129.693133365 meters Centerline goodness : 0.130698 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:-0.31 [[ 9.99266723e-01 4.03825220e-03 -3.80750432e-02 -1.07256589e+00] [-3.99812583e-03 9.99991369e-01 1.12995932e-03 -5.43658849e-02] [ 3.80792776e-02 -9.76901937e-04 9.99274244e-01 -3.14028624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.723133365 meters Centerline goodness : 0.132586 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:-0.31 [[ 9.99272790e-01 3.99511602e-03 -3.79200386e-02 -1.07315434e+00] [-3.96544534e-03 9.99991770e-01 8.57633838e-04 -5.29383299e-02] [ 3.79231528e-02 -7.06640318e-04 9.99280409e-01 -3.13670804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.753133365 meters Centerline goodness : 0.152327 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:-0.31 [[ 9.99273430e-01 3.94864586e-03 -3.79080458e-02 -1.07333275e+00] [-3.92922984e-03 9.99992108e-01 5.86675547e-04 -5.14692107e-02] [ 3.79100632e-02 -4.37299862e-04 9.99281059e-01 -3.13430048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.783133365 meters Centerline goodness : 0.120889 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:-0.31 [[ 9.99262493e-01 4.13404186e-03 -3.81756335e-02 -1.07240630e+00] [-4.11508364e-03 9.99991368e-01 5.75168659e-04 -5.06525599e-02] [ 3.81776817e-02 -4.17648544e-04 9.99270879e-01 -3.13917940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.813133365 meters Centerline goodness : 0.139667 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:-0.31 [[ 9.99253358e-01 4.16453194e-03 -3.84107061e-02 -1.07145336e+00] [-4.14371755e-03 9.99991222e-01 6.21485506e-04 -5.09096168e-02] [ 3.84129571e-02 -4.61858362e-04 9.99261843e-01 -3.14508171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.843133365 meters Centerline goodness : 0.138955 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:-0.31 [[ 9.99247381e-01 4.21146293e-03 -3.85607950e-02 -1.07099861e+00] [-4.18563380e-03 9.99990959e-01 7.50535251e-04 -5.17826720e-02] [ 3.85636072e-02 -5.88569017e-04 9.99255974e-01 -3.14638564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.873133365 meters Centerline goodness : 0.163837 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:-0.31 [[ 9.99247537e-01 4.30583915e-03 -3.85463172e-02 -1.07128725e+00] [-4.27142231e-03 9.99990402e-01 9.75179953e-04 -5.28893776e-02] [ 3.85501462e-02 -8.09798567e-04 9.99256339e-01 -3.14228094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.903133365 meters Centerline goodness : 0.136710 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.99929552 -0.00278235 -0.03742614 -1.05294427] [ 0.00287102 0.9999932 0.00231576 -0.04924998] [ 0.03741945 -0.00242158 0.99929671 -0.31201114] [ 0. 0. 0. 1. ]] SLAMing on 129.933133365 meters Centerline goodness : 0.135856 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.99929862 -0.00265979 -0.03735236 -1.05328575] [ 0.00275242 0.99999326 0.0024285 -0.04944434] [ 0.03734565 -0.00252961 0.99929921 -0.31174774] [ 0. 0. 0. 1. ]] SLAMing on 129.963133365 meters Centerline goodness : 0.138113 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.9992862 -0.00246257 -0.03769642 -1.0523195 ] [ 0.00255203 0.99999404 0.00232506 -0.04840394] [ 0.03769047 -0.0024196 0.99928653 -0.31200779] [ 0. 0. 0. 1. ]] SLAMing on 129.993133365 meters Centerline goodness : 0.158058 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.99928263 -0.00242713 -0.03779327 -1.05184804] [ 0.00251185 0.99999444 0.00219456 -0.04751148] [ 0.03778773 -0.00228792 0.99928317 -0.31239883] [ 0. 0. 0. 1. ]] SLAMing on 130.02313336499998 meters Centerline goodness : 0.143692 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.9992869 -0.0022824 -0.0376892 -1.05202718] [ 0.00236525 0.99999488 0.00215392 -0.04667871] [ 0.0376841 -0.00224153 0.99928719 -0.31260341] [ 0. 0. 0. 1. ]] SLAMing on 130.05313336499998 meters Centerline goodness : 0.165313 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.99930076 -0.00213061 -0.03732898 -1.05291816] [ 0.00221212 0.99999526 0.00214237 -0.04586505] [ 0.03732423 -0.00222345 0.99930073 -0.31261064] [ 0. 0. 0. 1. ]] SLAMing on 130.08313336499998 meters Centerline goodness : 0.137773 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.99931555 -0.00206704 -0.03693458 -1.05403678] [ 0.00214581 0.99999551 0.00209299 -0.04520704] [ 0.03693008 -0.00217082 0.99931549 -0.3123832 ] [ 0. 0. 0. 1. ]] SLAMing on 130.11313336499998 meters Centerline goodness : 0.131906 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.05, Z:-0.31 [[ 0.99932863 -0.0021021 -0.036577 -1.05547458] [ 0.00217747 0.99999559 0.00202086 -0.04512526] [ 0.0365726 -0.00209915 0.99932879 -0.31151395] [ 0. 0. 0. 1. ]] SLAMing on 130.14313336499998 meters SLAMing on 130.17313336499998 meters Centerline goodness : 0.121177 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.05, Z:-0.31 [[ 0.99932283 -0.00208446 -0.03673613 -1.05527873] [ 0.00216892 0.9999951 0.00225958 -0.04658143] [ 0.03673124 -0.00233773 0.99932245 -0.31123608] [ 0. 0. 0. 1. ]] SLAMing on 130.20313336499999 meters Centerline goodness : 0.154424 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.9993152 -0.00199476 -0.03694789 -1.05463391] [ 0.00209036 0.99999457 0.00254901 -0.04795786] [ 0.0369426 -0.0026245 0.99931394 -0.31142202] [ 0. 0. 0. 1. ]] SLAMing on 130.233133365 meters Centerline goodness : 0.134760 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:-0.31 [[ 9.99310647e-01 4.79931659e-03 -3.68129964e-02 -1.03189676e+00] [-4.79668517e-03 9.99988483e-01 1.59801171e-04 -5.06763525e-02] [ 3.68133394e-02 1.68893416e-05 9.99322159e-01 -3.11455386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.263133365 meters Centerline goodness : 0.145988 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.99925709 -0.00451006 -0.03827449 -1.05287403] [ 0.0045574 0.99998895 0.0011498 -0.05027493] [ 0.03826889 -0.00132338 0.9992666 -0.31237899] [ 0. 0. 0. 1. ]] SLAMing on 130.293133365 meters Centerline goodness : 0.108751 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.99926554 -0.00447052 -0.03805772 -1.05384461] [ 0.0045348 0.99998843 0.0016029 -0.05319479] [ 0.03805011 -0.00177431 0.99927426 -0.31157377] [ 0. 0. 0. 1. ]] SLAMing on 130.323133365 meters Centerline goodness : 0.136522 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.06, Z:-0.31 [[ 9.99339414e-01 3.89533346e-03 -3.61325685e-02 -1.03564269e+00] [-3.89560122e-03 9.99992410e-01 6.29918824e-05 -5.65690213e-02] [ 3.61325396e-02 7.78078071e-05 9.99347004e-01 -3.09632934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.353133365 meters Centerline goodness : 0.127930 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.06, Z:-0.31 [[ 9.99342773e-01 3.93584861e-03 -3.60351431e-02 -1.03618797e+00] [-3.93541972e-03 9.99992253e-01 8.28320478e-05 -5.64736599e-02] [ 3.60351899e-02 5.90358044e-05 9.99350520e-01 -3.09163399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.383133365 meters Centerline goodness : 0.123546 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.06, Z:-0.31 [[ 9.99332093e-01 3.98120733e-03 -3.63251664e-02 -1.03536235e+00] [-3.98568383e-03 9.99992056e-01 -5.08203691e-05 -5.56595725e-02] [ 3.63246755e-02 1.95567054e-04 9.99340022e-01 -3.09208882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.413133365 meters Centerline goodness : 0.141416 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:-0.31 [[ 9.99310514e-01 4.06657323e-03 -3.69047308e-02 -1.03347078e+00] [-4.07959031e-03 9.99991640e-01 -2.77424027e-04 -5.43713082e-02] [ 3.69032941e-02 4.27788929e-04 9.99318750e-01 -3.09736628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.443133365 meters Centerline goodness : 0.159631 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:-0.31 [[ 9.99302783e-01 4.04262112e-03 -3.71161098e-02 -1.03259042e+00] [-4.06387192e-03 9.99991619e-01 -4.97123030e-04 -5.31495895e-02] [ 3.71137890e-02 6.47611543e-04 9.99310836e-01 -3.10321683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.473133365 meters Centerline goodness : 0.157154 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:-0.31 [[ 9.99309914e-01 4.06384318e-03 -3.69212932e-02 -1.03304505e+00] [-4.09769281e-03 9.99991251e-01 -8.41179190e-04 -5.09706222e-02] [ 3.69175518e-02 9.91890822e-04 9.99317823e-01 -3.10449259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.503133365 meters Centerline goodness : 0.151750 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:-0.31 [[ 9.99316783e-01 4.04791351e-03 -3.67366441e-02 -1.03367307e+00] [-4.08419106e-03 9.99991243e-01 -9.12511398e-04 -5.05178472e-02] [ 3.67326286e-02 1.06192743e-03 9.99324565e-01 -3.10167877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.533133365 meters Centerline goodness : 0.161486 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:-0.31 [[ 9.99312380e-01 -3.12694902e-03 -3.69457677e-02 -1.01557063e+00] [ 3.12493532e-03 9.99995111e-01 -1.12250388e-04 -4.52245410e-02] [ 3.69459380e-02 -3.27993200e-06 9.99317266e-01 -3.07732664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.563133365 meters Centerline goodness : 0.107906 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:-0.31 [[ 9.99312312e-01 -3.15249229e-03 -3.69454290e-02 -1.01564063e+00] [ 3.15002190e-03 9.99995031e-01 -1.25075122e-04 -4.52944685e-02] [ 3.69456397e-02 8.61019898e-06 9.99317277e-01 -3.07623619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.593133365 meters Centerline goodness : 0.107704 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:-0.31 [[ 9.99309494e-01 -3.14782703e-03 -3.70219727e-02 -1.01541866e+00] [ 3.14684707e-03 9.99995045e-01 -8.47409994e-05 -4.55114462e-02] [ 3.70220560e-02 -3.18200012e-05 9.99314448e-01 -3.07691753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.623133365 meters Centerline goodness : 0.119182 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 9.99303327e-01 -3.08471618e-03 -3.71933533e-02 -1.01473995e+00] [ 3.09012675e-03 9.99995222e-01 8.79862203e-05 -4.61902938e-02] [ 3.71929042e-02 -2.02857099e-04 9.99308084e-01 -3.08126710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.653133365 meters Centerline goodness : 0.121839 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 9.99301102e-01 -3.05699220e-03 -3.72553734e-02 -1.01455808e+00] [ 3.06542317e-03 9.99995287e-01 1.69182644e-04 -4.65961377e-02] [ 3.72546807e-02 -2.83267887e-04 9.99305763e-01 -3.08194820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.683133365 meters Centerline goodness : 0.121839 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 9.99301102e-01 -3.05699220e-03 -3.72553734e-02 -1.01455808e+00] [ 3.06542317e-03 9.99995287e-01 1.69182644e-04 -4.65961377e-02] [ 3.72546807e-02 -2.83267887e-04 9.99305763e-01 -3.08194820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.713133365 meters Centerline goodness : 0.164038 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 9.99302140e-01 -3.02033105e-03 -3.72305079e-02 -1.01474461e+00] [ 3.03550120e-03 9.99995331e-01 3.50945763e-04 -4.76597899e-02] [ 3.72292741e-02 -4.63714103e-04 9.99306643e-01 -3.08004814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.743133365 meters Centerline goodness : 0.134998 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 9.99298384e-01 -2.95480664e-03 -3.73364353e-02 -1.01464791e+00] [ 2.97969117e-03 9.99995374e-01 6.10867012e-04 -4.90963858e-02] [ 3.73344575e-02 -7.21689464e-04 9.99302566e-01 -3.07735153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77313336499998 meters Centerline goodness : 0.172270 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 9.99295526e-01 -2.88045344e-03 -3.74186367e-02 -1.01432843e+00] [ 2.91519191e-03 9.99995369e-01 8.73846286e-04 -5.05327600e-02] [ 3.74159463e-02 -9.82313191e-04 9.99299296e-01 -3.07901331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80313336499998 meters Centerline goodness : 0.136742 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 0.99929442 -0.00279467 -0.03745477 -1.01405777] [ 0.00283863 0.99999534 0.00112055 -0.05182502] [ 0.03745146 -0.00122608 0.9992977 -0.30818393] [ 0. 0. 0. 1. ]] SLAMing on 130.83313336499998 meters Centerline goodness : 0.139399 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 0.99929803 -0.00270897 -0.03736441 -1.0141234 ] [ 0.00275978 0.99999534 0.00130854 -0.05274542] [ 0.0373607 -0.00141074 0.99930085 -0.30842086] [ 0. 0. 0. 1. ]] SLAMing on 130.86313336499998 meters Centerline goodness : 0.164080 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 0.99930068 -0.00267763 -0.03729579 -1.01430601] [ 0.00272884 0.9999954 0.00132229 -0.05262731] [ 0.03729208 -0.00142314 0.9993034 -0.30839485] [ 0. 0. 0. 1. ]] SLAMing on 130.89313336499998 meters Centerline goodness : 0.126781 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 0.99930138 -0.00265669 -0.03727873 -1.01446431] [ 0.00270614 0.99999552 0.00127621 -0.05217262] [ 0.03727517 -0.0013762 0.99930409 -0.30825645] [ 0. 0. 0. 1. ]] SLAMing on 130.92313336499998 meters Centerline goodness : 0.170919 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 0.99930401 -0.00263442 -0.0372097 -1.01476222] [ 0.00268243 0.99999563 0.00124021 -0.05174296] [ 0.03720627 -0.00133916 0.99930671 -0.30811463] [ 0. 0. 0. 1. ]] SLAMing on 130.95313336499999 meters Centerline goodness : 0.167230 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 0.99930315 -0.00264761 -0.0372318 -1.01483489] [ 0.00269225 0.99999572 0.00114895 -0.05105492] [ 0.0372286 -0.00124839 0.999306 -0.307956 ] [ 0. 0. 0. 1. ]] SLAMing on 130.983133365 meters Centerline goodness : 0.163822 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 0.999304 -0.00263776 -0.03720957 -1.01494235] [ 0.00268057 0.9999958 0.00110065 -0.05060651] [ 0.03720651 -0.00119963 0.99930688 -0.30792174] [ 0. 0. 0. 1. ]] SLAMing on 131.013133365 meters Centerline goodness : 0.118734 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:-0.31 [[ 0.99930196 -0.00269958 -0.03725992 -1.01526475] [ 0.00274013 0.99999571 0.00103722 -0.0505323 ] [ 0.03725696 -0.00113859 0.99930507 -0.30728584] [ 0. 0. 0. 1. ]] SLAMing on 131.043133365 meters Centerline goodness : 0.168170 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:-0.31 [[ 0.99934771 0.00394995 -0.03589633 -0.99381785] [-0.00402046 0.99999013 -0.00189227 -0.05173273] [ 0.0358885 0.00203536 0.99935373 -0.30690888] [ 0. 0. 0. 1. ]] SLAMing on 131.073133365 meters Centerline goodness : 0.135819 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:-0.31 [[ 0.99934718 0.00394063 -0.03591224 -0.9939397 ] [-0.00400926 0.99999027 -0.00183922 -0.0522432 ] [ 0.03590464 0.001982 0.99935326 -0.30669422] [ 0. 0. 0. 1. ]] SLAMing on 131.103133365 meters Centerline goodness : 0.170926 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:-0.31 [[ 0.99934392 0.00393737 -0.03600303 -0.99359176] [-0.004006 0.99999029 -0.00183437 -0.05247403] [ 0.03599546 0.0019774 0.99935 -0.30684043] [ 0. 0. 0. 1. ]] SLAMing on 131.133133365 meters Centerline goodness : 0.104379 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:-0.31 [[ 0.99933951 0.00390562 -0.03612884 -0.99305314] [-0.00397415 0.99999044 -0.00182534 -0.05222156] [ 0.03612136 0.00196771 0.99934547 -0.30734865] [ 0. 0. 0. 1. ]] SLAMing on 131.163133365 meters Centerline goodness : 0.174210 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:-0.31 [[ 0.99933761 0.0038948 -0.03618254 -0.99276497] [-0.00396895 0.99999017 -0.00197767 -0.05120957] [ 0.03617448 0.00211997 0.99934324 -0.30762791] [ 0. 0. 0. 1. ]] SLAMing on 131.193133365 meters Centerline goodness : 0.144042 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:-0.31 [[ 0.99933783 0.00403523 -0.03616098 -0.99278026] [-0.00411665 0.99998916 -0.0021776 -0.04912 ] [ 0.0361518 0.00232502 0.99934361 -0.30779277] [ 0. 0. 0. 1. ]] SLAMing on 131.223133365 meters Centerline goodness : 0.136658 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:-0.31 [[ 0.99931439 -0.00241751 -0.03694476 -0.97600282] [ 0.00237073 0.99999633 -0.0013101 -0.04288174] [ 0.03694779 0.00122161 0.99931645 -0.30511221] [ 0. 0. 0. 1. ]] SLAMing on 131.253133365 meters Centerline goodness : 0.169284 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:-0.30 [[ 0.99932047 -0.00247833 -0.03677578 -0.97664698] [ 0.00242708 0.99999602 -0.00143835 -0.04243628] [ 0.0367792 0.00134811 0.99932251 -0.30477629] [ 0. 0. 0. 1. ]] SLAMing on 131.283133365 meters Centerline goodness : 0.101056 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:-0.30 [[ 0.99932543 -0.0025148 -0.03663822 -0.97715579] [ 0.0024607 0.99999581 -0.00152171 -0.04211847] [ 0.03664189 0.00143053 0.99932744 -0.30452617] [ 0. 0. 0. 1. ]] SLAMing on 131.313133365 meters Centerline goodness : 0.136113 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:-0.30 [[ 0.99933086 -0.0024594 -0.03649357 -0.97755059] [ 0.0024066 0.99999599 -0.00149068 -0.04191478] [ 0.03649709 0.00140186 0.99933278 -0.30449953] [ 0. 0. 0. 1. ]] SLAMing on 131.343133365 meters Centerline goodness : 0.160068 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:-0.30 [[ 0.99933612 -0.00237885 -0.03635465 -0.97780453] [ 0.00232716 0.99999622 -0.00146415 -0.04148012] [ 0.036358 0.00137858 0.99933788 -0.30465959] [ 0. 0. 0. 1. ]] SLAMing on 131.373133365 meters Centerline goodness : 0.163385 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.99934769 0.00603189 -0.03560636 -0.95826903] [-0.00615349 0.9999756 -0.00330669 -0.0432757 ] [ 0.03558554 0.00352364 0.99936042 -0.30299764] [ 0. 0. 0. 1. ]] SLAMing on 131.403133365 meters Centerline goodness : 0.124215 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.9993471 0.00593524 -0.03563904 -0.95842954] [-0.00606299 0.99997557 -0.00347748 -0.04276958] [ 0.03561753 0.00369129 0.99935868 -0.30265403] [ 0. 0. 0. 1. ]] SLAMing on 131.433133365 meters Centerline goodness : 0.164444 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.99934881 0.00594134 -0.03559024 -0.95877838] [-0.00607153 0.99997526 -0.00355106 -0.04217541] [ 0.03556827 0.00376483 0.99936016 -0.30236544] [ 0. 0. 0. 1. ]] SLAMing on 131.463133365 meters Centerline goodness : 0.143766 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.99935371 0.00598356 -0.0354452 -0.95910078] [-0.00611587 0.99997473 -0.00362564 -0.0411928 ] [ 0.03542261 0.00384007 0.99936504 -0.30244861] [ 0. 0. 0. 1. ]] SLAMing on 131.493133365 meters Centerline goodness : 0.114695 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.99935926 0.00593463 -0.03529666 -0.95927231] [-0.00607326 0.99997425 -0.00382188 -0.0400266 ] [ 0.03527307 0.0040338 0.99936957 -0.3027355 ] [ 0. 0. 0. 1. ]] SLAMing on 131.52313336499998 meters Centerline goodness : 0.124172 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.99936332 0.00582613 -0.03519964 -0.95945598] [-0.0059715 0.99997407 -0.00402589 -0.03931262] [ 0.03517527 0.00423352 0.99937219 -0.30283003] [ 0. 0. 0. 1. ]] SLAMing on 131.55313336499998 meters Centerline goodness : 0.125312 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.99935787 0.00561282 -0.03538848 -0.95921237] [-0.00576835 0.99997414 -0.00429433 -0.03870346] [ 0.03536346 0.00449571 0.99936441 -0.3025702 ] [ 0. 0. 0. 1. ]] SLAMing on 131.58313336499998 meters Centerline goodness : 0.125156 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.99935419 0.00564817 -0.0354865 -0.95900852] [-0.00580346 0.99997402 -0.0042746 -0.03841484] [ 0.03546144 0.00447778 0.99936101 -0.30257825] [ 0. 0. 0. 1. ]] SLAMing on 131.61313336499998 meters Centerline goodness : 0.160671 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99936574 -0.00120555 -0.03559018 -0.94050683] [ 0.00110243 0.99999514 -0.00291711 -0.0324843 ] [ 0.03559352 0.00287603 0.99936221 -0.30021572] [ 0. 0. 0. 1. ]] SLAMing on 131.64313336499998 meters Centerline goodness : 0.166450 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99936701 -0.0012398 -0.03555335 -0.94073173] [ 0.00113557 0.999995 -0.00295147 -0.03238624] [ 0.03555683 0.00290923 0.99936342 -0.3000073 ] [ 0. 0. 0. 1. ]] SLAMing on 131.67313336499998 meters Centerline goodness : 0.134389 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99936649 -0.00133099 -0.03556458 -0.94082948] [ 0.00122455 0.99999471 -0.00301472 -0.03257664] [ 0.0355684 0.00296926 0.99936283 -0.29982574] [ 0. 0. 0. 1. ]] SLAMing on 131.70313336499999 meters Centerline goodness : 0.137222 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99935916 -0.0014408 -0.03576571 -0.94032158] [ 0.00132812 0.99999408 -0.00317418 -0.03216886] [ 0.03577007 0.00312465 0.99935516 -0.29988463] [ 0. 0. 0. 1. ]] SLAMing on 131.733133365 meters SLAMing on 131.763133365 meters Centerline goodness : 0.135356 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99934669 -0.0014635 -0.03611176 -0.93914242] [ 0.00134006 0.99999318 -0.00344226 -0.03009939] [ 0.03611655 0.00339161 0.99934183 -0.30053917] [ 0. 0. 0. 1. ]] SLAMing on 131.793133365 meters Centerline goodness : 0.169304 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99934835 -0.00154934 -0.0360621 -0.93927144] [ 0.00141123 0.99999157 -0.0038548 -0.02747767] [ 0.03606776 0.0038014 0.99934212 -0.30061489] [ 0. 0. 0. 1. ]] SLAMing on 131.823133365 meters Centerline goodness : 0.126837 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99935469 -0.00162865 -0.03588259 -0.94008898] [ 0.00148237 0.99999048 -0.00410278 -0.02620956] [ 0.03588893 0.00404694 0.99934759 -0.3000496 ] [ 0. 0. 0. 1. ]] SLAMing on 131.853133365 meters Centerline goodness : 0.135973 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99936027 -0.0016867 -0.03572401 -0.94084066] [ 0.00153368 0.99998953 -0.00431034 -0.02511138] [ 0.0357309 0.00425279 0.9993524 -0.29951783] [ 0. 0. 0. 1. ]] SLAMing on 131.883133365 meters Centerline goodness : 0.165698 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99936242 -0.00171686 -0.03566248 -0.9410735 ] [ 0.00155885 0.99998885 -0.00445807 -0.02416181] [ 0.03566974 0.00439963 0.99935395 -0.29944428] [ 0. 0. 0. 1. ]] SLAMing on 131.913133365 meters Centerline goodness : 0.139229 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99936306 -0.00167685 -0.03564649 -0.94110697] [ 0.00151679 0.99998865 -0.00451689 -0.02340099] [ 0.03565366 0.00445994 0.99935425 -0.29951531] [ 0. 0. 0. 1. ]] SLAMing on 131.943133365 meters Centerline goodness : 0.152033 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99938017 -0.0015279 -0.03517012 -0.94228498] [ 0.00137511 0.99998952 -0.00436794 -0.02344459] [ 0.03517643 0.00431687 0.99937179 -0.29951264] [ 0. 0. 0. 1. ]] SLAMing on 131.973133365 meters Centerline goodness : 0.166263 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99938867 -0.00156422 -0.03492627 -0.94308341] [ 0.00141219 0.99998942 -0.00437721 -0.02378617] [ 0.03493275 0.00432521 0.99938031 -0.29919673] [ 0. 0. 0. 1. ]] SLAMing on 132.003133365 meters Centerline goodness : 0.163645 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99939062 -0.00168412 -0.03486479 -0.9433897 ] [ 0.00152704 0.99998857 -0.00453151 -0.02363761] [ 0.03487203 0.00447551 0.99938176 -0.29895193] [ 0. 0. 0. 1. ]] SLAMing on 132.033133365 meters Centerline goodness : 0.158952 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99938773 -0.00176741 -0.03494337 -0.94322918] [ 0.00160326 0.99998755 -0.00472493 -0.02293424] [ 0.03495128 0.00466601 0.99937812 -0.2989296 ] [ 0. 0. 0. 1. ]] SLAMing on 132.063133365 meters Centerline goodness : 0.142764 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99938426 -0.00176443 -0.03504258 -0.94281477] [ 0.00159396 0.99998676 -0.004892 -0.02177117] [ 0.03505075 0.00483313 0.99937385 -0.29929094] [ 0. 0. 0. 1. ]] SLAMing on 132.093133365 meters Centerline goodness : 0.123898 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99938501 -0.00169234 -0.03502496 -0.94247229] [ 0.00151631 0.99998609 -0.00505182 -0.02012759] [ 0.03503302 0.0049956 0.99937367 -0.29997008] [ 0. 0. 0. 1. ]] SLAMing on 132.123133365 meters Centerline goodness : 0.121976 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99939958 -0.00119227 -0.03462728 -0.94293508] [ 0.00101609 0.99998645 -0.00510512 -0.01683933] [ 0.0346329 0.00506687 0.99938726 -0.30079564] [ 0. 0. 0. 1. ]] SLAMing on 132.153133365 meters Centerline goodness : 0.161396 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:-0.30 [[ 0.99939971 -0.00136125 -0.03461741 -0.94285695] [ 0.00116936 0.99998384 -0.00556268 -0.01466256] [ 0.03462443 0.00551886 0.99938516 -0.30101789] [ 0. 0. 0. 1. ]] SLAMing on 132.183133365 meters Centerline goodness : 0.163875 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:-0.30 [[ 0.99939183 -0.00154998 -0.03483624 -0.94221636] [ 0.00134036 0.99998086 -0.00603976 -0.01251881] [ 0.03484494 0.00598939 0.99937478 -0.30128222] [ 0. 0. 0. 1. ]] SLAMing on 132.213133365 meters Centerline goodness : 0.164161 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:-0.30 [[ 0.99937962 -0.00175043 -0.03517553 -0.94117626] [ 0.0015217 0.99997753 -0.00652811 -0.01029536] [ 0.03518617 0.00647053 0.99935983 -0.30169884] [ 0. 0. 0. 1. ]] SLAMing on 132.243133365 meters Centerline goodness : 0.140951 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:-0.30 [[ 0.99937473 -0.00187488 -0.03530764 -0.9408037 ] [ 0.00163242 0.9999749 -0.00689455 -0.00823848] [ 0.03531968 0.0068326 0.99935271 -0.3018996 ] [ 0. 0. 0. 1. ]] SLAMing on 132.27313336499998 meters Centerline goodness : 0.140232 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:-0.30 [[ 0.99938289 -0.00196769 -0.03507095 -0.94153522] [ 0.00171579 0.99997253 -0.00721124 -0.00627874] [ 0.03508418 0.00714662 0.99935881 -0.30173979] [ 0. 0. 0. 1. ]] SLAMing on 132.30313336499998 meters Centerline goodness : 0.164491 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.00, Z:-0.30 [[ 0.99941205 -0.00188349 -0.03423469 -0.94495279] [ 0.00163374 0.99997186 -0.00732179 -0.0039462 ] [ 0.03424752 0.00726155 0.999387 -0.29984184] [ 0. 0. 0. 1. ]] SLAMing on 132.33313336499998 meters Centerline goodness : 0.149976 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:-0.30 [[ 0.99941733 -0.00199191 -0.03407381 -0.94580487] [ 0.0017366 0.99997021 -0.00752069 -0.00293457] [ 0.03408777 0.00745714 0.99939102 -0.29916378] [ 0. 0. 0. 1. ]] SLAMing on 132.36313336499998 meters Centerline goodness : 0.146933 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:-0.30 [[ 0.99940897 -0.00214097 -0.03430927 -0.94514598] [ 0.00187609 0.9999682 -0.00775085 -0.00208576] [ 0.03432478 0.0076819 0.99938121 -0.29932245] [ 0. 0. 0. 1. ]] SLAMing on 132.39313336499998 meters Centerline goodness : 0.148768 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.00, Z:-0.30 [[ 0.99939257 -0.00229577 -0.03477371 -0.94360545] [ 0.00201861 0.99996594 -0.00800333 -0.00109865] [ 0.0347909 0.00792827 0.99936317 -0.29998365] [ 0. 0. 0. 1. ]] SLAMing on 132.42313336499998 meters Centerline goodness : 0.122427 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:-0.30 [[ 9.99382712e-01 -2.40683988e-03 -3.50485653e-02 -9.42536457e-01] [ 2.11900021e-03 9.99963744e-01 -8.24742570e-03 4.34356045e-05] [ 3.50671448e-02 8.16806675e-03 9.99351579e-01 -3.00641198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45313336499999 meters Centerline goodness : 0.141080 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:-0.30 [[ 0.99937988 -0.0025822 -0.0351169 -0.94238133] [ 0.00227526 0.99995889 -0.00877764 0.00307854] [ 0.03513813 0.00869229 0.99934466 -0.30070212] [ 0. 0. 0. 1. ]] SLAMing on 132.483133365 meters Centerline goodness : 0.153547 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:-0.30 [[ 0.99938206 -0.00265737 -0.03504905 -0.94270669] [ 0.00234221 0.99995649 -0.00902997 0.00454878] [ 0.03507152 0.00894229 0.9993448 -0.30049501] [ 0. 0. 0. 1. ]] SLAMing on 132.513133365 meters SLAMing on 132.543133365 meters Centerline goodness : 0.112507 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.01, Z:-0.30 [[ 0.99937737 -0.00283736 -0.03516835 -0.9422358 ] [ 0.00250286 0.99995125 -0.00955195 0.00717962] [ 0.03519373 0.00945799 0.99933575 -0.30085041] [ 0. 0. 0. 1. ]] SLAMing on 132.573133365 meters Centerline goodness : 0.112507 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.01, Z:-0.30 [[ 0.99937737 -0.00283736 -0.03516835 -0.9422358 ] [ 0.00250286 0.99995125 -0.00955195 0.00717962] [ 0.03519373 0.00945799 0.99933575 -0.30085041] [ 0. 0. 0. 1. ]] SLAMing on 132.603133365 meters Centerline goodness : 0.036784 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.01, Z:-0.30 [[ 0.99937493 -0.00293066 -0.03523017 -0.94200724] [ 0.00258784 0.9999489 -0.00977229 0.00815293] [ 0.03525701 0.00967501 0.99933145 -0.30101539] [ 0. 0. 0. 1. ]] SLAMing on 132.633133365 meters Centerline goodness : 0.152877 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.01, Z:-0.30 [[ 0.99937218 -0.00298573 -0.03530339 -0.94181602] [ 0.00263855 0.99994774 -0.00987681 0.00856691] [ 0.03533103 0.00977746 0.99932783 -0.3010761 ] [ 0. 0. 0. 1. ]] SLAMing on 132.663133365 meters Centerline goodness : 0.116838 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:-0.30 [[ 0.9993406 -0.01069548 -0.03469841 -0.92252274] [ 0.01038807 0.99990529 -0.00902781 0.01335356] [ 0.03479168 0.00866141 0.99935705 -0.29874118] [ 0. 0. 0. 1. ]] SLAMing on 132.693133365 meters Centerline goodness : 0.150672 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:-0.30 [[ 0.99935026 -0.01062403 -0.03444103 -0.92358751] [ 0.01032497 0.99990754 -0.00884952 0.01267167] [ 0.03453186 0.00848817 0.99936755 -0.29806746] [ 0. 0. 0. 1. ]] SLAMing on 132.723133365 meters SLAMing on 132.753133365 meters Centerline goodness : 0.150904 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:-0.30 [[ 0.99947574 -0.00376565 -0.03215689 -0.94331149] [ 0.00347645 0.99995305 -0.00904457 0.00493029] [ 0.03218944 0.00892804 0.99944191 -0.29990331] [ 0. 0. 0. 1. ]] SLAMing on 132.783133365 meters Centerline goodness : 0.158165 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:-0.30 [[ 0.99947358 -0.00372597 -0.03222843 -0.9429904 ] [ 0.00344146 0.99995466 -0.0088789 0.00405322] [ 0.03226005 0.00876331 0.99944109 -0.30011069] [ 0. 0. 0. 1. ]] SLAMing on 132.813133365 meters Centerline goodness : 0.140631 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.00, Z:-0.30 [[ 9.99391475e-01 -4.36672600e-03 -3.46065195e-02 -9.88955056e-01] [ 4.08939105e-03 9.99958989e-01 -8.08068443e-03 -7.57165158e-04] [ 3.46403864e-02 7.93424754e-03 9.99368346e-01 -2.99902258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.843133365 meters Centerline goodness : 0.117377 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:-0.30 [[ 0.99938274 0.00362682 -0.03494254 -0.97003253] [-0.00395792 0.99994788 -0.00941099 -0.0058328 ] [ 0.03490658 0.00954348 0.99934501 -0.29749982] [ 0. 0. 0. 1. ]] SLAMing on 132.873133365 meters Centerline goodness : 0.133937 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:-0.30 [[ 0.99937556 0.00366003 -0.03514391 -0.9694767 ] [-0.00399041 0.99994846 -0.00933548 -0.00624524] [ 0.03510793 0.00946989 0.99933866 -0.29761675] [ 0. 0. 0. 1. ]] SLAMing on 132.903133365 meters Centerline goodness : 0.150985 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:-0.30 [[ 0.99937463 0.00369065 -0.03516727 -0.96937595] [-0.00401945 0.99994883 -0.00928366 -0.00649569] [ 0.0351312 0.0094192 0.99933832 -0.29765422] [ 0. 0. 0. 1. ]] SLAMing on 132.933133365 meters Centerline goodness : 0.135810 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:-0.30 [[ 0.99938313 0.00374982 -0.03491833 -0.97023831] [-0.00407555 0.9999488 -0.00926167 -0.00644785] [ 0.03488181 0.00939827 0.99934725 -0.29725364] [ 0. 0. 0. 1. ]] SLAMing on 132.963133365 meters Centerline goodness : 0.115735 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:-0.30 [[ 0.99939413 0.003753 -0.03460194 -0.97126134] [-0.00407991 0.99994767 -0.00938197 -0.00576282] [ 0.03456492 0.00951746 0.99935714 -0.29685239] [ 0. 0. 0. 1. ]] SLAMing on 132.993133365 meters Centerline goodness : 0.138897 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.00, Z:-0.30 [[ 0.99940499 0.00380738 -0.03428068 -0.97207717] [-0.00413723 0.99994578 -0.00955627 -0.00453301] [ 0.03424244 0.00969241 0.99936656 -0.29681317] [ 0. 0. 0. 1. ]] SLAMing on 133.02313336499998 meters Centerline goodness : 0.140569 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.00, Z:-0.30 [[ 0.99939651 0.00424974 -0.03447535 -0.97127498] [-0.00458712 0.99994231 -0.00971312 -0.00180372] [ 0.03443209 0.0098654 0.99935835 -0.29752294] [ 0. 0. 0. 1. ]] SLAMing on 133.05313336499998 meters Centerline goodness : 0.140569 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.00, Z:-0.30 [[ 0.99939651 0.00424974 -0.03447535 -0.97127498] [-0.00458712 0.99994231 -0.00971312 -0.00180372] [ 0.03443209 0.0098654 0.99935835 -0.29752294] [ 0. 0. 0. 1. ]] SLAMing on 133.08313336499998 meters Centerline goodness : 0.138582 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.00, Z:-0.30 [[ 9.99394232e-01 4.17278722e-03 -3.45507836e-02 -9.70761368e-01] [-4.52260915e-03 9.99939241e-01 -1.00529071e-02 7.93366845e-05] [ 3.45067357e-02 1.02030771e-02 9.99352382e-01 -2.98076528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11313336499998 meters Centerline goodness : 0.142799 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.00, Z:-0.30 [[ 0.99938393 0.00418287 -0.03484617 -0.96965932] [-0.00455525 0.9999333 -0.01061382 0.00364565] [ 0.03479945 0.01076601 0.99933633 -0.29880974] [ 0. 0. 0. 1. ]] SLAMing on 133.14313336499998 meters Centerline goodness : 0.159260 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.01, Z:-0.30 [[ 0.99938681 0.0040714 -0.03477676 -0.96987148] [-0.00445428 0.99993024 -0.01093933 0.00534023] [ 0.0347298 0.01108753 0.99933523 -0.29881687] [ 0. 0. 0. 1. ]] SLAMing on 133.17313336499998 meters Centerline goodness : 0.137051 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:-0.30 [[ 0.9994079 -0.00413638 -0.03415748 -0.99024967] [ 0.00381089 0.99994676 -0.0095888 0.01037904] [ 0.03419532 0.00945296 0.99937046 -0.30072478] [ 0. 0. 0. 1. ]] SLAMing on 133.20313336499999 meters Centerline goodness : 0.140626 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:-0.30 [[ 0.99941622 -0.0041116 -0.03391628 -0.99117117] [ 0.00378594 0.99994617 -0.00966039 0.01125944] [ 0.03395418 0.00952634 0.99937799 -0.30025003] [ 0. 0. 0. 1. ]] SLAMing on 133.233133365 meters Centerline goodness : 0.147178 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:-0.30 [[ 0.99942305 -0.00409702 -0.03371624 -0.99178239] [ 0.00377183 0.99994581 -0.00970276 0.01182468] [ 0.03375416 0.00956999 0.99938435 -0.30010913] [ 0. 0. 0. 1. ]] SLAMing on 133.263133365 meters Centerline goodness : 0.144865 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.01, Z:-0.30 [[ 0.99944376 0.00315855 -0.03319929 -1.01039809] [-0.00352533 0.99993334 -0.01099493 0.00761233] [ 0.03316235 0.01110585 0.99938827 -0.30258495] [ 0. 0. 0. 1. ]] SLAMing on 133.293133365 meters Centerline goodness : 0.149660 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:-0.30 [[ 0.99944091 -0.00427395 -0.03316008 -0.99149477] [ 0.0039419 0.9999415 -0.01007244 0.01339099] [ 0.03320119 0.0099361 0.9993993 -0.30063611] [ 0. 0. 0. 1. ]] SLAMing on 133.323133365 meters Centerline goodness : 0.139688 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:-0.30 [[ 0.99944467 -0.00425043 -0.03304961 -0.99186536] [ 0.00391814 0.99994119 -0.01011259 0.01399784] [ 0.03309065 0.00997748 0.99940255 -0.30053748] [ 0. 0. 0. 1. ]] SLAMing on 133.353133365 meters Centerline goodness : 0.145170 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:-0.30 [[ 0.99944888 -0.00421452 -0.03292672 -0.99221146] [ 0.00388134 0.99994069 -0.01017603 0.01491585] [ 0.03296765 0.01004262 0.99940596 -0.30049677] [ 0. 0. 0. 1. ]] SLAMing on 133.383133365 meters Centerline goodness : 0.155786 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:-0.30 [[ 0.99945202 -0.00424855 -0.03282696 -0.99232137] [ 0.00391104 0.9999389 -0.010339 0.01601646] [ 0.03286888 0.01020495 0.99940757 -0.3007319 ] [ 0. 0. 0. 1. ]] SLAMing on 133.413133365 meters Centerline goodness : 0.106219 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:-0.30 [[ 0.99945185 -0.00430815 -0.03282423 -0.99209805] [ 0.00396494 0.99993687 -0.01051391 0.0169555 ] [ 0.03286745 0.010378 0.99940584 -0.30112921] [ 0. 0. 0. 1. ]] SLAMing on 133.443133365 meters Centerline goodness : 0.150109 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:-0.30 [[ 0.99943383 -0.0045207 -0.03334053 -0.990283 ] [ 0.00415691 0.99993116 -0.01097273 0.01883035] [ 0.03338784 0.01082792 0.99938381 -0.30202696] [ 0. 0. 0. 1. ]] SLAMing on 133.473133365 meters Centerline goodness : 0.166220 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:-0.30 [[ 0.9994299 -0.00454735 -0.03345429 -0.98990655] [ 0.00417718 0.99992937 -0.01112651 0.01981907] [ 0.03350252 0.01098042 0.99937831 -0.30225918] [ 0. 0. 0. 1. ]] SLAMing on 133.503133365 meters Centerline goodness : 0.129349 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:-0.30 [[ 0.99943111 -0.00454199 -0.03341889 -0.99002137] [ 0.00416694 0.99992765 -0.01128389 0.0211283 ] [ 0.03346772 0.01113822 0.99937773 -0.30224376] [ 0. 0. 0. 1. ]] SLAMing on 133.533133365 meters Centerline goodness : 0.159301 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.02, Z:-0.30 [[ 0.99948404 0.00301151 -0.03197782 -1.0100658 ] [-0.00339936 0.99992124 -0.01208115 0.01701411] [ 0.03193892 0.01218362 0.99941556 -0.30450636] [ 0. 0. 0. 1. ]] SLAMing on 133.563133365 meters Centerline goodness : 0.142994 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.02, Z:-0.30 [[ 0.99949394 0.00292518 -0.03167488 -1.01092018] [-0.00331697 0.99991856 -0.01232353 0.01823282] [ 0.03163625 0.01242236 0.99942225 -0.30432006] [ 0. 0. 0. 1. ]] SLAMing on 133.593133365 meters Centerline goodness : 0.139489 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.02, Z:-0.30 [[ 0.99950062 0.00281431 -0.03147378 -1.01145179] [-0.00321073 0.99991607 -0.01255191 0.01927469] [ 0.03143582 0.0126467 0.99942576 -0.30425128] [ 0. 0. 0. 1. ]] SLAMing on 133.623133365 meters Centerline goodness : 0.128690 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.02, Z:-0.30 [[ 0.99950514 0.00266101 -0.03134319 -1.01157727] [-0.00306608 0.99991231 -0.01288298 0.02097011] [ 0.03130616 0.01297271 0.99942565 -0.30457735] [ 0. 0. 0. 1. ]] SLAMing on 133.653133365 meters Centerline goodness : 0.129405 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.02, Z:-0.30 [[ 0.99950789 0.00265043 -0.0312561 -1.01184043] [-0.00305707 0.99991122 -0.01296933 0.02171122] [ 0.03121895 0.0130585 0.99942726 -0.30452389] [ 0. 0. 0. 1. ]] SLAMing on 133.683133365 meters Centerline goodness : 0.125694 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.02, Z:-0.30 [[ 0.99951432 0.00258817 -0.0310551 -1.01251063] [-0.0029967 0.9999095 -0.01311554 0.02254357] [ 0.03101835 0.01320223 0.99943162 -0.30424994] [ 0. 0. 0. 1. ]] SLAMing on 133.713133365 meters Centerline goodness : 0.158390 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.02, Z:-0.30 [[ 0.99952015 0.00248492 -0.03087536 -1.01311414] [-0.00289775 0.99990691 -0.01333308 0.02358072] [ 0.03083935 0.01341615 0.99943431 -0.30402312] [ 0. 0. 0. 1. ]] SLAMing on 133.743133365 meters Centerline goodness : 0.148070 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.03, Z:-0.30 [[ 0.99952403 0.00232327 -0.03076236 -1.01352012] [-0.00274584 0.99990236 -0.01370176 0.02528091] [ 0.03072753 0.0137797 0.99943281 -0.30384694] [ 0. 0. 0. 1. ]] SLAMing on 133.77313336499998 meters Centerline goodness : 0.125643 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.03, Z:-0.30 [[ 0.99952593 0.0022092 -0.03070901 -1.01363428] [-0.00264224 0.99989755 -0.01406803 0.02728485] [ 0.03067478 0.01414251 0.99942936 -0.30391077] [ 0. 0. 0. 1. ]] SLAMing on 133.80313336499998 meters Centerline goodness : 0.125671 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.03, Z:-0.30 [[ 0.99951709 0.00202622 -0.03100765 -1.01257579] [-0.00248841 0.99988628 -0.0148742 0.0322488 ] [ 0.03097399 0.01494418 0.99940847 -0.30447056] [ 0. 0. 0. 1. ]] SLAMing on 133.83313336499998 meters Centerline goodness : 0.160794 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.04, Z:-0.30 [[ 0.99951938 0.00180031 -0.03094784 -1.01269599] [-0.00228053 0.99987744 -0.01548876 0.03524875] [ 0.03091616 0.01555189 0.99940099 -0.30456723] [ 0. 0. 0. 1. ]] SLAMing on 133.86313336499998 meters Centerline goodness : 0.124278 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.04, Z:-0.30 [[ 0.99949265 -0.00498911 -0.03145726 -0.99555898] [ 0.00453015 0.9998825 -0.01464451 0.04432901] [ 0.03152663 0.01449457 0.99939781 -0.3018217 ] [ 0. 0. 0. 1. ]] SLAMing on 133.89313336499998 meters Centerline goodness : 0.122610 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.05, Z:-0.30 [[ 0.99949789 -0.00518063 -0.03125893 -0.9961148 ] [ 0.00470595 0.99987279 -0.01523989 0.04749705] [ 0.0313339 0.01508514 0.99939513 -0.30178424] [ 0. 0. 0. 1. ]] SLAMing on 133.92313336499998 meters Centerline goodness : 0.123874 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.05, Z:-0.30 [[ 0.99953059 -0.00343092 -0.03044374 -0.99976211] [ 0.00300976 0.99989929 -0.01386909 0.05186867] [ 0.03048826 0.01377095 0.99944026 -0.30007331] [ 0. 0. 0. 1. ]] SLAMing on 133.95313336499999 meters Centerline goodness : 0.158806 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.05, Z:-0.30 [[ 9.99538496e-01 1.59911705e-04 -3.03771161e-02 -1.00003330e+00] [-4.80812742e-04 9.99944159e-01 -1.05568965e-02 5.36199093e-02] [ 3.03737316e-02 1.05666301e-02 9.99482758e-01 -2.99889310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.983133365 meters Centerline goodness : 0.163562 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.06, Z:-0.30 [[ 0.99953325 0.00371884 -0.03032262 -1.00033439] [-0.00395621 0.99996197 -0.00777198 0.05903579] [ 0.03029256 0.00788832 0.99950995 -0.29966731] [ 0. 0. 0. 1. ]] SLAMing on 134.013133365 meters Centerline goodness : 0.168178 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.06, Z:-0.30 [[ 0.99953804 0.00346153 -0.03019489 -1.0006623 ] [-0.00371898 0.99995718 -0.00847419 0.06257078] [ 0.03016427 0.00858257 0.99950811 -0.2997192 ] [ 0. 0. 0. 1. ]] SLAMing on 134.043133365 meters Centerline goodness : 0.164366 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.07, Z:-0.30 [[ 0.99954199 0.00318611 -0.03009429 -1.00094742] [-0.00346424 0.99995173 -0.00919413 0.06624882] [ 0.03006355 0.00929418 0.99950478 -0.29974339] [ 0. 0. 0. 1. ]] SLAMing on 134.073133365 meters Centerline goodness : 0.168713 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.07, Z:-0.30 [[ 0.99954333 0.00295861 -0.03007291 -1.00095661] [-0.00325699 0.99994591 -0.00987771 0.069912 ] [ 0.03004206 0.00997114 0.9994989 -0.29991356] [ 0. 0. 0. 1. ]] SLAMing on 134.103133365 meters Centerline goodness : 0.173242 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.07, Z:-0.30 [[ 0.9995402 0.00275659 -0.03019573 -1.00055994] [-0.00307576 0.99993984 -0.01052869 0.07352675] [ 0.03016489 0.01061672 0.99948855 -0.30016104] [ 0. 0. 0. 1. ]] SLAMing on 134.133133365 meters Centerline goodness : 0.177305 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.08, Z:-0.30 [[ 0.99953873 0.00254098 -0.03026328 -1.00022864] [-0.0028801 0.9999335 -0.01116735 0.07695604] [ 0.03023289 0.01124936 0.99947958 -0.30046366] [ 0. 0. 0. 1. ]] SLAMing on 134.163133365 meters Centerline goodness : 0.166290 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.08, Z:-0.30 [[ 0.99954641 0.0020728 -0.03004474 -1.0010491 ] [-0.00244065 0.99992245 -0.01221185 0.08187419] [ 0.0300171 0.01227963 0.99947395 -0.30008014] [ 0. 0. 0. 1. ]] SLAMing on 134.193133365 meters Centerline goodness : 0.095801 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.08, Z:-0.30 [[ 0.99954747 0.00193967 -0.03001813 -1.00131582] [-0.00231663 0.99991884 -0.012528 0.08353259] [ 0.02999139 0.01259188 0.99947084 -0.29979737] [ 0. 0. 0. 1. ]] SLAMing on 134.223133365 meters Centerline goodness : 0.165812 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99955051 -0.00389376 -0.02972577 -0.97977445] [ 0.00360541 0.99994599 -0.00974784 0.08867135] [ 0.02976212 0.00963629 0.99951056 -0.29912295] [ 0. 0. 0. 1. ]] SLAMing on 134.253133365 meters Centerline goodness : 0.169555 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99954928 -0.00397502 -0.02975642 -0.97957035] [ 0.00368082 0.99994387 -0.0099351 0.08974811] [ 0.02979425 0.0098211 0.9995078 -0.29934074] [ 0. 0. 0. 1. ]] SLAMing on 134.283133365 meters Centerline goodness : 0.170016 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99954709 -0.00405024 -0.02981962 -0.9791335 ] [ 0.00375148 0.99994228 -0.01006798 0.09032594] [ 0.02985868 0.00995155 0.99950459 -0.2997648 ] [ 0. 0. 0. 1. ]] SLAMing on 134.313133365 meters Centerline goodness : 0.102619 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.09, Z:-0.30 [[ 0.99955473 0.00200098 -0.02977133 -1.00152266] [-0.0023803 0.99991638 -0.01271094 0.08641323] [ 0.0297434 0.01277615 0.99947591 -0.30060883] [ 0. 0. 0. 1. ]] SLAMing on 134.343133365 meters Centerline goodness : 0.134925 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99958272 -0.00644429 -0.02815763 -0.98195388] [ 0.00610373 0.99990739 -0.01216404 0.0907034 ] [ 0.02823341 0.0119871 0.99952948 -0.29912258] [ 0. 0. 0. 1. ]] SLAMing on 134.373133365 meters Centerline goodness : 0.117494 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99958678 -0.00644031 -0.02801416 -0.98249206] [ 0.00610202 0.99990764 -0.0121444 0.0907052 ] [ 0.02808979 0.01196844 0.99953375 -0.29884841] [ 0. 0. 0. 1. ]] SLAMing on 134.403133365 meters Centerline goodness : 0.168771 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99958653 -0.00647077 -0.02801611 -0.98251848] [ 0.00612959 0.99990622 -0.01224669 0.09132199] [ 0.02809272 0.0120699 0.99953245 -0.29884063] [ 0. 0. 0. 1. ]] SLAMing on 134.433133365 meters Centerline goodness : 0.235695 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.09, Z:-0.30 [[ 0.99961091 0.00146483 -0.02785461 -1.00156388] [-0.00183515 0.99991022 -0.0132738 0.08618529] [ 0.02783266 0.01331975 0.99952385 -0.30131594] [ 0. 0. 0. 1. ]] SLAMing on 134.463133365 meters SLAMing on 134.493133365 meters Centerline goodness : 0.175241 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.09, Z:-0.30 [[ 0.99960906 0.00141696 -0.02792348 -1.00099562] [-0.00178883 0.99990999 -0.01329726 0.08572823] [ 0.02790212 0.01334201 0.99952162 -0.30193666] [ 0. 0. 0. 1. ]] SLAMing on 134.52313336499998 meters Centerline goodness : 0.175241 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.09, Z:-0.30 [[ 0.99960906 0.00141696 -0.02792348 -1.00099562] [-0.00178883 0.99990999 -0.01329726 0.08572823] [ 0.02790212 0.01334201 0.99952162 -0.30193666] [ 0. 0. 0. 1. ]] SLAMing on 134.55313336499998 meters Centerline goodness : 0.171471 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99957534 -0.00599371 -0.02851698 -0.98230251] [ 0.00564872 0.99991007 -0.0121629 0.09028782] [ 0.02858731 0.01199666 0.99951931 -0.29970719] [ 0. 0. 0. 1. ]] SLAMing on 134.58313336499998 meters Centerline goodness : 0.088652 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.08, Z:-0.30 [[ 0.9995327 0.00206614 -0.03049778 -1.00074178] [-0.00246129 0.99991344 -0.01292488 0.08242299] [ 0.03046844 0.01299391 0.99945127 -0.30178958] [ 0. 0. 0. 1. ]] SLAMing on 134.61313336499998 meters Centerline goodness : 0.103914 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.08, Z:-0.30 [[ 0.99952115 0.00214863 -0.0308682 -0.99942566] [-0.0025414 0.99991624 -0.01269067 0.08113824] [ 0.03083835 0.01276304 0.9994429 -0.30248016] [ 0. 0. 0. 1. ]] SLAMing on 134.64313336499998 meters Centerline goodness : 0.167884 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.08, Z:-0.30 [[ 0.99942952 0.00149389 -0.03374031 -1.04289159] [-0.00192187 0.99991807 -0.01265543 0.07605373] [ 0.03371864 0.01271305 0.9993505 -0.30361737] [ 0. 0. 0. 1. ]] SLAMing on 134.67313336499998 meters Centerline goodness : 0.164226 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.30 [[ 0.99944489 -0.00611686 -0.03274896 -1.02377848] [ 0.00574646 0.99991859 -0.01139227 0.07939909] [ 0.03281598 0.01119775 0.99939868 -0.30214185] [ 0. 0. 0. 1. ]] SLAMing on 134.70313336499999 meters Centerline goodness : 0.092687 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.08, Z:-0.30 [[ 0.99952516 0.00220607 -0.03073417 -1.00525001] [-0.00259193 0.99991825 -0.01252077 0.07619118] [ 0.03070404 0.01259448 0.99944917 -0.30021432] [ 0. 0. 0. 1. ]] SLAMing on 134.733133365 meters Centerline goodness : 0.163085 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.08, Z:-0.30 [[ 0.99954663 0.00238689 -0.03001386 -1.00749786] [-0.0027581 0.99992014 -0.0123328 0.07581453] [ 0.02998203 0.01240999 0.9994734 -0.29947119] [ 0. 0. 0. 1. ]] SLAMing on 134.763133365 meters Centerline goodness : 0.156485 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.08, Z:-0.30 [[ 0.99957848 0.0029153 -0.02888536 -1.01032108] [-0.00326912 0.99992012 -0.01220942 0.0771425 ] [ 0.02884746 0.0122987 0.99950816 -0.2994027 ] [ 0. 0. 0. 1. ]] SLAMing on 134.793133365 meters Centerline goodness : 0.167249 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.08, Z:-0.30 [[ 0.99956474 0.00296177 -0.02935242 -1.0087544 ] [-0.00333195 0.99991543 -0.01257065 0.07945277] [ 0.0293127 0.01266298 0.99949008 -0.30025632] [ 0. 0. 0. 1. ]] SLAMing on 134.823133365 meters Centerline goodness : 0.164285 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.08, Z:-0.30 [[ 0.99953743 0.00306299 -0.03025786 -1.00595967] [-0.00345627 0.99991012 -0.01295403 0.08209657] [ 0.03021546 0.01305262 0.99945818 -0.30139132] [ 0. 0. 0. 1. ]] SLAMing on 134.853133365 meters Centerline goodness : 0.168185 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.08, Z:-0.30 [[ 0.99952067 0.00300938 -0.03081191 -1.00418662] [-0.0034253 0.99990361 -0.01345474 0.08497591] [ 0.03076845 0.01355383 0.99943464 -0.30222271] [ 0. 0. 0. 1. ]] SLAMing on 134.883133365 meters Centerline goodness : 0.171783 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.09, Z:-0.30 [[ 0.99951234 0.00290971 -0.03109046 -1.00318086] [-0.00334379 0.99989754 -0.01391892 0.087584 ] [ 0.03104677 0.01401609 0.99941966 -0.30288596] [ 0. 0. 0. 1. ]] SLAMing on 134.913133365 meters Centerline goodness : 0.168153 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.10, Z:-0.30 [[ 0.99946406 -0.00260789 -0.03263115 -0.98306352] [ 0.0022284 0.99992953 -0.01166063 0.09522317] [ 0.03265926 0.01158167 0.99939944 -0.30089715] [ 0. 0. 0. 1. ]] SLAMing on 134.943133365 meters Centerline goodness : 0.105093 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.10, Z:-0.30 [[ 0.99947536 -0.00283666 -0.03226388 -0.98432045] [ 0.00243867 0.99992054 -0.01236817 0.09931065] [ 0.0322964 0.012283 0.99940286 -0.30045115] [ 0. 0. 0. 1. ]] SLAMing on 134.973133365 meters Centerline goodness : 0.174685 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.10, Z:-0.30 [[ 0.99948217 -0.0029798 -0.03203932 -0.98498869] [ 0.00257289 0.99991561 -0.01273402 0.10123861] [ 0.03207456 0.01264499 0.99940549 -0.30030272] [ 0. 0. 0. 1. ]] SLAMing on 135.003133365 meters Centerline goodness : 0.166286 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.30 [[ 0.99946678 -0.0089702 -0.03139574 -0.96391082] [ 0.00864995 0.99990932 -0.01032137 0.10785271] [ 0.03148548 0.01004429 0.99945374 -0.29973483] [ 0. 0. 0. 1. ]] SLAMing on 135.033133365 meters Centerline goodness : 0.116569 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.30 [[ 0.99946505 -0.00912996 -0.03140462 -0.96385781] [ 0.0087961 0.9999035 -0.01075273 0.11016424] [ 0.03149976 0.01047074 0.99944891 -0.29987167] [ 0. 0. 0. 1. ]] SLAMing on 135.063133365 meters Centerline goodness : 0.139949 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.30 [[ 0.99945724 -0.00931007 -0.03159966 -0.96328787] [ 0.00895937 0.99989689 -0.01122185 0.11259133] [ 0.03170088 0.01093265 0.99943761 -0.30008757] [ 0. 0. 0. 1. ]] SLAMing on 135.093133365 meters Centerline goodness : 0.170705 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.30 [[ 0.9994505 -0.00946582 -0.03176625 -0.96288627] [ 0.0090995 0.99989065 -0.01165669 0.11496739] [ 0.03187311 0.01136123 0.99942735 -0.30012973] [ 0. 0. 0. 1. ]] SLAMing on 135.123133365 meters Centerline goodness : 0.092324 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.12, Z:-0.30 [[ 0.99937064 -0.00886075 -0.03434832 -1.00808243] [ 0.00848905 0.99990398 -0.01095248 0.11662195] [ 0.03444207 0.01065401 0.99934991 -0.30005489] [ 0. 0. 0. 1. ]] SLAMing on 135.153133365 meters SLAMing on 135.183133365 meters Centerline goodness : 0.175880 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 9.99421160e-01 -1.04489644e-03 -3.40037174e-02 -9.87772972e-01] [ 6.17239053e-04 9.99920617e-01 -1.25848513e-02 1.18897482e-01] [ 3.40141680e-02 1.25565783e-02 9.99342468e-01 -2.99013933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.213133365 meters Centerline goodness : 0.089932 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.13, Z:-0.30 [[ 0.99935589 -0.0086379 -0.03483091 -0.96919152] [ 0.00822806 0.99989542 -0.01189279 0.12664673] [ 0.03493 0.01159854 0.99932246 -0.29672452] [ 0. 0. 0. 1. ]] SLAMing on 135.243133365 meters Centerline goodness : 0.095347 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 9.99415486e-01 -8.82578710e-04 -3.41746559e-02 -9.87979154e-01] [ 4.40817997e-04 9.99916282e-01 -1.29319367e-02 1.22027256e-01] [ 3.41832084e-02 1.29093130e-02 9.99332206e-01 -2.98950025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27313336499998 meters Centerline goodness : 0.099186 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 9.99445111e-01 -1.19208588e-03 -3.32873666e-02 -9.90803183e-01] [ 7.57397063e-04 9.99914320e-01 -1.30682297e-02 1.22110300e-01] [ 3.33000930e-02 1.30357665e-02 9.99360382e-01 -2.97748273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30313336499998 meters Centerline goodness : 0.099186 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 9.99445111e-01 -1.19208588e-03 -3.32873666e-02 -9.90803183e-01] [ 7.57397063e-04 9.99914320e-01 -1.30682297e-02 1.22110300e-01] [ 3.33000930e-02 1.30357665e-02 9.99360382e-01 -2.97748273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33313336499998 meters Centerline goodness : 0.110274 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 9.99451296e-01 -1.28429378e-03 -3.30977073e-02 -9.91560459e-01] [ 8.55619416e-04 9.99915615e-01 -1.29626944e-02 1.20946612e-01] [ 3.31115623e-02 1.29272627e-02 9.99368055e-01 -2.97209925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36313336499998 meters SLAMing on 135.39313336499998 meters SLAMing on 135.42313336499998 meters SLAMing on 135.45313336499999 meters SLAMing on 135.483133365 meters Centerline goodness : 0.097442 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 0.99939514 -0.0036615 -0.03458235 -0.98519864] [ 0.00312946 0.99987611 -0.0154265 0.12251348] [ 0.03463455 0.01530895 0.99928278 -0.30028462] [ 0. 0. 0. 1. ]] SLAMing on 135.513133365 meters Centerline goodness : 0.097442 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 0.99939514 -0.0036615 -0.03458235 -0.98519864] [ 0.00312946 0.99987611 -0.0154265 0.12251348] [ 0.03463455 0.01530895 0.99928278 -0.30028462] [ 0. 0. 0. 1. ]] SLAMing on 135.543133365 meters Centerline goodness : 0.099967 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.12, Z:-0.30 [[ 9.99380619e-01 2.95714117e-04 -3.51893635e-02 -9.83702425e-01] [-7.04420377e-04 9.99932439e-01 -1.16026519e-02 1.22647299e-01] [ 3.51835550e-02 1.16202535e-02 9.99313308e-01 -3.00396262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.573133365 meters Centerline goodness : 0.150217 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.12, Z:-0.30 [[ 9.99377176e-01 3.68485903e-04 -3.52863255e-02 -9.83246477e-01] [-7.77707740e-04 9.99932599e-01 -1.15841560e-02 1.23006398e-01] [ 3.52796785e-02 1.16043835e-02 9.99310103e-01 -3.00784301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.603133365 meters Centerline goodness : 0.104271 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.12, Z:-0.30 [[ 9.99370808e-01 3.84320160e-04 -3.54660552e-02 -9.82623708e-01] [-7.94005009e-04 9.99933119e-01 -1.15381023e-02 1.22645626e-01] [ 3.54592488e-02 1.15590028e-02 9.99304274e-01 -3.01066303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.633133365 meters Centerline goodness : 0.177742 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.12, Z:-0.30 [[ 9.99365356e-01 3.79865669e-04 -3.56193932e-02 -9.82132345e-01] [-7.87845494e-04 9.99934245e-01 -1.14405318e-02 1.21684751e-01] [ 3.56127051e-02 1.14613338e-02 9.99299941e-01 -3.01226027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.663133365 meters Centerline goodness : 0.183168 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.12, Z:-0.30 [[ 9.99370024e-01 4.43694313e-04 -3.54874437e-02 -9.82648075e-01] [-8.40914536e-04 9.99937158e-01 -1.11791188e-02 1.20114432e-01] [ 3.54802534e-02 1.12019182e-02 9.99307595e-01 -3.00888119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.693133365 meters Centerline goodness : 0.161026 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 9.99418407e-01 4.91316753e-04 -3.40970259e-02 -9.86762061e-01] [-8.48864911e-04 9.99944801e-01 -1.04725141e-02 1.16006888e-01] [ 3.40899985e-02 1.04953671e-02 9.99363657e-01 -2.99503624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.723133365 meters Centerline goodness : 0.137875 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.11, Z:-0.30 [[ 9.99434289e-01 6.17024113e-04 -3.36262114e-02 -9.88293407e-01] [-9.52968154e-04 9.99949790e-01 -9.97542996e-03 1.13331042e-01] [ 3.36183680e-02 1.00018315e-02 9.99384695e-01 -2.98795694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.753133365 meters Centerline goodness : 0.088322 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.11, Z:-0.30 [[ 0.99942932 -0.00754167 -0.03292657 -0.96801595] [ 0.00725139 0.99993387 -0.00892652 0.11462934] [ 0.03299171 0.00868266 0.99941791 -0.29742369] [ 0. 0. 0. 1. ]] SLAMing on 135.783133365 meters Centerline goodness : 0.182861 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.11, Z:-0.30 [[ 0.99941604 -0.00733936 -0.03337223 -0.96654284] [ 0.00706414 0.99994012 -0.00835746 0.11160734] [ 0.03343157 0.00811683 0.99940805 -0.2979568 ] [ 0. 0. 0. 1. ]] SLAMing on 135.813133365 meters Centerline goodness : 0.157349 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.30 [[ 0.9993938 -0.00717928 -0.03406598 -0.96432196] [ 0.00691506 0.99994514 -0.00786742 0.10891752] [ 0.03412059 0.00762708 0.99938862 -0.29873077] [ 0. 0. 0. 1. ]] SLAMing on 135.843133365 meters Centerline goodness : 0.168319 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.10, Z:-0.30 [[ 9.99378306e-01 7.87896342e-04 -3.52474188e-02 -9.81851367e-01] [-1.09711034e-03 9.99961079e-01 -8.75419000e-03 1.00432934e-01] [ 3.52391495e-02 8.78741788e-03 9.99340274e-01 -3.01445461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.873133365 meters Centerline goodness : 0.127484 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.10, Z:-0.30 [[ 0.99937277 0.00130091 -0.0353888 -0.98118666] [-0.00157583 0.99996879 -0.00774189 0.09607999] [ 0.03537763 0.0077928 0.99934363 -0.30189894] [ 0. 0. 0. 1. ]] SLAMing on 135.903133365 meters Centerline goodness : 0.167871 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99937771 0.00151848 -0.0352404 -0.98141207] [-0.00177915 0.99997128 -0.00736685 0.09456825] [ 0.03522821 0.00742496 0.99935171 -0.30210169] [ 0. 0. 0. 1. ]] SLAMing on 135.933133365 meters Centerline goodness : 0.164666 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99937812 0.001668 -0.03522189 -0.98139608] [-0.00192054 0.99997268 -0.0071374 0.09351667] [ 0.03520902 0.0072006 0.99935403 -0.30222484] [ 0. 0. 0. 1. ]] SLAMing on 135.963133365 meters Centerline goodness : 0.171065 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99937299 0.00176773 -0.0353623 -0.98079719] [-0.00201799 0.99997317 -0.00704237 0.09303407] [ 0.0353489 0.00710932 0.99934974 -0.30268157] [ 0. 0. 0. 1. ]] SLAMing on 135.993133365 meters Centerline goodness : 0.160778 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99936368 0.00182308 -0.03562174 -0.97974458] [-0.00207502 0.99997309 -0.00703703 0.09299817] [ 0.03560795 0.00710647 0.99934057 -0.30341123] [ 0. 0. 0. 1. ]] SLAMing on 136.02313336499998 meters Centerline goodness : 0.166129 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99935972 0.00192357 -0.03572754 -0.97910179] [-0.00217787 0.99997256 -0.00708015 0.09359167] [ 0.03571294 0.00715343 0.99933649 -0.30409858] [ 0. 0. 0. 1. ]] SLAMing on 136.05313336499998 meters Centerline goodness : 0.169822 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99937807 0.00219743 -0.03519439 -0.98052265] [-0.00244543 0.99997247 -0.00700511 0.09435265] [ 0.03517803 0.00708681 0.99935593 -0.30397933] [ 0. 0. 0. 1. ]] SLAMing on 136.08313336499998 meters Centerline goodness : 0.165007 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99938642 0.00221851 -0.03495507 -0.98142309] [-0.00246424 0.99997254 -0.00698835 0.0943689 ] [ 0.03493861 0.0070702 0.99936445 -0.30351586] [ 0. 0. 0. 1. ]] SLAMing on 136.11313336499998 meters Centerline goodness : 0.094339 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.9993873 0.00217827 -0.03493243 -0.98165335] [-0.00242271 0.99997287 -0.00695668 0.09389551] [ 0.03491632 0.00703705 0.99936546 -0.30323785] [ 0. 0. 0. 1. ]] SLAMing on 136.14313336499998 meters Centerline goodness : 0.168999 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99937383 0.00199274 -0.03532677 -0.98047419] [-0.00224275 0.99997271 -0.00703897 0.09333756] [ 0.03531178 0.0071138 0.99935103 -0.30354695] [ 0. 0. 0. 1. ]] SLAMing on 136.17313336499998 meters Centerline goodness : 0.103001 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99934843 0.00178489 -0.03604906 -0.97836007] [-0.00204245 0.99997264 -0.00710912 0.09265797] [ 0.03603539 0.00717811 0.99932473 -0.30400984] [ 0. 0. 0. 1. ]] SLAMing on 136.20313336499999 meters Centerline goodness : 0.164813 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99932646 0.00164245 -0.03665963 -0.97661966] [-0.00190294 0.99997318 -0.00707184 0.09179453] [ 0.03664703 0.00713684 0.99930279 -0.30440486] [ 0. 0. 0. 1. ]] SLAMing on 136.233133365 meters Centerline goodness : 0.110220 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.09, Z:-0.30 [[ 0.99931882 -0.00686758 -0.03625934 -0.9565748 ] [ 0.0066545 0.99995989 -0.00599399 0.09493509] [ 0.03629905 0.00574862 0.99932444 -0.30210388] [ 0. 0. 0. 1. ]] SLAMing on 136.263133365 meters Centerline goodness : 0.165227 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.09, Z:-0.30 [[ 0.99932628 -0.00687959 -0.03605063 -0.95746048] [ 0.00667612 0.99996112 -0.00576112 0.09354181] [ 0.03608887 0.00551656 0.99933336 -0.30142752] [ 0. 0. 0. 1. ]] SLAMing on 136.293133365 meters Centerline goodness : 0.171193 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.09, Z:-0.30 [[ 0.99933077 -0.00692809 -0.03591678 -0.95807665] [ 0.00673347 0.999962 -0.0055367 0.09194481] [ 0.03595377 0.00529115 0.99933945 -0.30087807] [ 0. 0. 0. 1. ]] SLAMing on 136.323133365 meters Centerline goodness : 0.164846 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.09, Z:-0.30 [[ 0.99933344 -0.00701201 -0.03582601 -0.95842546] [ 0.00682509 0.99996247 -0.00533705 0.0902627 ] [ 0.03586209 0.00508897 0.99934379 -0.30061326] [ 0. 0. 0. 1. ]] SLAMing on 136.353133365 meters Centerline goodness : 0.169418 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.08, Z:-0.30 [[ 9.99379543e-01 -2.54225323e-04 -3.52202263e-02 -9.76068702e-01] [ 1.65410577e-05 9.99977228e-01 -6.74864317e-03 8.21686235e-02] [ 3.52211399e-02 6.74387334e-03 9.99356789e-01 -3.03509120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.383133365 meters Centerline goodness : 0.169418 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.08, Z:-0.30 [[ 9.99379543e-01 -2.54225323e-04 -3.52202263e-02 -9.76068702e-01] [ 1.65410577e-05 9.99977228e-01 -6.74864317e-03 8.21686235e-02] [ 3.52211399e-02 6.74387334e-03 9.99356789e-01 -3.03509120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.413133365 meters Centerline goodness : 0.134610 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.08, Z:-0.30 [[ 9.99361721e-01 -4.42036494e-04 -3.57205137e-02 -9.74584587e-01] [ 2.15782209e-04 9.99979894e-01 -6.33762234e-03 7.88843361e-02] [ 3.57225970e-02 6.32586932e-03 9.99341723e-01 -3.03859319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.443133365 meters Centerline goodness : 0.132343 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.08, Z:-0.30 [[ 9.99361657e-01 -3.10158339e-04 -3.57236970e-02 -9.74698806e-01] [ 1.00018813e-04 9.99982684e-01 -5.88399353e-03 7.65431184e-02] [ 3.57249034e-02 5.87666448e-03 9.99344383e-01 -3.03612469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.473133365 meters Centerline goodness : 0.122550 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.08, Z:-0.30 [[ 0.99935293 -0.00832559 -0.03499161 -0.95506041] [ 0.00816616 0.99995563 -0.0046968 0.07875536] [ 0.03502917 0.00440802 0.99937657 -0.30165746] [ 0. 0. 0. 1. ]] SLAMing on 136.503133365 meters Centerline goodness : 0.170414 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.07, Z:-0.30 [[ 9.99422641e-01 -8.51010175e-04 -3.39655757e-02 -9.74976990e-01] [ 6.71697755e-04 9.99985781e-01 -5.29030134e-03 7.02166022e-02] [ 3.39695948e-02 5.26443233e-03 9.99409002e-01 -3.03407209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.533133365 meters Centerline goodness : 0.162137 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.07, Z:-0.30 [[ 9.99424121e-01 -6.76244553e-04 -3.39259382e-02 -9.75176273e-01] [ 5.12168247e-04 9.99988133e-01 -4.84476588e-03 6.80246062e-02] [ 3.39288118e-02 4.82460009e-03 9.99412607e-01 -3.03214703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.563133365 meters Centerline goodness : 0.157966 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.07, Z:-0.30 [[ 9.99428945e-01 -4.92694065e-04 -3.37867060e-02 -9.75688056e-01] [ 3.43535208e-04 9.99990171e-01 -4.42038332e-03 6.60263015e-02] [ 3.37885518e-02 4.40625212e-03 9.99419291e-01 -3.02906109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.593133365 meters Centerline goodness : 0.149969 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.06, Z:-0.30 [[ 9.99429960e-01 -1.81251680e-04 -3.37597819e-02 -9.75802346e-01] [ 5.89311898e-05 9.99993431e-01 -3.62422046e-03 6.18035348e-02] [ 3.37602170e-02 3.62016500e-03 9.99423405e-01 -3.02731236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.623133365 meters Centerline goodness : 0.154927 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.06, Z:-0.30 [[ 9.99425376e-01 -1.72350017e-05 -3.38956790e-02 -9.75375097e-01] [-9.32082690e-05 9.99994692e-01 -3.25674608e-03 5.99615932e-02] [ 3.38955552e-02 3.25803403e-03 9.99420070e-01 -3.02860329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.653133365 meters Centerline goodness : 0.146870 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.06, Z:-0.30 [[ 9.99419298e-01 1.34621937e-04 -3.40741699e-02 -9.74735317e-01] [-2.36894387e-04 9.99995480e-01 -2.99744628e-03 5.88225054e-02] [ 3.40736123e-02 3.00377764e-03 9.99414812e-01 -3.03195055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.683133365 meters Centerline goodness : 0.149996 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.06, Z:-0.30 [[ 9.99416156e-01 2.61488650e-04 -3.41654645e-02 -9.74316416e-01] [-3.58639521e-04 9.99995910e-01 -2.83744279e-03 5.82810641e-02] [ 3.41645828e-02 2.84803925e-03 9.99412162e-01 -3.03525166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.713133365 meters Centerline goodness : 0.125084 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.06, Z:-0.30 [[ 9.99410318e-01 4.38290563e-04 -3.43340023e-02 -9.73713889e-01] [-5.33378329e-04 9.99996048e-01 -2.76038239e-03 5.84168558e-02] [ 3.43326567e-02 2.77706765e-03 9.99406602e-01 -3.03912846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.743133365 meters Centerline goodness : 0.124922 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.06, Z:-0.30 [[ 9.99408432e-01 4.77922228e-04 -3.43883343e-02 -9.73321870e-01] [-5.76597221e-04 9.99995745e-01 -2.85957234e-03 5.91070723e-02] [ 3.43868214e-02 2.87770893e-03 9.99404455e-01 -3.04345334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77313336499998 meters Centerline goodness : 0.146151 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.31 [[ 9.99316941e-01 5.95632653e-04 -3.69499143e-02 -1.01828367e+00] [-6.87638401e-04 9.99996695e-01 -2.47735403e-03 5.66986734e-02] [ 3.69483166e-02 2.50107003e-03 9.99314048e-01 -3.05019395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80313336499998 meters Centerline goodness : 0.151433 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.31 [[ 9.99320698e-01 6.20592999e-04 -3.68477669e-02 -1.01835919e+00] [-7.16255163e-04 9.99996408e-01 -2.58300155e-03 5.74162218e-02] [ 3.68460316e-02 2.60763932e-03 9.99317552e-01 -3.05361782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83313336499998 meters Centerline goodness : 0.145352 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.31 [[ 9.99326894e-01 6.44982052e-04 -3.66789084e-02 -1.01881295e+00] [-7.42657633e-04 9.99996214e-01 -2.64942823e-03 5.79589515e-02] [ 3.66770607e-02 2.67488475e-03 9.99323590e-01 -3.05344717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86313336499998 meters Centerline goodness : 0.132053 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.30 [[ 9.99345678e-01 8.60107234e-04 -3.61590465e-02 -1.02045600e+00] [-9.55874809e-04 9.99996081e-01 -2.63130544e-03 5.89673339e-02] [ 3.61566416e-02 2.66414724e-03 9.99342584e-01 -3.04837997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89313336499998 meters Centerline goodness : 0.151243 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.30 [[ 9.99349011e-01 8.86379881e-04 -3.60661701e-02 -1.02077862e+00] [-9.82466024e-04 9.99996015e-01 -2.64652720e-03 5.92888536e-02] [ 3.60636806e-02 2.68023813e-03 9.99345900e-01 -3.04718821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92313336499998 meters Centerline goodness : 0.117718 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.30 [[ 9.99346933e-01 8.92944009e-04 -3.61235522e-02 -1.02086789e+00] [-9.87914739e-04 9.99996103e-01 -2.61128900e-03 5.89139228e-02] [ 3.61210797e-02 2.64527064e-03 9.99343920e-01 -3.04360594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95313336499999 meters Centerline goodness : 0.143091 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.05, Z:-0.30 [[ 0.99932582 0.00634857 -0.03616065 -1.04405585] [-0.00655885 0.99996225 -0.00569971 0.05439617] [ 0.0361231 0.00593304 0.99932974 -0.30460087] [ 0. 0. 0. 1. ]] SLAMing on 136.983133365 meters Centerline goodness : 0.155770 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.06, Z:-0.30 [[ 0.99933185 -0.0014783 -0.03651939 -1.02502532] [ 0.00130261 0.99998747 -0.00483445 0.05808539] [ 0.03652608 0.00478365 0.99932125 -0.30233371] [ 0. 0. 0. 1. ]] SLAMing on 137.013133365 meters Centerline goodness : 0.144022 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.30 [[ 0.99932221 -0.00136918 -0.03678646 -1.02419492] [ 0.00120752 0.99998952 -0.00441661 0.05586156] [ 0.03679212 0.00436919 0.99931339 -0.30257941] [ 0. 0. 0. 1. ]] SLAMing on 137.043133365 meters Centerline goodness : 0.148745 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.30 [[ 0.99931998 -0.00130248 -0.03684957 -1.02399574] [ 0.00114692 0.99999034 -0.00424226 0.0550426 ] [ 0.03685474 0.00419711 0.99931182 -0.30263345] [ 0. 0. 0. 1. ]] SLAMing on 137.073133365 meters Centerline goodness : 0.156904 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.05, Z:-0.30 [[ 0.99931991 -0.00126759 -0.03685248 -1.0239228 ] [ 0.00111599 0.99999083 -0.00413392 0.05432718] [ 0.03685738 0.00408998 0.99931217 -0.30271117] [ 0. 0. 0. 1. ]] SLAMing on 137.103133365 meters Centerline goodness : 0.118963 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.05, Z:-0.30 [[ 0.99931805 -0.00126561 -0.03690295 -1.02380106] [ 0.00111755 0.99999125 -0.00403233 0.05344942] [ 0.03690773 0.00398834 0.99931072 -0.30268698] [ 0. 0. 0. 1. ]] SLAMing on 137.133133365 meters Centerline goodness : 0.144348 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.05, Z:-0.30 [[ 0.9992199 -0.00238051 -0.03941978 -1.06908198] [ 0.0022162 0.99998868 -0.00421143 0.04862086] [ 0.03942936 0.00412079 0.99921386 -0.3029303 ] [ 0. 0. 0. 1. ]] SLAMing on 137.163133365 meters Centerline goodness : 0.159609 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.05, Z:-0.30 [[ 0.99921786 -0.00226161 -0.03947861 -1.06892579] [ 0.00210868 0.99999011 -0.00391482 0.04718651] [ 0.03948707 0.00382851 0.99921275 -0.30295504] [ 0. 0. 0. 1. ]] SLAMing on 137.193133365 meters Centerline goodness : 0.121078 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.05, Z:-0.30 [[ 0.99921227 -0.00212607 -0.03962736 -1.06847244] [ 0.001985 0.99999155 -0.0035989 0.0457367 ] [ 0.03963468 0.00351741 0.99920805 -0.30305057] [ 0. 0. 0. 1. ]] SLAMing on 137.223133365 meters Centerline goodness : 0.119400 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99920433 -0.00201558 -0.03983272 -1.06798498] [ 0.00188613 0.99999282 -0.00328701 0.04411684] [ 0.03983906 0.00320927 0.99920096 -0.302973 ] [ 0. 0. 0. 1. ]] SLAMing on 137.253133365 meters Centerline goodness : 0.121714 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99919316 -0.00194995 -0.04011512 -1.06765025] [ 0.00183621 0.99999419 -0.00287211 0.04129115] [ 0.04012049 0.00279613 0.99919094 -0.30239558] [ 0. 0. 0. 1. ]] SLAMing on 137.283133365 meters Centerline goodness : 0.104602 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99919514 -0.0018939 -0.04006849 -1.06787465] [ 0.00178575 0.99999467 -0.0027349 0.04056822] [ 0.04007346 0.00266115 0.99919319 -0.30222801] [ 0. 0. 0. 1. ]] SLAMing on 137.313133365 meters Centerline goodness : 0.121312 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99920003 -0.00178821 -0.03995122 -1.06812778] [ 0.00168567 0.9999952 -0.00260032 0.0402293 ] [ 0.03995568 0.00253089 0.99919825 -0.30228209] [ 0. 0. 0. 1. ]] SLAMing on 137.343133365 meters Centerline goodness : 0.141397 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99920939 -0.00168315 -0.03972103 -1.06865693] [ 0.00158514 0.99999562 -0.00249886 0.04022608] [ 0.03972506 0.00243392 0.99920768 -0.30236308] [ 0. 0. 0. 1. ]] SLAMing on 137.373133365 meters Centerline goodness : 0.137589 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99921499 -0.00160701 -0.03958315 -1.06899642] [ 0.00151158 0.99999588 -0.00244051 0.04035086] [ 0.0395869 0.00237876 0.9992133 -0.30236375] [ 0. 0. 0. 1. ]] SLAMing on 137.403133365 meters Centerline goodness : 0.140885 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99921987 -0.0016042 -0.03945986 -1.06941258] [ 0.00150636 0.99999572 -0.00250904 0.04081731] [ 0.03946372 0.00244764 0.99921801 -0.30220152] [ 0. 0. 0. 1. ]] SLAMing on 137.433133365 meters Centerline goodness : 0.137554 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99922788 -0.0014123 -0.03926388 -1.07060693] [ 0.001321 0.99999636 -0.00235115 0.04060329] [ 0.03926705 0.00229747 0.99922611 -0.30118077] [ 0. 0. 0. 1. ]] SLAMing on 137.463133365 meters Centerline goodness : 0.145064 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99923727 -0.00127326 -0.03902881 -1.07141368] [ 0.00118921 0.99999692 -0.00217677 0.04032008] [ 0.03903147 0.00212869 0.99923571 -0.30087512] [ 0. 0. 0. 1. ]] SLAMing on 137.493133365 meters Centerline goodness : 0.138917 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99924557 -0.00120738 -0.03881787 -1.07195394] [ 0.00112647 0.99999715 -0.00210611 0.04027482] [ 0.0388203 0.00206079 0.99924408 -0.30086846] [ 0. 0. 0. 1. ]] SLAMing on 137.52313336499998 meters Centerline goodness : 0.152496 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.04, Z:-0.30 [[ 0.99927078 0.00703722 -0.03752858 -1.05231451] [-0.00717236 0.99996827 -0.0034676 0.03777373] [ 0.03750299 0.00373424 0.99928954 -0.29960382] [ 0. 0. 0. 1. ]] SLAMing on 137.55313336499998 meters Centerline goodness : 0.152330 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99930033 -0.00164434 -0.03736509 -1.07207826] [ 0.00154481 0.99999518 -0.00269248 0.04113687] [ 0.03736934 0.00263288 0.99929805 -0.30174113] [ 0. 0. 0. 1. ]] SLAMing on 137.58313336499998 meters Centerline goodness : 0.123673 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99931135 -0.00159258 -0.03707142 -1.07300547] [ 0.00149226 0.99999515 -0.00273369 0.04159129] [ 0.03707559 0.00267649 0.99930888 -0.30149595] [ 0. 0. 0. 1. ]] SLAMing on 137.61313336499998 meters Centerline goodness : 0.151470 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99931886 -0.00150778 -0.03687194 -1.07360403] [ 0.00140901 0.99999535 -0.00270456 0.04196665] [ 0.03687584 0.00265076 0.99931634 -0.30139241] [ 0. 0. 0. 1. ]] SLAMing on 137.64313336499998 meters Centerline goodness : 0.139639 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99932063 -0.00150525 -0.0368242 -1.07367753] [ 0.00140428 0.99999518 -0.00276754 0.04238988] [ 0.03682819 0.00271395 0.99931793 -0.30150402] [ 0. 0. 0. 1. ]] SLAMing on 137.67313336499998 meters Centerline goodness : 0.136216 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99931369 -0.00156274 -0.03700953 -1.07314007] [ 0.00145776 0.99999484 -0.00286333 0.04253385] [ 0.03701382 0.00280742 0.99931081 -0.30166401] [ 0. 0. 0. 1. ]] SLAMing on 137.70313336499999 meters Centerline goodness : 0.144194 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.9993031 -0.00164304 -0.03729104 -1.0721495 ] [ 0.00153291 0.99999438 -0.00298167 0.0426462 ] [ 0.03729573 0.00292243 0.9993 -0.30215172] [ 0. 0. 0. 1. ]] SLAMing on 137.733133365 meters Centerline goodness : 0.141072 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99929247 -0.00167936 -0.03757323 -1.07092988] [ 0.00156351 0.99999393 -0.00311272 0.04316294] [ 0.03757823 0.00305177 0.99928903 -0.30304108] [ 0. 0. 0. 1. ]] SLAMing on 137.763133365 meters Centerline goodness : 0.141970 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.04, Z:-0.31 [[ 0.99922222 0.00625032 -0.03893429 -1.09042572] [-0.00641533 0.99997096 -0.00411464 0.03872758] [ 0.03890744 0.00436122 0.9992333 -0.30507534] [ 0. 0. 0. 1. ]] SLAMing on 137.793133365 meters Centerline goodness : 0.119608 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.05, Z:-0.31 [[ 0.99917433 0.00148347 -0.04060121 -1.06763158] [-0.00155161 0.99999744 -0.00164675 0.045492 ] [ 0.04059867 0.00170839 0.99917407 -0.30505244] [ 0. 0. 0. 1. ]] SLAMing on 137.823133365 meters Centerline goodness : 0.141438 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.04, Z:-0.31 [[ 9.99071112e-01 9.41329614e-04 -4.30816289e-02 -1.11330450e+00] [-1.00850391e-03 9.99998309e-01 -1.53752553e-03 4.29978325e-02] [ 4.30801087e-02 1.57954533e-03 9.99070373e-01 -3.05381597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.853133365 meters Centerline goodness : 0.121959 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.04, Z:-0.31 [[ 9.99071832e-01 8.81633774e-04 -4.30662057e-02 -1.11342113e+00] [-9.58771013e-04 9.99997973e-01 -1.77050947e-03 4.42963632e-02] [ 4.30645574e-02 1.81015677e-03 9.99070652e-01 -3.05363361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.883133365 meters Centerline goodness : 0.141965 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.05, Z:-0.31 [[ 9.99071627e-01 8.07451245e-04 -4.30724065e-02 -1.11343249e+00] [-8.94310908e-04 9.99997605e-01 -1.99736557e-03 4.55784641e-02] [ 4.30706906e-02 2.03403139e-03 9.99069957e-01 -3.05363066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.913133365 meters Centerline goodness : 0.147013 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.05, Z:-0.31 [[ 9.99069790e-01 6.86609927e-04 -4.31170891e-02 -1.11305145e+00] [-7.88171191e-04 9.99996955e-01 -2.33852034e-03 4.74047123e-02] [ 4.31153522e-02 2.37032867e-03 9.99067289e-01 -3.05875845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.943133365 meters Centerline goodness : 0.120017 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.05, Z:-0.31 [[ 9.99059641e-01 5.64074828e-04 -4.33533726e-02 -1.11213108e+00] [-6.81197957e-04 9.99996158e-01 -2.68686652e-03 4.92891563e-02] [ 4.33516905e-02 2.71387213e-03 9.99056188e-01 -3.06453952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.973133365 meters Centerline goodness : 0.142524 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.05, Z:-0.31 [[ 9.99049827e-01 4.20994342e-04 -4.35805781e-02 -1.11110503e+00] [-5.55290268e-04 9.99995135e-01 -3.06949466e-03 5.12011281e-02] [ 4.35790739e-02 3.09077798e-03 9.99045200e-01 -3.07255836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.003133365 meters Centerline goodness : 0.139680 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.05, Z:-0.31 [[ 9.99039895e-01 2.94524845e-04 -4.38086839e-02 -1.11036571e+00] [-4.44923014e-04 9.99994041e-01 -3.42335669e-03 5.30740469e-02] [ 4.38074146e-02 3.43956140e-03 9.99034073e-01 -3.07617628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.033133365 meters Centerline goodness : 0.157569 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.06, Z:-0.31 [[ 9.99043807e-01 1.31533995e-04 -4.37201918e-02 -1.11079035e+00] [-3.08041397e-04 9.99991830e-01 -4.03049304e-03 5.66865315e-02] [ 4.37193045e-02 4.04010674e-03 9.99035685e-01 -3.07475134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.063133365 meters Centerline goodness : 0.154209 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.06, Z:-0.31 [[ 9.99053182e-01 -5.54243976e-06 -4.35056323e-02 -1.11160395e+00] [-1.85680462e-04 9.99990341e-01 -4.39131745e-03 5.86169149e-02] [ 4.35052364e-02 4.39523782e-03 9.99043531e-01 -3.07115127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.093133365 meters Centerline goodness : 0.155882 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.06, Z:-0.31 [[ 9.99063196e-01 -1.54471818e-04 -4.32747694e-02 -1.11243242e+00] [-5.09359610e-05 9.99988739e-01 -4.74545156e-03 6.04227519e-02] [ 4.32750152e-02 4.74321024e-03 9.99051938e-01 -3.06769549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.123133365 meters Centerline goodness : 0.157381 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.06, Z:-0.31 [[ 9.99068092e-01 -3.38197212e-04 -4.31605497e-02 -1.11283013e+00] [ 1.14253407e-04 9.99986520e-01 -5.19098393e-03 6.26386705e-02] [ 4.31617235e-02 5.18121517e-03 9.99054663e-01 -3.06680130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.153133365 meters Centerline goodness : 0.163189 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.31 [[ 9.98957084e-01 -8.82368707e-04 -4.56504835e-02 -1.15783655e+00] [ 6.48987538e-04 9.99986647e-01 -5.12691670e-03 6.13183423e-02] [ 4.56543977e-02 5.09194316e-03 9.98944317e-01 -3.07710880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.183133365 meters Centerline goodness : 0.159638 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.31 [[ 9.98954545e-01 -1.03214519e-03 -4.57028622e-02 -1.15763513e+00] [ 7.78179780e-04 9.99984161e-01 -5.57432505e-03 6.37929305e-02] [ 4.57078918e-02 5.53293230e-03 9.98939525e-01 -3.07931759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.213133365 meters Centerline goodness : 0.158248 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.07, Z:-0.31 [[ 9.98973508e-01 -1.24635640e-03 -4.52810964e-02 -1.15961313e+00] [ 9.69796211e-04 9.99980747e-01 -6.12908491e-03 6.71868105e-02] [ 4.52878636e-02 6.07888002e-03 9.98955483e-01 -3.06702913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.243133365 meters Centerline goodness : 0.169979 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.07, Z:-0.31 [[ 9.98987789e-01 -1.32700998e-03 -4.49626129e-02 -1.16093933e+00] [ 1.04865917e-03 9.99980145e-01 -6.21373852e-03 6.77075826e-02] [ 4.49699658e-02 6.16029845e-03 9.98969345e-01 -3.05863248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27313336499998 meters Centerline goodness : 0.158164 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.07, Z:-0.31 [[ 9.98993928e-01 -1.39173835e-03 -4.48240357e-02 -1.16157321e+00] [ 1.11465414e-03 9.99980121e-01 -6.20599992e-03 6.75708105e-02] [ 4.48317818e-02 6.14979295e-03 9.98975621e-01 -3.05421866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30313336499998 meters Centerline goodness : 0.158164 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.07, Z:-0.31 [[ 9.98993928e-01 -1.39173835e-03 -4.48240357e-02 -1.16157321e+00] [ 1.11465414e-03 9.99980121e-01 -6.20599992e-03 6.75708105e-02] [ 4.48317818e-02 6.14979295e-03 9.98975621e-01 -3.05421866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33313336499998 meters Centerline goodness : 0.156804 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.07, Z:-0.31 [[ 0.99899609 -0.00146152 -0.04477359 -1.16185425] [ 0.00118649 0.99998027 -0.00616862 0.06703321] [ 0.04478172 0.0061093 0.99897812 -0.30514135] [ 0. 0. 0. 1. ]] SLAMing on 138.36313336499998 meters Centerline goodness : 0.140103 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.07, Z:-0.30 [[ 0.99900404 -0.00151749 -0.04459399 -1.16254273] [ 0.0012485 0.99998086 -0.00605918 0.06607362] [ 0.04460233 0.00599746 0.99898682 -0.30469292] [ 0. 0. 0. 1. ]] SLAMing on 138.39313336499998 meters Centerline goodness : 0.157743 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 0.99901565 -0.00152143 -0.04433301 -1.16356152] [ 0.00126204 0.99998193 -0.00587834 0.06491133] [ 0.04434115 0.0058166 0.99899951 -0.30409633] [ 0. 0. 0. 1. ]] SLAMing on 138.42313336499998 meters Centerline goodness : 0.158263 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 0.99902667 -0.00144828 -0.04408642 -1.16463258] [ 0.00120037 0.99998332 -0.00564924 0.06389521] [ 0.04409387 0.00559082 0.99901175 -0.30336996] [ 0. 0. 0. 1. ]] SLAMing on 138.45313336499999 meters Centerline goodness : 0.140897 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.06, Z:-0.30 [[ 9.99037507e-01 -1.39822774e-03 -4.38418162e-02 -1.16566405e+00] [ 1.15885389e-03 9.99984286e-01 -5.48488380e-03 6.31460013e-02] [ 4.38487964e-02 5.42879838e-03 9.99023429e-01 -3.02717506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.483133365 meters Centerline goodness : 0.139407 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.06, Z:-0.30 [[ 9.99044139e-01 -1.38535740e-03 -4.36908271e-02 -1.16641553e+00] [ 1.14909486e-03 9.99984585e-01 -5.43225151e-03 6.28616703e-02] [ 4.36976792e-02 5.37685413e-03 9.99030331e-01 -3.02129746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.513133365 meters Centerline goodness : 0.140418 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.06, Z:-0.30 [[ 9.99049273e-01 -1.33453040e-03 -4.35748688e-02 -1.16693607e+00] [ 1.09771018e-03 9.99984501e-01 -5.45826436e-03 6.32196483e-02] [ 4.35814776e-02 5.40524246e-03 9.99035254e-01 -3.01810532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.543133365 meters Centerline goodness : 0.143420 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.06, Z:-0.30 [[ 9.99033404e-01 -1.31329207e-03 -4.39378251e-02 -1.16579001e+00] [ 1.06864232e-03 9.99983799e-01 -5.59111457e-03 6.40675067e-02] [ 4.39444560e-02 5.53875640e-03 9.99018622e-01 -3.02310908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.573133365 meters Centerline goodness : 0.141035 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 9.99019595e-01 -1.33910093e-03 -4.42499315e-02 -1.16455485e+00] [ 1.08662168e-03 9.99982997e-01 -5.72931537e-03 6.46406099e-02] [ 4.42568513e-02 5.67561539e-03 9.99004063e-01 -3.03109831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.603133365 meters Centerline goodness : 0.143321 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 9.99009756e-01 -1.38272192e-03 -4.44701637e-02 -1.16375027e+00] [ 1.12513468e-03 9.99982449e-01 -5.81686941e-03 6.47381336e-02] [ 4.44774263e-02 5.76107437e-03 9.98993778e-01 -3.03499656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.633133365 meters Centerline goodness : 0.139616 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 9.99010266e-01 -1.41694692e-03 -4.44576216e-02 -1.16387740e+00] [ 1.15874661e-03 9.99982316e-01 -5.83301784e-03 6.44971042e-02] [ 4.44651005e-02 5.77572959e-03 9.98994242e-01 -3.03391360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.663133365 meters Centerline goodness : 0.129461 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.06, Z:-0.30 [[ 9.99026756e-01 -1.29933572e-03 -4.40891435e-02 -1.16510429e+00] [ 1.05172918e-03 9.99983549e-01 -5.63877467e-03 6.38108971e-02] [ 4.40957449e-02 5.58691693e-03 9.99011687e-01 -3.02948168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.693133365 meters Centerline goodness : 0.143662 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 9.99025407e-01 -1.31367551e-03 -4.41192828e-02 -1.16473996e+00] [ 1.06587124e-03 9.99983528e-01 -5.63974307e-03 6.37052166e-02] [ 4.41259649e-02 5.58722113e-03 9.99010351e-01 -3.03376902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.723133365 meters Centerline goodness : 0.138145 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 9.99011115e-01 -1.36685046e-03 -4.44401145e-02 -1.16340474e+00] [ 1.11631173e-03 9.99983348e-01 -5.66199880e-03 6.34127643e-02] [ 4.44471136e-02 5.60679071e-03 9.98996005e-01 -3.04187478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.753133365 meters Centerline goodness : 0.139961 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 0.99899065 -0.00143815 -0.04489554 -1.16175444] [ 0.00118285 0.99998298 -0.00571249 0.06324787] [ 0.04490299 0.00565362 0.99897535 -0.3049914 ] [ 0. 0. 0. 1. ]] SLAMing on 138.783133365 meters Centerline goodness : 0.143352 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.31 [[ 9.98976785e-01 -1.41286778e-03 -4.52038301e-02 -1.16069742e+00] [ 1.15742614e-03 9.99983218e-01 -5.67655933e-03 6.31813658e-02] [ 4.52110917e-02 5.61843090e-03 9.98961656e-01 -3.05478102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.813133365 meters Centerline goodness : 0.145883 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.31 [[ 9.98970555e-01 -1.36777466e-03 -4.53426867e-02 -1.16007098e+00] [ 1.11335799e-03 9.99983499e-01 -5.63575435e-03 6.33121092e-02] [ 4.53496469e-02 5.57947001e-03 9.98955594e-01 -3.05901380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.843133365 meters Centerline goodness : 0.143260 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.31 [[ 0.99895998 -0.00146664 -0.04557206 -1.15934474] [ 0.00121201 0.9999835 -0.00561436 0.06275394] [ 0.04557954 0.00555328 0.99894528 -0.30615321] [ 0. 0. 0. 1. ]] SLAMing on 138.873133365 meters Centerline goodness : 0.157457 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.31 [[ 0.99894962 -0.00150044 -0.0457974 -1.1588049 ] [ 0.00125238 0.99998439 -0.00544471 0.06128205] [ 0.04580485 0.00538164 0.99893591 -0.30608362] [ 0. 0. 0. 1. ]] SLAMing on 138.903133365 meters Centerline goodness : 0.147959 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.06, Z:-0.31 [[ 0.99882244 -0.0030247 -0.04842096 -1.20356022] [ 0.00274152 0.99997876 -0.00591362 0.05615313] [ 0.04843781 0.00577391 0.99880951 -0.30693801] [ 0. 0. 0. 1. ]] SLAMing on 138.933133365 meters Centerline goodness : 0.143344 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.06, Z:-0.30 [[ 0.99877497 -0.01110211 -0.04822131 -1.18314388] [ 0.01087683 0.99992868 -0.00493174 0.05925067] [ 0.04827262 0.0044012 0.9988245 -0.30497447] [ 0. 0. 0. 1. ]] SLAMing on 138.963133365 meters Centerline goodness : 0.145418 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.06, Z:-0.30 [[ 0.99877822 -0.01096914 -0.04818451 -1.18346898] [ 0.01076492 0.99993195 -0.0044957 0.057201 ] [ 0.04823055 0.0039715 0.99882833 -0.30457046] [ 0. 0. 0. 1. ]] SLAMing on 138.99313336499998 meters Centerline goodness : 0.144225 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.06, Z:-0.30 [[ 0.99878969 -0.01082407 -0.04797921 -1.18433367] [ 0.01064023 0.99993505 -0.00408531 0.05535608] [ 0.04802031 0.00356986 0.99883998 -0.30397776] [ 0. 0. 0. 1. ]] SLAMing on 139.02313336499998 meters Centerline goodness : 0.141798 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.05, Z:-0.30 [[ 0.99881784 -0.01085832 -0.04738171 -1.18583669] [ 0.01069776 0.99993615 -0.00364112 0.05245526] [ 0.04741822 0.00312994 0.99887022 -0.30371199] [ 0. 0. 0. 1. ]] SLAMing on 139.05313336499998 meters Centerline goodness : 0.141916 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.05, Z:-0.30 [[ 0.99881813 -0.01077846 -0.04739386 -1.18578776] [ 0.01062884 0.99993771 -0.00340779 0.05119309] [ 0.04742764 0.00290002 0.99887047 -0.30370534] [ 0. 0. 0. 1. ]] SLAMing on 139.08313336499998 meters Centerline goodness : 0.148589 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.05, Z:-0.30 [[ 0.99881323 -0.01067569 -0.04752016 -1.18555554] [ 0.01053656 0.99993944 -0.00317752 0.05004435] [ 0.0475512 0.00267305 0.99886523 -0.30357157] [ 0. 0. 0. 1. ]] SLAMing on 139.11313336499998 meters Centerline goodness : 0.143538 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.05, Z:-0.30 [[ 0.99880858 -0.0106022 -0.04763415 -1.18536617] [ 0.01047096 0.99994067 -0.00300385 0.0491628 ] [ 0.04766317 0.00250149 0.99886033 -0.30343151] [ 0. 0. 0. 1. ]] SLAMing on 139.14313336499998 meters Centerline goodness : 0.152335 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.05, Z:-0.30 [[ 0.99879903 -0.01049691 -0.0478572 -1.18492147] [ 0.01037698 0.99994237 -0.0027538 0.04790144] [ 0.04788335 0.00225388 0.99885039 -0.30329978] [ 0. 0. 0. 1. ]] SLAMing on 139.17313336499998 meters Centerline goodness : 0.117920 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.04, Z:-0.31 [[ 0.99882767 -0.00269327 -0.04833257 -1.20290485] [ 0.00253266 0.99999107 -0.00338414 0.03888157] [ 0.04834125 0.00325776 0.99882557 -0.30575806] [ 0. 0. 0. 1. ]] SLAMing on 139.20313336499999 meters Centerline goodness : 0.138211 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.04, Z:-0.31 [[ 0.9988317 -0.0025422 -0.04825741 -1.20311947] [ 0.00239982 0.9999926 -0.00300809 0.03689416] [ 0.0482647 0.00288876 0.9988304 -0.30569659] [ 0. 0. 0. 1. ]] SLAMing on 139.233133365 meters Centerline goodness : 0.141253 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.04, Z:-0.31 [[ 0.99883909 -0.00244553 -0.04810922 -1.20370445] [ 0.00231569 0.99999353 -0.00275453 0.03553551] [ 0.04811564 0.00263993 0.99883828 -0.30533738] [ 0. 0. 0. 1. ]] SLAMing on 139.263133365 meters Centerline goodness : 0.115719 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.03, Z:-0.31 [[ 0.99884611 -0.00237567 -0.04796673 -1.20420751] [ 0.00225222 0.99999401 -0.00262745 0.0349454 ] [ 0.04797269 0.00251639 0.99884548 -0.30510257] [ 0. 0. 0. 1. ]] SLAMing on 139.293133365 meters Centerline goodness : 0.139172 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.03, Z:-0.31 [[ 0.99884948 -0.00232677 -0.04789886 -1.20444771] [ 0.00220644 0.99999428 -0.00256494 0.03476012] [ 0.04790455 0.0024563 0.9988489 -0.30500115] [ 0. 0. 0. 1. ]] SLAMing on 139.323133365 meters Centerline goodness : 0.133757 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.03, Z:-0.31 [[ 0.9988547 -0.0023 -0.04779113 -1.20472913] [ 0.00218064 0.99999437 -0.0025496 0.03469882] [ 0.04779672 0.00244246 0.9988541 -0.30501626] [ 0. 0. 0. 1. ]] SLAMing on 139.353133365 meters Centerline goodness : 0.137594 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 0.99885327 -0.00224518 -0.04782377 -1.20504175] [ 0.00213298 0.99999485 -0.00239715 0.03368922] [ 0.04782891 0.00229239 0.99885291 -0.30444479] [ 0. 0. 0. 1. ]] SLAMing on 139.383133365 meters Centerline goodness : 0.135710 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 0.99885852 -0.00220655 -0.04771577 -1.20538148] [ 0.0021023 0.99999529 -0.00223503 0.03259597] [ 0.04772047 0.00213217 0.99885845 -0.30431937] [ 0. 0. 0. 1. ]] SLAMing on 139.413133365 meters Centerline goodness : 0.140743 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 0.99886166 -0.00210855 -0.04765434 -1.205704 ] [ 0.00201745 0.99999604 -0.00195976 0.03102401] [ 0.04765828 0.00186139 0.99886196 -0.30407956] [ 0. 0. 0. 1. ]] SLAMing on 139.443133365 meters Centerline goodness : 0.129745 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 0.99886917 -0.00197252 -0.04750263 -1.20638169] [ 0.00189614 0.99999684 -0.00165285 0.02963288] [ 0.04750574 0.00156091 0.99886975 -0.30361586] [ 0. 0. 0. 1. ]] SLAMing on 139.473133365 meters Centerline goodness : 0.135926 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 0.99888447 -0.00179602 -0.04718672 -1.20738238] [ 0.00173621 0.99999764 -0.0013084 0.02831142] [ 0.04718896 0.00122502 0.99888523 -0.30327312] [ 0. 0. 0. 1. ]] SLAMing on 139.503133365 meters Centerline goodness : 0.138239 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 9.98893118e-01 -1.67145240e-03 -4.70079198e-02 -1.20788939e+00] [ 1.62381846e-03 9.99998129e-01 -1.05148643e-03 2.72032351e-02] [ 4.70095893e-02 9.73990236e-04 9.98893963e-01 -3.03150800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.533133365 meters Centerline goodness : 0.115145 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 9.98893467e-01 -1.69820099e-03 -4.69995586e-02 -1.20792722e+00] [ 1.65047714e-03 9.99998082e-01 -1.05419938e-03 2.68576110e-02] [ 4.70012587e-02 9.75461177e-04 9.98894354e-01 -3.03068157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.563133365 meters Centerline goodness : 0.134089 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 0.99888457 -0.00182227 -0.04718356 -1.20731487] [ 0.00176239 0.99999759 -0.00131066 0.02761065] [ 0.04718584 0.00122604 0.99888538 -0.30334586] [ 0. 0. 0. 1. ]] SLAMing on 139.593133365 meters Centerline goodness : 0.134232 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.03, Z:-0.30 [[ 0.99881933 -0.00145188 -0.04855751 -1.20349551] [ 0.00137837 0.99999785 -0.0015472 0.03016379] [ 0.04855965 0.00147844 0.99881919 -0.30439127] [ 0. 0. 0. 1. ]] SLAMing on 139.623133365 meters Centerline goodness : 0.132087 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.03, Z:-0.30 [[ 9.98798006e-01 -1.28278957e-03 -4.89989488e-02 -1.20213363e+00] [ 1.19888352e-03 9.99997764e-01 -1.74175643e-03 3.22521599e-02] [ 4.90010736e-02 1.68091882e-03 9.98797311e-01 -3.04947733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.653133365 meters Centerline goodness : 0.134313 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.03, Z:-0.31 [[ 9.98793777e-01 -1.29382956e-03 -4.90848027e-02 -1.20182010e+00] [ 1.19529043e-03 9.99997211e-01 -2.03682822e-03 3.41631200e-02] [ 4.90873011e-02 1.97570075e-03 9.98792538e-01 -3.05223823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.683133365 meters Centerline goodness : 0.130107 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.30 [[ 0.99881706 0.00708689 -0.04810681 -1.18189393] [-0.00726552 0.99996734 -0.00353949 0.03318855] [ 0.04808015 0.00388482 0.99883593 -0.30323037] [ 0. 0. 0. 1. ]] SLAMing on 139.713133365 meters Centerline goodness : 0.132225 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.30 [[ 0.99882277 0.00700851 -0.04799962 -1.18232286] [-0.00719404 0.9999673 -0.00369356 0.03365561] [ 0.04797216 0.00403452 0.99884052 -0.30306146] [ 0. 0. 0. 1. ]] SLAMing on 139.74313336499998 meters Centerline goodness : 0.131850 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.30 [[ 0.99882366 0.00701038 -0.04798078 -1.18235263] [-0.00719734 0.99996716 -0.0037249 0.0338358 ] [ 0.04795309 0.00406586 0.99884131 -0.30313851] [ 0. 0. 0. 1. ]] SLAMing on 139.77313336499998 meters Centerline goodness : 0.135837 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.30 [[ 0.99881339 0.00709248 -0.04818207 -1.18130827] [-0.00727922 0.99996666 -0.00370122 0.03429382] [ 0.04815421 0.00404755 0.99883171 -0.30401401] [ 0. 0. 0. 1. ]] SLAMing on 139.80313336499998 meters Centerline goodness : 0.133448 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.30 [[ 0.99880979 0.00703459 -0.04826505 -1.18097278] [-0.00722433 0.99996684 -0.00375798 0.03424469] [ 0.04823701 0.00410219 0.99882749 -0.30421427] [ 0. 0. 0. 1. ]] SLAMing on 139.83313336499998 meters Centerline goodness : 0.134026 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 9.98836961e-01 -4.77994314e-04 -4.82130265e-02 -1.16248811e+00] [ 3.39610735e-04 9.99995800e-01 -2.87840366e-03 3.90525392e-02] [ 4.82141998e-02 2.85868231e-03 9.98832928e-01 -3.01828471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86313336499998 meters Centerline goodness : 0.131860 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 9.98830682e-01 -5.38755517e-04 -4.83422994e-02 -1.16225509e+00] [ 3.93488400e-04 9.99995379e-01 -3.01443544e-03 3.96992940e-02] [ 4.83437001e-02 2.99188848e-03 9.98826279e-01 -3.01758849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89313336499998 meters Centerline goodness : 0.131935 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 9.98822011e-01 -5.06183436e-04 -4.85214877e-02 -1.16167711e+00] [ 3.53487292e-04 9.99994959e-01 -3.15550910e-03 4.11623394e-02] [ 4.85228404e-02 3.13464022e-03 9.98817154e-01 -3.02072117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92313336499998 meters Centerline goodness : 0.139615 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 9.98819473e-01 -5.07692625e-04 -4.85736759e-02 -1.16125081e+00] [ 3.43679196e-04 9.99994212e-01 -3.38488308e-03 4.31290924e-02] [ 4.85751132e-02 3.36419337e-03 9.98813867e-01 -3.02577452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95313336499999 meters Centerline goodness : 0.140502 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 9.98830010e-01 -5.71651512e-04 -4.83558090e-02 -1.16185220e+00] [ 3.87009397e-04 9.99992600e-01 -3.82768245e-03 4.60786265e-02] [ 4.83576392e-02 3.80448995e-03 9.98822839e-01 -3.02569991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.983133365 meters Centerline goodness : 0.136978 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 9.98842373e-01 -6.48268362e-04 -4.80987807e-02 -1.16294564e+00] [ 4.55125968e-04 9.99991791e-01 -4.02637936e-03 4.71160176e-02] [ 4.81009960e-02 3.99982731e-03 9.98834469e-01 -3.01948565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.013133365 meters Centerline goodness : 0.134760 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 9.98852798e-01 -7.01000908e-04 -4.78810731e-02 -1.16411145e+00] [ 5.02107043e-04 9.99991197e-01 -4.16581541e-03 4.79962485e-02] [ 4.78835719e-02 4.13699495e-03 9.98844357e-01 -3.01059783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.043133365 meters Centerline goodness : 0.132484 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 9.98858529e-01 -7.62673298e-04 -4.77604097e-02 -1.16476812e+00] [ 5.59708794e-04 9.99990757e-01 -4.26286849e-03 4.84597199e-02] [ 4.77632195e-02 4.23127063e-03 9.98849724e-01 -3.00565947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.073133365 meters Centerline goodness : 0.133634 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 9.98859121e-01 -8.53491108e-04 -4.77464997e-02 -1.16495066e+00] [ 6.46599246e-04 9.99990337e-01 -4.34840894e-03 4.87701372e-02] [ 4.77497496e-02 4.31257508e-03 9.98850020e-01 -3.00342022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.103133365 meters Centerline goodness : 0.133643 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 9.98860470e-01 -9.79820541e-04 -4.77158375e-02 -1.16516209e+00] [ 7.70324490e-04 9.99989985e-01 -4.40868391e-03 4.86777465e-02] [ 4.77196793e-02 4.36690341e-03 9.98851221e-01 -3.00124025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.133133365 meters Centerline goodness : 0.140479 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99886953 -0.00161353 -0.04750852 -1.16596303] [ 0.00138751 0.99998757 -0.00478996 0.04902002] [ 0.04751566 0.00471863 0.99885935 -0.29960757] [ 0. 0. 0. 1. ]] SLAMing on 140.163133365 meters Centerline goodness : 0.137948 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99886678 -0.00172472 -0.04756241 -1.16588847] [ 0.00149827 0.99998737 -0.0047964 0.04868456] [ 0.04757008 0.0047197 0.99885675 -0.29949307] [ 0. 0. 0. 1. ]] SLAMing on 140.193133365 meters Centerline goodness : 0.137948 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99886678 -0.00172472 -0.04756241 -1.16588847] [ 0.00149827 0.99998737 -0.0047964 0.04868456] [ 0.04757008 0.0047197 0.99885675 -0.29949307] [ 0. 0. 0. 1. ]] SLAMing on 140.223133365 meters Centerline goodness : 0.139950 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99886105 -0.00182838 -0.04767865 -1.16560418] [ 0.00159928 0.99998699 -0.00484285 0.04862924] [ 0.04768689 0.00476109 0.99885099 -0.29946373] [ 0. 0. 0. 1. ]] SLAMing on 140.253133365 meters Centerline goodness : 0.136546 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99885465 -0.00187811 -0.04781077 -1.1651642 ] [ 0.001648 0.99998687 -0.00485187 0.04848698] [ 0.04781925 0.00476752 0.99884463 -0.29963149] [ 0. 0. 0. 1. ]] SLAMing on 140.283133365 meters Centerline goodness : 0.122347 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.9988547 -0.00194511 -0.04780688 -1.16526368] [ 0.00171525 0.99998677 -0.00484869 0.04813045] [ 0.04781568 0.00476113 0.99884483 -0.29945159] [ 0. 0. 0. 1. ]] SLAMing on 140.313133365 meters Centerline goodness : 0.139923 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99885607 -0.00196415 -0.04777744 -1.16548921] [ 0.00173938 0.99998723 -0.00474549 0.04724816] [ 0.04778615 0.00465696 0.99884673 -0.29921602] [ 0. 0. 0. 1. ]] SLAMing on 140.343133365 meters Centerline goodness : 0.142888 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99885721 -0.00199885 -0.04775224 -1.16574543] [ 0.00177684 0.99998742 -0.00469137 0.04670664] [ 0.04776102 0.00460116 0.99884819 -0.29891672] [ 0. 0. 0. 1. ]] SLAMing on 140.373133365 meters Centerline goodness : 0.150575 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99885305 -0.00199981 -0.04783906 -1.16568253] [ 0.00178256 0.99998791 -0.00458352 0.04604033] [ 0.04784765 0.00449298 0.99884454 -0.29868168] [ 0. 0. 0. 1. ]] SLAMing on 140.403133365 meters Centerline goodness : 0.108661 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 0.99883771 -0.00209814 -0.04815415 -1.16466323] [ 0.00187983 0.99998775 -0.00457845 0.04528727] [ 0.04816316 0.0044826 0.99882942 -0.29905381] [ 0. 0. 0. 1. ]] SLAMing on 140.433133365 meters Centerline goodness : 0.116116 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 0.99883165 -0.00212667 -0.04827848 -1.16417289] [ 0.00190703 0.99998762 -0.00459499 0.04518077] [ 0.04828765 0.00449755 0.99882335 -0.29933888] [ 0. 0. 0. 1. ]] SLAMing on 140.463133365 meters Centerline goodness : 0.158915 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 0.99883026 -0.00211073 -0.04830791 -1.1640122 ] [ 0.00189241 0.99998779 -0.00456478 0.04503208] [ 0.04831695 0.00446802 0.99882206 -0.29949111] [ 0. 0. 0. 1. ]] SLAMing on 140.49313336499998 meters Centerline goodness : 0.141826 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99883023 -0.00205993 -0.04831071 -1.1641 ] [ 0.00184437 0.99998815 -0.0045061 0.04486296] [ 0.04831942 0.00441173 0.99882219 -0.29938438] [ 0. 0. 0. 1. ]] SLAMing on 140.52313336499998 meters Centerline goodness : 0.140202 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99883013 -0.00200647 -0.04831508 -1.1641298 ] [ 0.00179423 0.99998855 -0.00443576 0.04471019] [ 0.04832342 0.00434388 0.9988223 -0.29935804] [ 0. 0. 0. 1. ]] SLAMing on 140.55313336499998 meters Centerline goodness : 0.139731 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99882194 -0.00194824 -0.04848649 -1.16367564] [ 0.00173738 0.99998885 -0.00439054 0.04470658] [ 0.04849451 0.00430113 0.99881419 -0.29943525] [ 0. 0. 0. 1. ]] SLAMing on 140.58313336499998 meters Centerline goodness : 0.146587 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99879504 -0.00183649 -0.04904183 -1.16176661] [ 0.00162773 0.99998945 -0.00429624 0.04460755] [ 0.0490492 0.00421123 0.99878749 -0.3003237 ] [ 0. 0. 0. 1. ]] SLAMing on 140.61313336499998 meters Centerline goodness : 0.146773 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99878944 -0.00182794 -0.04915592 -1.16106159] [ 0.00162011 0.99998958 -0.00426748 0.04436365] [ 0.04916321 0.00418268 0.998782 -0.3009515 ] [ 0. 0. 0. 1. ]] SLAMing on 140.64313336499998 meters Centerline goodness : 0.146688 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99879003 -0.00179872 -0.04914502 -1.16077446] [ 0.00159538 0.99999001 -0.00417647 0.04372318] [ 0.04915205 0.00409301 0.99878292 -0.30137167] [ 0. 0. 0. 1. ]] SLAMing on 140.67313336499998 meters Centerline goodness : 0.156972 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99879297 -0.00175518 -0.04908682 -1.1610423 ] [ 0.00156002 0.99999073 -0.00401386 0.04271496] [ 0.04909341 0.00393244 0.99878645 -0.30119221] [ 0. 0. 0. 1. ]] SLAMing on 140.70313336499999 meters Centerline goodness : 0.141599 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99879676 -0.00169391 -0.04901186 -1.16139983] [ 0.00150761 0.9999915 -0.00383791 0.04164116] [ 0.04901794 0.0037594 0.99879082 -0.30091927] [ 0. 0. 0. 1. ]] SLAMing on 140.733133365 meters Centerline goodness : 0.113447 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99880364 -0.00162655 -0.04887368 -1.16192013] [ 0.00144816 0.99999216 -0.00368517 0.04088366] [ 0.04887929 0.00360998 0.99879817 -0.30066047] [ 0. 0. 0. 1. ]] SLAMing on 140.763133365 meters Centerline goodness : 0.142990 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99882539 -0.0013797 -0.04843484 -1.163346 ] [ 0.00121237 0.9999932 -0.0034838 0.04063011] [ 0.04843932 0.00342099 0.99882027 -0.30013189] [ 0. 0. 0. 1. ]] SLAMing on 140.793133365 meters Centerline goodness : 0.117356 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 9.98839565e-01 -1.26782307e-03 -4.81447365e-02 -1.16424743e+00] [ 1.10280611e-03 9.99993427e-01 -3.45392600e-03 4.09299967e-02] [ 4.81487990e-02 3.39682363e-03 9.98834398e-01 -2.99859249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.823133365 meters Centerline goodness : 0.117625 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 9.98846843e-01 -1.20960042e-03 -4.79950207e-02 -1.16484371e+00] [ 1.04319493e-03 9.99993359e-01 -3.49203763e-03 4.14636766e-02] [ 4.79989259e-02 3.43794260e-03 9.98841471e-01 -2.99547451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.853133365 meters Centerline goodness : 0.143466 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98929349e-01 1.94312909e-04 -4.62614170e-02 -1.12194119e+00] [-3.43766959e-04 9.99994748e-01 -3.22270751e-03 4.46166487e-02] [ 4.62605478e-02 3.23516026e-03 9.98924169e-01 -2.97310621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.883133365 meters Centerline goodness : 0.144743 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98931538e-01 2.09107388e-04 -4.62140509e-02 -1.12219366e+00] [-3.64900569e-04 9.99994279e-01 -3.36271093e-03 4.56251848e-02] [ 4.62130834e-02 3.37598153e-03 9.98925900e-01 -2.97184705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.913133365 meters Centerline goodness : 0.144060 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98928853e-01 1.60028942e-04 -4.62722392e-02 -1.12198418e+00] [-3.28343174e-04 9.99993358e-01 -3.62989979e-03 4.70814166e-02] [ 4.62713510e-02 3.64120481e-03 9.98922271e-01 -2.97366720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.943133365 meters Centerline goodness : 0.138562 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98919676e-01 1.81639922e-04 -4.64698658e-02 -1.12117695e+00] [-3.64295360e-04 9.99992242e-01 -3.92218241e-03 4.88358348e-02] [ 4.64687929e-02 3.93487394e-03 9.98911992e-01 -2.97990281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.973133365 meters Centerline goodness : 0.133856 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98920796e-01 1.45985175e-04 -4.64459004e-02 -1.12116549e+00] [-3.33493361e-04 9.99991826e-01 -4.02940778e-03 4.94039855e-02] [ 4.64449326e-02 4.04054863e-03 9.98912680e-01 -2.98128137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.003133365 meters Centerline goodness : 0.137847 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98926151e-01 1.47699435e-04 -4.63305931e-02 -1.12163951e+00] [-3.36284666e-04 9.99991691e-01 -4.06265765e-03 4.96564122e-02] [ 4.63296081e-02 4.07387523e-03 9.98917900e-01 -2.97879555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.033133365 meters Centerline goodness : 0.140601 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98934862e-01 1.51303125e-04 -4.61423795e-02 -1.12253074e+00] [-3.40077255e-04 9.99991605e-01 -4.08329983e-03 4.98695733e-02] [ 4.61413743e-02 4.09464253e-03 9.98926528e-01 -2.97290717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.063133365 meters Centerline goodness : 0.132414 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98941106e-01 1.58825174e-04 -4.60069676e-02 -1.12311560e+00] [-3.46557907e-04 9.99991647e-01 -4.07258076e-03 4.98962893e-02] [ 4.60059365e-02 4.08421241e-03 9.98932817e-01 -2.96909243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.093133365 meters Centerline goodness : 0.136349 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98943778e-01 9.63623393e-05 -4.59490927e-02 -1.12309128e+00] [-2.90116760e-04 9.99991096e-01 -4.21006900e-03 5.05119545e-02] [ 4.59482779e-02 4.21895284e-03 9.98934911e-01 -2.97181418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.123133365 meters Centerline goodness : 0.141933 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98925916e-01 7.28339777e-06 -4.63358782e-02 -1.12151884e+00] [-2.19383855e-04 9.99989523e-01 -4.57237253e-03 5.24845066e-02] [ 4.63353594e-02 4.57762676e-03 9.98915452e-01 -2.98227290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.153133365 meters Centerline goodness : 0.137404 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98916288e-01 -5.03312343e-06 -4.65429952e-02 -1.12071062e+00] [-2.15140541e-04 9.99988811e-01 -4.72553296e-03 5.36038489e-02] [ 4.65424982e-02 4.73042512e-03 9.98905110e-01 -2.98731474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.183133365 meters Centerline goodness : 0.140015 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98916185e-01 -2.85264995e-05 -4.65451814e-02 -1.12064862e+00] [-1.97970679e-04 9.99988163e-01 -4.86156183e-03 5.45715435e-02] [ 4.65447691e-02 4.86550738e-03 9.98904355e-01 -2.98870662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.213133365 meters Centerline goodness : 0.144407 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98923103e-01 -4.39186019e-05 -4.63964748e-02 -1.12131026e+00] [-1.83666610e-04 9.99987973e-01 -4.90095194e-03 5.48100681e-02] [ 4.63961320e-02 4.90419560e-03 9.98911081e-01 -2.98453265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24313336499998 meters Centerline goodness : 0.147499 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98931453e-01 -7.97457259e-05 -4.62162952e-02 -1.12208266e+00] [-1.45312049e-04 9.99988149e-01 -4.86628269e-03 5.43541448e-02] [ 4.62161356e-02 4.86779862e-03 9.98919603e-01 -2.97963770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27313336499998 meters Centerline goodness : 0.118700 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98949342e-01 -3.56813879e-04 -4.58266734e-02 -1.12346615e+00] [ 1.40911130e-04 9.99988877e-01 -4.71443407e-03 5.23754139e-02] [ 4.58278458e-02 4.70302333e-03 9.98938281e-01 -2.97293332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30313336499998 meters Centerline goodness : 0.121854 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98950851e-01 -3.30016210e-04 -4.57939827e-02 -1.12346242e+00] [ 1.28732206e-04 9.99990319e-01 -4.39830425e-03 5.04981279e-02] [ 4.57949909e-02 4.38779462e-03 9.98941223e-01 -2.97364102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33313336499998 meters Centerline goodness : 0.123558 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98939459e-01 -3.92685772e-04 -4.60413275e-02 -1.12286610e+00] [ 2.01373945e-04 9.99991328e-01 -4.15978421e-03 4.86588840e-02] [ 4.60425617e-02 4.14610106e-03 9.98930875e-01 -2.97316340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36313336499998 meters Centerline goodness : 0.126381 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98931230e-01 -5.07224379e-04 -4.62184006e-02 -1.12231110e+00] [ 3.25189250e-04 9.99992162e-01 -3.94601939e-03 4.67848892e-02] [ 4.62200399e-02 3.92677227e-03 9.98923565e-01 -2.97440721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39313336499998 meters Centerline goodness : 0.122090 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98922344e-01 -5.92847817e-04 -4.64090516e-02 -1.12192139e+00] [ 4.18809079e-04 9.99992844e-01 -3.75973700e-03 4.51435368e-02] [ 4.64109484e-02 3.73624877e-03 9.98915444e-01 -2.97277048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42313336499998 meters Centerline goodness : 0.122386 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98923737e-01 -6.16101856e-04 -4.63787525e-02 -1.12216131e+00] [ 4.47962735e-04 9.99993291e-01 -3.63565435e-03 4.42376812e-02] [ 4.63806812e-02 3.61096548e-03 9.98917311e-01 -2.97018993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45313336499999 meters Centerline goodness : 0.122467 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98924595e-01 -6.09910777e-04 -4.63603404e-02 -1.12231823e+00] [ 4.45037326e-04 9.99993541e-01 -3.56658524e-03 4.38897419e-02] [ 4.63622162e-02 3.54211764e-03 9.98918414e-01 -2.96844553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.483133365 meters Centerline goodness : 0.123232 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98924546e-01 -6.16696646e-04 -4.63613051e-02 -1.12223321e+00] [ 4.50849861e-04 9.99993463e-01 -3.58763891e-03 4.41623005e-02] [ 4.63632145e-02 3.56287858e-03 9.98918294e-01 -2.96969700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.513133365 meters Centerline goodness : 0.122758 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98924567e-01 -6.92318540e-04 -4.63597936e-02 -1.12212113e+00] [ 5.21179975e-04 9.99993006e-01 -3.70351557e-03 4.46659695e-02] [ 4.63620334e-02 3.67537089e-03 9.98917941e-01 -2.97138971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.543133365 meters Centerline goodness : 0.130280 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98922191e-01 -7.45645424e-04 -4.64101219e-02 -1.12217228e+00] [ 5.72587576e-04 9.99992835e-01 -3.74206397e-03 4.45795321e-02] [ 4.64125796e-02 3.71145688e-03 9.98915461e-01 -2.96916023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.573133365 meters Centerline goodness : 0.134760 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98917728e-01 -7.62984110e-04 -4.65058048e-02 -1.12201848e+00] [ 5.92643333e-04 9.99993066e-01 -3.67646338e-03 4.39737332e-02] [ 4.65082874e-02 3.64492310e-03 9.98911254e-01 -2.96778276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.603133365 meters Centerline goodness : 0.131692 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98917775e-01 -7.59713924e-04 -4.65048550e-02 -1.12196107e+00] [ 5.94415594e-04 9.99993457e-01 -3.56815757e-03 4.32159809e-02] [ 4.65072616e-02 3.53665281e-03 9.98911691e-01 -2.96845087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.633133365 meters Centerline goodness : 0.127959 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98916564e-01 -7.54418961e-04 -4.65309557e-02 -1.12182214e+00] [ 5.93609801e-04 9.99993804e-01 -3.46968211e-03 4.25546809e-02] [ 4.65332850e-02 3.43830170e-03 9.98910823e-01 -2.96928704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.663133365 meters Centerline goodness : 0.127102 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98921213e-01 -6.87915705e-04 -4.64320738e-02 -1.12217107e+00] [ 5.36365707e-04 9.99994489e-01 -3.27628768e-03 4.15465107e-02] [ 4.64340717e-02 3.24784869e-03 9.98916077e-01 -2.96772967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.693133365 meters Centerline goodness : 0.126810 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98930821e-01 -5.25757630e-04 -4.62270288e-02 -1.12309292e+00] [ 3.96365329e-04 9.99995978e-01 -2.80818334e-03 3.91474831e-02] [ 4.62283194e-02 2.78685810e-03 9.98927012e-01 -2.96104210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.723133365 meters Centerline goodness : 0.127874 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98930586e-01 -3.90331236e-04 -4.62334501e-02 -1.12317606e+00] [ 2.76229410e-04 9.99996901e-01 -2.47431285e-03 3.74723893e-02] [ 4.62342726e-02 2.45889575e-03 9.98927598e-01 -2.95980270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.753133365 meters Centerline goodness : 0.129156 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98927220e-01 -2.41648298e-04 -4.63071338e-02 -1.12295265e+00] [ 1.47454477e-04 9.99997913e-01 -2.03751549e-03 3.50658252e-02] [ 4.63075295e-02 2.02850149e-03 9.98925171e-01 -2.96023474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.783133365 meters Centerline goodness : 0.133406 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.03, Z:-0.30 [[ 0.99891922 -0.00392862 -0.04631373 -1.12271499] [ 0.00370062 0.99998061 -0.00500767 0.03060561] [ 0.04633251 0.00483087 0.99891439 -0.29625198] [ 0. 0. 0. 1. ]] SLAMing on 141.813133365 meters Centerline goodness : 0.104210 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.03, Z:-0.30 [[ 0.99891475 -0.00374834 -0.04642495 -1.12250686] [ 0.00354828 0.99998406 -0.00439111 0.02708097] [ 0.04644067 0.00422162 0.99891213 -0.29615791] [ 0. 0. 0. 1. ]] SLAMing on 141.843133365 meters Centerline goodness : 0.132096 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.02, Z:-0.30 [[ 0.99890991 -0.00351385 -0.04654718 -1.12222303] [ 0.00334457 0.99998751 -0.0037141 0.02345909] [ 0.04655965 0.00355437 0.99890919 -0.29611387] [ 0. 0. 0. 1. ]] SLAMing on 141.873133365 meters Centerline goodness : 0.128610 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.02, Z:-0.30 [[ 0.99890525 -0.00324703 -0.04666637 -1.1219659 ] [ 0.00310708 0.99999046 -0.00307131 0.02024917] [ 0.04667589 0.00292295 0.99890581 -0.29604284] [ 0. 0. 0. 1. ]] SLAMing on 141.903133365 meters Centerline goodness : 0.120871 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.02, Z:-0.30 [[ 0.99890474 -0.00296937 -0.04669592 -1.12194021] [ 0.00285797 0.99999291 -0.00245209 0.01731687] [ 0.04670287 0.00231595 0.99890614 -0.29596464] [ 0. 0. 0. 1. ]] SLAMing on 141.933133365 meters Centerline goodness : 0.165351 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 0.99890407 -0.00272246 -0.04672532 -1.1218948 ] [ 0.00263502 0.99999466 -0.0019329 0.01483982] [ 0.04673033 0.00180766 0.99890591 -0.29589629] [ 0. 0. 0. 1. ]] SLAMing on 141.963133365 meters Centerline goodness : 0.166100 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 0.99890326 -0.00241485 -0.04675946 -1.12180164] [ 0.00235781 0.99999641 -0.00127494 0.01126511] [ 0.04676237 0.00116329 0.99890536 -0.29586976] [ 0. 0. 0. 1. ]] SLAMing on 141.99313336499998 meters Centerline goodness : 0.166100 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 0.99890326 -0.00241485 -0.04675946 -1.12180164] [ 0.00235781 0.99999641 -0.00127494 0.01126511] [ 0.04676237 0.00116329 0.99890536 -0.29586976] [ 0. 0. 0. 1. ]] SLAMing on 142.02313336499998 meters Centerline goodness : 0.139699 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 9.98901323e-01 -2.25099811e-03 -4.68089776e-02 -1.12155770e+00] [ 2.20965616e-03 9.99997122e-01 -9.34931141e-04 9.02941450e-03] [ 4.68109474e-02 8.30472208e-04 9.98903422e-01 -2.96014361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05313336499998 meters Centerline goodness : 0.157293 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 9.98906589e-01 -2.12602131e-03 -4.67023117e-02 -1.12188237e+00] [ 2.09250037e-03 9.99997517e-01 -7.66634928e-04 8.29195818e-03] [ 4.67038256e-02 6.68072076e-04 9.98908558e-01 -2.95923343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08313336499998 meters Centerline goodness : 0.148773 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 9.98910377e-01 -1.93796005e-03 -4.66294154e-02 -1.12219482e+00] [ 1.91679056e-03 9.99998039e-01 -4.98703865e-04 7.36192014e-03] [ 4.66302904e-02 4.08781643e-04 9.98912133e-01 -2.95727332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11313336499998 meters Centerline goodness : 0.148773 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 9.98910377e-01 -1.93796005e-03 -4.66294154e-02 -1.12219482e+00] [ 1.91679056e-03 9.99998039e-01 -4.98703865e-04 7.36192014e-03] [ 4.66302904e-02 4.08781643e-04 9.98912133e-01 -2.95727332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14313336499998 meters Centerline goodness : 0.112713 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 9.98918045e-01 -1.74433168e-03 -4.64725293e-02 -1.12284635e+00] [ 1.73965353e-03 9.99998477e-01 -1.41109471e-04 5.84276464e-03] [ 4.64727047e-02 6.01106971e-05 9.98919558e-01 -2.95361457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17313336499998 meters Centerline goodness : 0.139838 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.00, Z:-0.29 [[ 9.98924477e-01 -1.53908362e-03 -4.63413377e-02 -1.12355996e+00] [ 1.55609284e-03 9.99998735e-01 3.30969083e-04 3.40990857e-03] [ 4.63407696e-02 -4.02724542e-04 9.98925608e-01 -2.94739736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20313336499999 meters Centerline goodness : 0.155720 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.00, Z:-0.29 [[ 0.99894263 -0.00489078 -0.04571328 -1.12584438] [ 0.00479738 0.99998618 -0.00215283 -0.00285952] [ 0.04572318 0.00193125 0.99895228 -0.29367202] [ 0. 0. 0. 1. ]] SLAMing on 142.233133365 meters Centerline goodness : 0.041299 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.29 [[ 0.99893949 -0.00463398 -0.04580855 -1.12542893] [ 0.00457519 0.99998857 -0.001388 -0.00713284] [ 0.04581446 0.00117694 0.99894927 -0.29387996] [ 0. 0. 0. 1. ]] SLAMing on 142.263133365 meters Centerline goodness : 0.125948 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.01, Z:-0.29 [[ 9.98931380e-01 -4.32996077e-03 -4.60146580e-02 -1.12443517e+00] [ 4.30719737e-03 9.99990548e-01 -5.93837481e-04 -1.12401083e-02] [ 4.60167943e-02 3.95008681e-04 9.98940588e-01 -2.94551307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.293133365 meters Centerline goodness : 0.147884 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.01, Z:-0.30 [[ 9.98915273e-01 -4.08534278e-03 -4.63852083e-02 -1.12301202e+00] [ 4.09340264e-03 9.99991619e-01 7.87724222e-05 -1.49772445e-02] [ 4.63844977e-02 -2.68560310e-04 9.98923624e-01 -2.95243675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.323133365 meters Centerline goodness : 0.108720 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.02, Z:-0.30 [[ 9.98899445e-01 -3.82640165e-03 -4.67467390e-02 -1.12173285e+00] [ 3.86496170e-03 9.99992261e-01 7.34512372e-04 -1.85197802e-02] [ 4.67435667e-02 -9.14378357e-04 9.98906504e-01 -2.95762328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.353133365 meters Centerline goodness : 0.144632 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.02, Z:-0.30 [[ 0.9988855 -0.00358111 -0.04706313 -1.12071846] [ 0.00364696 0.99999249 0.00131342 -0.0215705 ] [ 0.04705807 -0.00148359 0.99889105 -0.29607003] [ 0. 0. 0. 1. ]] SLAMing on 142.383133365 meters Centerline goodness : 0.162336 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 9.98799747e-01 5.16065817e-03 -4.87076223e-02 -1.09969267e+00] [-5.11837844e-03 9.99986408e-01 9.92718022e-04 -3.08119287e-02] [ 4.87120834e-02 -7.42222466e-04 9.98812586e-01 -2.93368822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.413133365 meters Centerline goodness : 0.147319 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 9.98803976e-01 5.36211657e-03 -4.85990270e-02 -1.10001672e+00] [-5.30442427e-03 9.99985065e-01 1.31600241e-03 -3.22927749e-02] [ 4.86053577e-02 -1.05663858e-03 9.98817502e-01 -2.93266256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.443133365 meters Centerline goodness : 0.140952 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 0.99881194 0.00556034 -0.04841266 -1.10040987] [-0.00549239 0.99998374 0.00153649 -0.03309345] [ 0.04842042 -0.00126877 0.99882624 -0.2933419 ] [ 0. 0. 0. 1. ]] SLAMing on 142.473133365 meters Centerline goodness : 0.141808 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 0.99883597 0.00573395 -0.04789391 -1.10168497] [-0.00565814 0.99998252 0.0017184 -0.03369286] [ 0.04790293 -0.00144541 0.99885095 -0.29334393] [ 0. 0. 0. 1. ]] SLAMing on 142.503133365 meters SLAMing on 142.533133365 meters Centerline goodness : 0.138530 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.03, Z:-0.29 [[ 0.99889706 0.00623171 -0.04653847 -1.10532705] [-0.00613868 0.99997886 0.00214154 -0.03446801] [ 0.04655083 -0.0018535 0.9989142 -0.29286775] [ 0. 0. 0. 1. ]] SLAMing on 142.563133365 meters Centerline goodness : 0.151216 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.03, Z:-0.29 [[ 0.99890331 0.00622514 -0.0464051 -1.10566588] [-0.00614032 0.99997921 0.00197017 -0.03354692] [ 0.0464164 -0.00168307 0.99892076 -0.29290416] [ 0. 0. 0. 1. ]] SLAMing on 142.593133365 meters Centerline goodness : 0.149639 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.04, Z:-0.29 [[ 0.99876657 0.00527052 -0.04937161 -1.14911333] [-0.0051638 0.99998405 0.00228891 -0.0358974 ] [ 0.04938289 -0.00203114 0.99877786 -0.29452834] [ 0. 0. 0. 1. ]] SLAMing on 142.623133365 meters Centerline goodness : 0.056273 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.30 [[ 0.9987559 0.00521625 -0.04959276 -1.14826387] [-0.00511905 0.99998472 0.00208672 -0.03476186] [ 0.04960288 -0.00183026 0.99876734 -0.29506696] [ 0. 0. 0. 1. ]] SLAMing on 142.653133365 meters Centerline goodness : 0.121234 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99871204 -0.00161751 -0.05071133 -1.12869179] [ 0.00176208 0.99999451 0.0028061 -0.02765667] [ 0.05070651 -0.00289185 0.99870941 -0.2933389 ] [ 0. 0. 0. 1. ]] SLAMing on 142.683133365 meters Centerline goodness : 0.142325 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99870862 -0.00169702 -0.05077603 -1.12844622] [ 0.00183134 0.99999495 0.00259896 -0.02649559] [ 0.05077137 -0.00268859 0.99870668 -0.29353068] [ 0. 0. 0. 1. ]] SLAMing on 142.713133365 meters Centerline goodness : 0.159193 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99870934 -0.00176628 -0.0507596 -1.12858553] [ 0.00189324 0.9999952 0.00245317 -0.02562182] [ 0.05075502 -0.0025461 0.99870789 -0.29341304] [ 0. 0. 0. 1. ]] SLAMing on 142.74313336499998 meters Centerline goodness : 0.139120 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99871371 -0.00184993 -0.05067062 -1.12907793] [ 0.00197184 0.99999528 0.00235588 -0.0252652 ] [ 0.05066602 -0.00245277 0.99871264 -0.2930231 ] [ 0. 0. 0. 1. ]] SLAMing on 142.77313336499998 meters Centerline goodness : 0.160349 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99872944 -0.00233156 -0.05033957 -1.13083616] [ 0.00243977 0.99999484 0.00208815 -0.02528944] [ 0.05033445 -0.00220831 0.99872998 -0.29158839] [ 0. 0. 0. 1. ]] SLAMing on 142.80313336499998 meters Centerline goodness : 0.164108 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99871648 -0.00237596 -0.05059401 -1.13022689] [ 0.00248613 0.99999467 0.0021148 -0.0256194 ] [ 0.05058872 -0.00223787 0.99871706 -0.29156045] [ 0. 0. 0. 1. ]] SLAMing on 142.83313336499998 meters Centerline goodness : 0.144290 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99870377 -0.00245275 -0.05084059 -1.12947369] [ 0.00256312 0.9999945 0.00210568 -0.02587172] [ 0.05083514 -0.00223326 0.99870456 -0.29176733] [ 0. 0. 0. 1. ]] SLAMing on 142.86313336499998 meters Centerline goodness : 0.143122 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99870414 -0.00255945 -0.05082803 -1.12936916] [ 0.00266804 0.9999943 0.00206866 -0.02618462] [ 0.05082245 -0.00220159 0.99870528 -0.29191537] [ 0. 0. 0. 1. ]] SLAMing on 142.89313336499998 meters Centerline goodness : 0.139098 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99871575 -0.00268307 -0.05059298 -1.13020566] [ 0.00278533 0.99999422 0.00195075 -0.02604366] [ 0.05058745 -0.00208917 0.99871745 -0.29155022] [ 0. 0. 0. 1. ]] SLAMing on 142.92313336499998 meters Centerline goodness : 0.143989 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99872658 -0.00279528 -0.05037273 -1.13115098] [ 0.00288877 0.99999424 0.00178326 -0.02541985] [ 0.05036746 -0.00192651 0.9987289 -0.29098919] [ 0. 0. 0. 1. ]] SLAMing on 142.95313336499999 meters Centerline goodness : 0.142326 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.02, Z:-0.29 [[ 0.99872768 -0.00301599 -0.05033815 -1.13125762] [ 0.00307684 0.99999463 0.00113151 -0.02161481] [ 0.05033447 -0.00128495 0.99873159 -0.29102549] [ 0. 0. 0. 1. ]] SLAMing on 142.983133365 meters Centerline goodness : 0.143266 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.02, Z:-0.29 [[ 9.98723392e-01 -3.16092452e-03 -5.04142371e-02 -1.13082702e+00] [ 3.19950528e-03 9.99994647e-01 6.84591676e-04 -1.90976045e-02] [ 5.04118033e-02 -8.45018338e-04 9.98728159e-01 -2.91410066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.013133365 meters Centerline goodness : 0.166576 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.02, Z:-0.29 [[ 9.98722551e-01 -3.29050161e-03 -5.04226014e-02 -1.13070969e+00] [ 3.30315479e-03 9.99994531e-01 1.67614623e-04 -1.61097510e-02] [ 5.04217741e-02 -3.33954161e-04 9.98727958e-01 -2.91655288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.043133365 meters Centerline goodness : 0.164552 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.29 [[ 9.98728569e-01 -3.45453665e-03 -5.02922700e-02 -1.13106227e+00] [ 3.43923479e-03 9.99994009e-01 -3.90793967e-04 -1.30010523e-02] [ 5.02933187e-02 2.17330175e-04 9.98734467e-01 -2.91705709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.073133365 meters Centerline goodness : 0.142677 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.29 [[ 9.98737323e-01 -3.60619186e-03 -5.01074335e-02 -1.13165082e+00] [ 3.56421023e-03 9.99993218e-01 -9.27160358e-04 -9.94229101e-03] [ 5.01104372e-02 7.47396227e-04 9.98743403e-01 -2.91590033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.103133365 meters Centerline goodness : 0.146235 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.00, Z:-0.29 [[ 0.99876321 -0.00374966 -0.04957815 -1.13333841] [ 0.00366649 0.99999171 -0.00176844 -0.00351596] [ 0.04958437 0.00158448 0.99876868 -0.29124288] [ 0. 0. 0. 1. ]] SLAMing on 143.133133365 meters Centerline goodness : 0.145398 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.00, Z:-0.29 [[ 9.98768414e-01 -3.91901114e-03 -4.94600445e-02 -1.13373401e+00] [ 3.81184997e-03 9.99990179e-01 -2.26076038e-03 -8.04414642e-04] [ 4.94684187e-02 2.06944179e-03 9.98773544e-01 -2.91146194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.163133365 meters Centerline goodness : 0.141385 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.00, Z:-0.29 [[ 0.99877312 -0.00408254 -0.04935168 -1.13416742] [ 0.00395454 0.99998856 -0.00269102 0.00155614] [ 0.0493621 0.00249256 0.99877784 -0.29101459] [ 0. 0. 0. 1. ]] SLAMing on 143.193133365 meters Centerline goodness : 0.146922 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.00, Z:-0.29 [[ 0.99877689 -0.00415926 -0.0492689 -1.1343519 ] [ 0.00402011 0.99998765 -0.00292305 0.00309904] [ 0.04928045 0.00272141 0.99878127 -0.29109159] [ 0. 0. 0. 1. ]] SLAMing on 143.223133365 meters Centerline goodness : 0.141193 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.00, Z:-0.29 [[ 0.99877579 -0.00423363 -0.04928483 -1.13435912] [ 0.00408501 0.9999868 -0.00311595 0.00432788] [ 0.04929737 0.00291081 0.9987799 -0.29104543] [ 0. 0. 0. 1. ]] SLAMing on 143.253133365 meters Centerline goodness : 0.144371 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-0.29 [[ 0.99877682 -0.00428554 -0.04925944 -1.13432747] [ 0.00413111 0.99998623 -0.00323642 0.00510651] [ 0.04927264 0.00302897 0.99878077 -0.2911766 ] [ 0. 0. 0. 1. ]] SLAMing on 143.283133365 meters Centerline goodness : 0.145953 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-0.29 [[ 0.99878031 -0.00450845 -0.04916873 -1.13473537] [ 0.00434198 0.99998448 -0.00349181 0.00581793] [ 0.04918371 0.00327406 0.99878438 -0.29092534] [ 0. 0. 0. 1. ]] SLAMing on 143.313133365 meters SLAMing on 143.343133365 meters Centerline goodness : 0.135911 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-0.29 [[ 0.99875598 -0.00458896 -0.04965316 -1.13318738] [ 0.0044149 0.99998372 -0.00361461 0.00638472] [ 0.04966894 0.0033909 0.99875998 -0.29147226] [ 0. 0. 0. 1. ]] SLAMing on 143.373133365 meters Centerline goodness : 0.152583 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-0.29 [[ 0.99874535 -0.00457065 -0.0498681 -1.13237348] [ 0.00439458 0.99998372 -0.00363984 0.00679897] [ 0.04988392 0.00341612 0.99874918 -0.29190368] [ 0. 0. 0. 1. ]] SLAMing on 143.403133365 meters Centerline goodness : 0.144830 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.00, Z:-0.29 [[ 0.99876101 0.00289335 -0.04967962 -1.15083981] [-0.00313366 0.99998376 -0.00476007 0.00164387] [ 0.04966504 0.00490986 0.99875386 -0.29464091] [ 0. 0. 0. 1. ]] SLAMing on 143.433133365 meters Centerline goodness : 0.151747 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-0.29 [[ 0.99875175 -0.004543 -0.04974233 -1.13240142] [ 0.00436931 0.99998397 -0.00360006 0.00528496] [ 0.04975789 0.00337823 0.9987556 -0.29196052] [ 0. 0. 0. 1. ]] SLAMing on 143.463133365 meters Centerline goodness : 0.146429 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.00, Z:-0.29 [[ 0.99876001 -0.00450363 -0.04957978 -1.13309352] [ 0.004352 0.99998552 -0.00316598 0.0023633 ] [ 0.04959333 0.00294628 0.99876515 -0.2914308 ] [ 0. 0. 0. 1. ]] SLAMing on 143.49313336499998 meters Centerline goodness : 0.110145 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.00, Z:-0.29 [[ 9.98757264e-01 -4.43400361e-03 -4.96413797e-02 -1.13290171e+00] [ 4.29628453e-03 9.99986622e-01 -2.88063916e-03 5.38804836e-04] [ 4.96534884e-02 2.66378579e-03 9.98762953e-01 -2.91464491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52313336499998 meters Centerline goodness : 0.142472 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.00, Z:-0.29 [[ 0.99875343 -0.0043976 -0.04972165 -1.13253544] [ 0.00427141 0.99998738 -0.00264379 -0.00116626] [ 0.04973265 0.00242811 0.99875961 -0.29165581] [ 0. 0. 0. 1. ]] SLAMing on 143.55313336499998 meters Centerline goodness : 0.117254 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.00, Z:-0.29 [[ 0.99874746 -0.0043269 -0.04984769 -1.13204768] [ 0.00421322 0.99998828 -0.00238533 -0.00292377] [ 0.04985743 0.00217232 0.99875398 -0.29186124] [ 0. 0. 0. 1. ]] SLAMing on 143.58313336499998 meters Centerline goodness : 0.107879 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.29 [[ 0.99878119 0.00278136 -0.0492787 -1.15014724] [-0.00295836 0.99998943 -0.00351921 -0.01006918] [ 0.04926839 0.00366071 0.99877887 -0.29498981] [ 0. 0. 0. 1. ]] SLAMing on 143.61313336499998 meters Centerline goodness : 0.160309 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.99877099 0.00297682 -0.04947366 -1.14944152] [-0.0031317 0.99999043 -0.00305333 -0.01235998] [ 0.0494641 0.00320452 0.99877076 -0.2953447 ] [ 0. 0. 0. 1. ]] SLAMing on 143.64313336499998 meters Centerline goodness : 0.122948 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.99876345 0.00304438 -0.0496215 -1.14894627] [-0.00319207 0.99999071 -0.0028975 -0.0132131 ] [ 0.04961222 0.00305232 0.99876389 -0.29553313] [ 0. 0. 0. 1. ]] SLAMing on 143.67313336499998 meters Centerline goodness : 0.107230 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.9987593 0.00307302 -0.04970325 -1.14864632] [-0.00321566 0.99999094 -0.0027903 -0.01402303] [ 0.04969423 0.00294666 0.99876013 -0.29566566] [ 0. 0. 0. 1. ]] SLAMing on 143.70313336499999 meters Centerline goodness : 0.155363 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.99875623 0.00308217 -0.04976441 -1.14855662] [-0.00322112 0.99999113 -0.00271235 -0.01473374] [ 0.04975561 0.00286928 0.9987573 -0.29556145] [ 0. 0. 0. 1. ]] SLAMing on 143.733133365 meters Centerline goodness : 0.153423 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.30 [[ 0.99875648 0.00311663 -0.04975731 -1.14869507] [-0.00325171 0.99999124 -0.00263414 -0.01528898] [ 0.04974866 0.00279266 0.99875786 -0.29540267] [ 0. 0. 0. 1. ]] SLAMing on 143.763133365 meters Centerline goodness : 0.147788 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.30 [[ 0.99876126 0.0032372 -0.04965347 -1.1491474 ] [-0.00336252 0.99999137 -0.00244054 -0.01601312] [ 0.04964514 0.00260448 0.99876352 -0.29513263] [ 0. 0. 0. 1. ]] SLAMing on 143.793133365 meters Centerline goodness : 0.145154 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.29 [[ 0.99878258 0.00341245 -0.04921087 -1.15062392] [-0.00352516 0.99999136 -0.00220382 -0.01692509] [ 0.04920292 0.00237461 0.99878598 -0.2945541 ] [ 0. 0. 0. 1. ]] SLAMing on 143.823133365 meters Centerline goodness : 0.165291 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.29 [[ 0.99879322 0.00338687 -0.04899635 -1.15127499] [-0.00350155 0.99999133 -0.00225493 -0.01686865] [ 0.04898828 0.00242377 0.99879641 -0.29438925] [ 0. 0. 0. 1. ]] SLAMing on 143.853133365 meters Centerline goodness : 0.143118 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.29 [[ 0.99879754 0.00340105 -0.04890723 -1.15137188] [-0.00351738 0.99999119 -0.00229274 -0.01651172] [ 0.048899 0.00246201 0.99880069 -0.29463106] [ 0. 0. 0. 1. ]] SLAMing on 143.883133365 meters Centerline goodness : 0.152587 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.29 [[ 0.99879322 0.00345842 -0.04899128 -1.15098884] [-0.0035756 0.99999095 -0.0023045 -0.01593569] [ 0.04898286 0.00247689 0.99879655 -0.29494236] [ 0. 0. 0. 1. ]] SLAMing on 143.913133365 meters Centerline goodness : 0.144543 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.30 [[ 0.99878841 0.00348769 -0.04908712 -1.15059738] [-0.00360658 0.99999077 -0.00233367 -0.01548123] [ 0.04907853 0.00250788 0.99879177 -0.29523601] [ 0. 0. 0. 1. ]] SLAMing on 143.943133365 meters Centerline goodness : 0.121918 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.30 [[ 0.99878448 0.00347369 -0.04916805 -1.15046013] [-0.00359106 0.99999091 -0.00229894 -0.01596142] [ 0.04915962 0.00247271 0.99878787 -0.29515393] [ 0. 0. 0. 1. ]] SLAMing on 143.973133365 meters Centerline goodness : 0.170107 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.29 [[ 9.98842620e-01 1.13039131e-03 -4.80847495e-02 -1.15545623e+00] [-1.33611217e-03 9.99990092e-01 -4.24637071e-03 -1.80769001e-02] [ 4.80794730e-02 4.30570266e-03 9.98834233e-01 -2.92648113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.003133365 meters Centerline goodness : 0.170107 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.29 [[ 9.98842620e-01 1.13039131e-03 -4.80847495e-02 -1.15545623e+00] [-1.33611217e-03 9.99990092e-01 -4.24637071e-03 -1.80769001e-02] [ 4.80794730e-02 4.30570266e-03 9.98834233e-01 -2.92648113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.033133365 meters Centerline goodness : 0.148633 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.29 [[ 0.99884296 0.00121896 -0.04807554 -1.1555034 ] [-0.00141167 0.9999911 -0.00397482 -0.01943288] [ 0.04807027 0.00403809 0.99883579 -0.29259618] [ 0. 0. 0. 1. ]] SLAMing on 144.063133365 meters Centerline goodness : 0.165547 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.29 [[ 0.99883329 0.00127958 -0.04827449 -1.15484393] [-0.00146279 0.99999186 -0.0037601 -0.0205221 ] [ 0.04826928 0.00382633 0.99882703 -0.29285031] [ 0. 0. 0. 1. ]] SLAMing on 144.093133365 meters Centerline goodness : 0.156132 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.29 [[ 0.99882026 0.00130559 -0.04854269 -1.15387639] [-0.00148143 0.99999247 -0.00358661 -0.02165949] [ 0.04853764 0.00365429 0.99881467 -0.2933076 ] [ 0. 0. 0. 1. ]] SLAMing on 144.123133365 meters Centerline goodness : 0.151631 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.29 [[ 0.99880328 0.00130177 -0.0488908 -1.15287664] [-0.00147089 0.99999306 -0.00342336 -0.02292167] [ 0.048886 0.00349118 0.99879826 -0.29354792] [ 0. 0. 0. 1. ]] SLAMing on 144.153133365 meters Centerline goodness : 0.170901 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.29 [[ 0.99880789 0.00136427 -0.04879483 -1.15359616] [-0.001512 0.99999438 -0.00299084 -0.0254947 ] [ 0.04879047 0.00306105 0.99880435 -0.29280231] [ 0. 0. 0. 1. ]] SLAMing on 144.183133365 meters Centerline goodness : 0.041793 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.03, Z:-0.29 [[ 0.99882757 0.0014762 -0.04838699 -1.15512438] [-0.00160493 0.99999528 -0.00262166 -0.0273563 ] [ 0.04838289 0.00269624 0.99882522 -0.29199605] [ 0. 0. 0. 1. ]] SLAMing on 144.213133365 meters Centerline goodness : 0.145816 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.03, Z:-0.29 [[ 9.98887929e-01 -6.25832627e-03 -4.67304816e-02 -1.13636718e+00] [ 6.20098775e-03 9.99979833e-01 -1.37187202e-03 -2.56835459e-02] [ 4.67381247e-02 1.08057126e-03 9.98906592e-01 -2.89826746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24313336499998 meters Centerline goodness : 0.152684 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.03, Z:-0.29 [[ 9.98903816e-01 -6.27440144e-03 -4.63874811e-02 -1.13747522e+00] [ 6.23694703e-03 9.99980097e-01 -9.52118351e-04 -2.86830788e-02] [ 4.63925318e-02 6.61758392e-04 9.98923068e-01 -2.89334245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27313336499998 meters Centerline goodness : 0.149746 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.03, Z:-0.29 [[ 9.98902034e-01 -6.34669853e-03 -4.64160146e-02 -1.13747586e+00] [ 6.32684042e-03 9.99979820e-01 -5.74730314e-04 -3.18259797e-02] [ 4.64187256e-02 2.80432562e-04 9.98922031e-01 -2.89173856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30313336499998 meters Centerline goodness : 0.146478 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.03, Z:-0.29 [[ 9.98887383e-01 -6.34760838e-03 -4.67301157e-02 -1.13669131e+00] [ 6.34841959e-03 9.99979840e-01 -1.31054128e-04 -3.49173453e-02] [ 4.67300055e-02 -1.65754067e-04 9.98907543e-01 -2.89158306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33313336499998 meters Centerline goodness : 0.107611 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.04, Z:-0.29 [[ 9.98879672e-01 -6.29781331e-03 -4.69013707e-02 -1.13634803e+00] [ 6.32220092e-03 9.99979946e-01 3.71651476e-04 -3.80097738e-02] [ 4.68980895e-02 -6.67754993e-04 9.98899456e-01 -2.89020142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36313336499998 meters SLAMing on 144.39313336499998 meters Centerline goodness : 0.133694 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.29 [[ 9.98869890e-01 -1.60271802e-02 -4.47445327e-02 -1.11622629e+00] [ 1.60641545e-02 9.99870854e-01 4.66869697e-04 -4.43131976e-02] [ 4.47312715e-02 -1.18512517e-03 9.98998353e-01 -2.87524717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42313336499998 meters Centerline goodness : 0.107495 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.05, Z:-0.29 [[ 9.98991599e-01 -7.46273062e-03 -4.42729260e-02 -1.13520867e+00] [ 7.47833671e-03 9.99972019e-01 1.86880365e-04 -5.39405730e-02] [ 4.42702926e-02 -5.17779762e-04 9.99019456e-01 -2.89338246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45313336499999 meters Centerline goodness : 0.136474 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.06, Z:-0.29 [[ 9.99005035e-01 -7.38098058e-03 -4.39825038e-02 -1.13595700e+00] [ 7.42278229e-03 9.99972141e-01 7.87175085e-04 -5.66939582e-02] [ 4.39754684e-02 -1.11286442e-03 9.99031991e-01 -2.89491025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.483133365 meters SLAMing on 144.513133365 meters Centerline goodness : 0.138298 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.06, Z:-0.29 [[ 0.99897177 -0.01089123 -0.0440089 -1.13557613] [ 0.01082841 0.99993998 -0.00166562 -0.06229885] [ 0.0440244 0.00118736 0.99902975 -0.29004166] [ 0. 0. 0. 1. ]] SLAMing on 144.543133365 meters Centerline goodness : 0.137242 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.07, Z:-0.29 [[ 9.98873428e-01 -1.12761413e-02 -4.60947122e-02 -1.12980035e+00] [ 1.12231718e-02 9.99936027e-01 -1.40779242e-03 -6.87480038e-02] [ 4.61076379e-02 8.88877570e-04 9.98936082e-01 -2.91322426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.573133365 meters Centerline goodness : 0.144606 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.08, Z:-0.29 [[ 0.99889935 -0.00202233 -0.04686149 -1.14387242] [ 0.00192208 0.99999577 -0.0021842 -0.07767106] [ 0.0468657 0.00209173 0.99889901 -0.29349622] [ 0. 0. 0. 1. ]] SLAMing on 144.603133365 meters SLAMing on 144.633133365 meters Centerline goodness : 0.131466 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.08, Z:-0.29 [[ 9.98887978e-01 -1.72531686e-03 -4.71150692e-02 -1.14371113e+00] [ 1.67017271e-03 9.99997874e-01 -1.20975625e-03 -8.42625388e-02] [ 4.71170563e-02 1.12972067e-03 9.98888736e-01 -2.92855039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.663133365 meters Centerline goodness : 0.143938 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.09, Z:-0.29 [[ 9.98893995e-01 -1.53265287e-03 -4.69940230e-02 -1.14442357e+00] [ 1.50199708e-03 9.99998636e-01 -6.87638820e-04 -8.71189645e-02] [ 4.69950128e-02 6.16293403e-04 9.98894934e-01 -2.92224545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.693133365 meters Centerline goodness : 0.157245 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.09, Z:-0.29 [[ 9.98900183e-01 -1.35062692e-03 -4.68678923e-02 -1.14488605e+00] [ 1.34308616e-03 9.99999080e-01 -1.92384738e-04 -8.97697168e-02] [ 4.68681090e-02 1.29225533e-04 9.98901078e-01 -2.92016692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.723133365 meters SLAMing on 144.753133365 meters Centerline goodness : 0.110461 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:-0.29 [[ 9.98854374e-01 -1.93493790e-03 -4.78141802e-02 -1.14089634e+00] [ 1.93113411e-03 9.99998127e-01 -1.25747676e-04 -9.67104928e-02] [ 4.78143340e-02 3.32680217e-05 9.98856240e-01 -2.94002146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.783133365 meters Centerline goodness : 0.134808 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:-0.29 [[ 9.98845915e-01 -1.86330214e-03 -4.79933932e-02 -1.14029631e+00] [ 1.86953578e-03 9.99998249e-01 8.49972414e-05 -9.79831943e-02] [ 4.79931508e-02 -1.74624513e-04 9.98847650e-01 -2.94254520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.813133365 meters Centerline goodness : 0.134471 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:-0.29 [[ 9.98838769e-01 -1.77055651e-03 -4.81453824e-02 -1.13993777e+00] [ 1.78883608e-03 9.99998343e-01 3.36589943e-04 -9.93257577e-02] [ 4.81447067e-02 -4.22323282e-04 9.98840282e-01 -2.94247403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.843133365 meters Centerline goodness : 0.151963 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:-0.29 [[ 9.98833429e-01 -1.66515932e-03 -4.82598025e-02 -1.13982681e+00] [ 1.69505130e-03 9.99998396e-01 5.78478340e-04 -1.00562562e-01] [ 4.82587618e-02 -6.59606345e-04 9.98834649e-01 -2.94034570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.873133365 meters Centerline goodness : 0.146627 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:-0.29 [[ 9.98837246e-01 -1.57103429e-03 -4.81839064e-02 -1.14023575e+00] [ 1.61067123e-03 9.99998396e-01 7.83801935e-04 -1.01482998e-01] [ 4.81825977e-02 -8.60498998e-04 9.98838173e-01 -2.93736050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.903133365 meters Centerline goodness : 0.132857 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:-0.29 [[ 0.9988682 -0.00143967 -0.04754214 -1.14250646] [ 0.00150171 0.99999807 0.00126924 -0.10392487] [ 0.04754022 -0.0013392 0.99886843 -0.29269445] [ 0. 0. 0. 1. ]] SLAMing on 144.933133365 meters Centerline goodness : 0.112978 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.11, Z:-0.29 [[ 0.99888114 -0.00136699 -0.0472715 -1.14349846] [ 0.00144082 0.99999779 0.00152778 -0.10531111] [ 0.0472693 -0.00159418 0.99888091 -0.29223247] [ 0. 0. 0. 1. ]] SLAMing on 144.963133365 meters SLAMing on 144.99313336499998 meters Centerline goodness : 0.104173 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.11, Z:-0.29 [[ 0.99897258 0.00403376 -0.04513874 -1.12307033] [-0.00412784 0.9999895 -0.0019912 -0.10999225] [ 0.04513023 0.00217548 0.99897874 -0.29224562] [ 0. 0. 0. 1. ]] SLAMing on 145.02313336499998 meters Centerline goodness : 0.132361 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.11, Z:-0.29 [[ 0.99897431 0.00401297 -0.04510229 -1.12329284] [-0.00409812 0.99998999 -0.00179564 -0.11147823] [ 0.04509463 0.00197863 0.99898076 -0.29209569] [ 0. 0. 0. 1. ]] SLAMing on 145.05313336499998 meters SLAMing on 145.08313336499998 meters Centerline goodness : 0.110421 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.11, Z:-0.29 [[ 0.99901399 0.00382081 -0.04423168 -1.12601083] [-0.00388381 0.99999156 -0.00133844 -0.11484774] [ 0.0442262 0.00150891 0.9990204 -0.29116371] [ 0. 0. 0. 1. ]] SLAMing on 145.11313336499998 meters Centerline goodness : 0.160505 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.12, Z:-0.29 [[ 0.99901208 0.00381871 -0.04427502 -1.12587441] [-0.0038762 0.99999175 -0.00121268 -0.11573005] [ 0.04427002 0.0013831 0.99901864 -0.29120619] [ 0. 0. 0. 1. ]] SLAMing on 145.14313336499998 meters Centerline goodness : 0.143103 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.12, Z:-0.29 [[ 0.99900798 0.00372503 -0.04437552 -1.12549792] [-0.00378453 0.99999205 -0.00125679 -0.11606221] [ 0.04437048 0.00142348 0.99901413 -0.29138336] [ 0. 0. 0. 1. ]] SLAMing on 145.17313336499998 meters Centerline goodness : 0.102592 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.12, Z:-0.29 [[ 0.9990008 0.00359373 -0.04454761 -1.12507252] [-0.00365924 0.99999234 -0.0013892 -0.11593548] [ 0.04454227 0.00155083 0.9990063 -0.29139172] [ 0. 0. 0. 1. ]] SLAMing on 145.20313336499999 meters Centerline goodness : 0.145608 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:-0.29 [[ 9.98977182e-01 -3.49412575e-03 -4.50819373e-02 -1.10544248e+00] [ 3.48069608e-03 9.99993872e-01 -3.76389653e-04 -1.11570174e-01] [ 4.50829762e-02 2.19088152e-04 9.98983222e-01 -2.89110559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.233133365 meters Centerline goodness : 0.146348 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:-0.29 [[ 9.98975900e-01 -3.47130104e-03 -4.51120969e-02 -1.10524013e+00] [ 3.45681866e-03 9.99993946e-01 -3.99039060e-04 -1.10993033e-01] [ 4.51132089e-02 2.42686066e-04 9.98981851e-01 -2.89344465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.263133365 meters Centerline goodness : 0.142525 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:-0.29 [[ 9.98976459e-01 -3.48396266e-03 -4.50987424e-02 -1.10512704e+00] [ 3.46380594e-03 9.99993863e-01 -5.25085356e-04 -1.09917293e-01] [ 4.51002950e-02 3.68334617e-04 9.98982396e-01 -2.89561997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.293133365 meters Centerline goodness : 0.148457 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:-0.29 [[ 9.98978860e-01 -3.55790569e-03 -4.50397392e-02 -1.10529802e+00] [ 3.52674460e-03 9.99993484e-01 -7.71301240e-04 -1.08422636e-01] [ 4.50421899e-02 6.11669977e-04 9.98984898e-01 -2.89519121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.323133365 meters Centerline goodness : 0.137501 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.10, Z:-0.29 [[ 0.99896343 -0.0039618 -0.04534717 -1.10425976] [ 0.00388741 0.99999095 -0.00172858 -0.10392332] [ 0.04535361 0.00155051 0.99896979 -0.2899487 ] [ 0. 0. 0. 1. ]] SLAMing on 145.353133365 meters Centerline goodness : 0.110049 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.10, Z:-0.29 [[ 0.99895506 -0.00410371 -0.04551855 -1.10352197] [ 0.00400806 0.99998956 -0.00219233 -0.10123834] [ 0.04552707 0.0020076 0.99896109 -0.29044993] [ 0. 0. 0. 1. ]] SLAMing on 145.383133365 meters Centerline goodness : 0.105947 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.10, Z:-0.29 [[ 0.99894919 -0.00418724 -0.04563974 -1.10283803] [ 0.00407295 0.99998833 -0.00259694 -0.09848803] [ 0.04565008 0.00240832 0.99895459 -0.29106181] [ 0. 0. 0. 1. ]] SLAMing on 145.413133365 meters Centerline goodness : 0.105277 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.10, Z:-0.29 [[ 0.99894699 -0.00429221 -0.045678 -1.10255637] [ 0.004162 0.999987 -0.00294516 -0.09622805] [ 0.04569005 0.00275195 0.99895187 -0.29135272] [ 0. 0. 0. 1. ]] SLAMing on 145.443133365 meters Centerline goodness : 0.107442 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:-0.29 [[ 0.99894531 -0.00442776 -0.04570184 -1.10254872] [ 0.0042855 0.99998566 -0.00321036 -0.09490512] [ 0.0457154 0.00301112 0.99894997 -0.29132636] [ 0. 0. 0. 1. ]] SLAMing on 145.473133365 meters Centerline goodness : 0.128326 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:-0.29 [[ 0.99893883 -0.00460052 -0.04582628 -1.10248495] [ 0.00444841 0.99998426 -0.00342061 -0.09430501] [ 0.0458413 0.00321312 0.99894357 -0.29102151] [ 0. 0. 0. 1. ]] SLAMing on 145.503133365 meters Centerline goodness : 0.115896 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:-0.29 [[ 0.99892618 -0.00504429 -0.04605479 -1.1021756 ] [ 0.00487569 0.999981 -0.00377258 -0.09335973] [ 0.04607294 0.00354398 0.99893179 -0.29080483] [ 0. 0. 0. 1. ]] SLAMing on 145.533133365 meters Centerline goodness : 0.115896 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:-0.29 [[ 0.99892618 -0.00504429 -0.04605479 -1.1021756 ] [ 0.00487569 0.999981 -0.00377258 -0.09335973] [ 0.04607294 0.00354398 0.99893179 -0.29080483] [ 0. 0. 0. 1. ]] SLAMing on 145.563133365 meters Centerline goodness : 0.131139 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:-0.29 [[ 0.99893055 -0.00522849 -0.04593931 -1.10261498] [ 0.00505749 0.99997985 -0.00383753 -0.09288727] [ 0.04595844 0.00360109 0.99893686 -0.29064674] [ 0. 0. 0. 1. ]] SLAMing on 145.593133365 meters Centerline goodness : 0.118315 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.10, Z:-0.29 [[ 0.99897974 0.00261496 -0.04508482 -1.08518355] [-0.00287088 0.99998013 -0.00561263 -0.09652089] [ 0.04506925 0.00573634 0.9989674 -0.28853037] [ 0. 0. 0. 1. ]] SLAMing on 145.623133365 meters Centerline goodness : 0.102179 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.10, Z:-0.29 [[ 0.99898683 0.00248026 -0.04493514 -1.08578947] [-0.00274396 0.99997937 -0.00580784 -0.09583503] [ 0.0449198 0.00592525 0.99897302 -0.28819283] [ 0. 0. 0. 1. ]] SLAMing on 145.653133365 meters Centerline goodness : 0.151516 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:-0.29 [[ 0.99899436 0.00241171 -0.04477107 -1.08644675] [-0.00268345 0.99997834 -0.0060104 -0.09449482] [ 0.0447556 0.00612449 0.99897919 -0.28784016] [ 0. 0. 0. 1. ]] SLAMing on 145.683133365 meters Centerline goodness : 0.164628 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:-0.29 [[ 0.99900128 0.0024098 -0.04461658 -1.08678386] [-0.00268836 0.99997726 -0.00618436 -0.0927779 ] [ 0.04460066 0.00629813 0.99898504 -0.28790242] [ 0. 0. 0. 1. ]] SLAMing on 145.713133365 meters Centerline goodness : 0.099546 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:-0.29 [[ 0.99901658 0.00221785 -0.04428267 -1.08737685] [-0.00252672 0.99997286 -0.00692033 -0.08789193] [ 0.04426612 0.00702542 0.99899507 -0.28805081] [ 0. 0. 0. 1. ]] SLAMing on 145.74313336499998 meters Centerline goodness : 0.110471 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:-0.29 [[ 0.99902358 0.00201593 -0.04413407 -1.08776495] [-0.0023475 0.9999694 -0.00746234 -0.08518197] [ 0.04411768 0.00755866 0.99899775 -0.28793441] [ 0. 0. 0. 1. ]] SLAMing on 145.77313336499998 meters Centerline goodness : 0.113407 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.08, Z:-0.29 [[ 0.99902852 0.00180414 -0.04403143 -1.08809515] [-0.00216005 0.99996537 -0.00803695 -0.08225137] [ 0.04401541 0.00812426 0.99899782 -0.28778725] [ 0. 0. 0. 1. ]] SLAMing on 145.80313336499998 meters Centerline goodness : 0.164088 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.08, Z:-0.29 [[ 0.99902461 0.00158532 -0.04412845 -1.08773214] [-0.00196782 0.99996086 -0.0086258 -0.07915302] [ 0.04411304 0.00870422 0.99898863 -0.28790658] [ 0. 0. 0. 1. ]] SLAMing on 145.83313336499998 meters SLAMing on 145.86313336499998 meters Centerline goodness : 0.098705 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.07, Z:-0.29 [[ 0.99896168 0.00380727 -0.04539891 -1.08270135] [-0.00413413 0.99996619 -0.00710806 -0.07285008] [ 0.04537031 0.00728837 0.99894365 -0.29001908] [ 0. 0. 0. 1. ]] SLAMing on 145.89313336499998 meters Centerline goodness : 0.164450 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.07, Z:-0.29 [[ 0.99895821 0.00362339 -0.04549036 -1.08211772] [-0.00397401 0.99996307 -0.00761949 -0.06993658] [ 0.04546107 0.00779233 0.99893572 -0.29050487] [ 0. 0. 0. 1. ]] SLAMing on 145.92313336499998 meters Centerline goodness : 0.164450 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.07, Z:-0.29 [[ 0.99895821 0.00362339 -0.04549036 -1.08211772] [-0.00397401 0.99996307 -0.00761949 -0.06993658] [ 0.04546107 0.00779233 0.99893572 -0.29050487] [ 0. 0. 0. 1. ]] SLAMing on 145.95313336499999 meters Centerline goodness : 0.102407 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.07, Z:-0.29 [[ 0.99896339 0.00342333 -0.04539193 -1.08234901] [-0.0037966 0.99995967 -0.00813955 -0.06711516] [ 0.04536223 0.00830345 0.99893609 -0.29046576] [ 0. 0. 0. 1. ]] SLAMing on 145.983133365 meters Centerline goodness : 0.105748 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.06, Z:-0.29 [[ 0.9989838 0.00306087 -0.04496662 -1.08365101] [-0.00347037 0.99995319 -0.00903155 -0.06255695] [ 0.04493687 0.00917842 0.99894766 -0.2900334 ] [ 0. 0. 0. 1. ]] SLAMing on 146.013133365 meters Centerline goodness : 0.165686 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.06, Z:-0.29 [[ 0.99899062 0.00290608 -0.0448251 -1.08387087] [-0.00332999 0.99995041 -0.00938511 -0.06066882] [ 0.04479561 0.00952491 0.99895076 -0.29021317] [ 0. 0. 0. 1. ]] SLAMing on 146.043133365 meters Centerline goodness : 0.101476 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.06, Z:-0.29 [[ 0.99899091 0.00274152 -0.04482901 -1.08364036] [-0.00318212 0.99994731 -0.00975999 -0.05873837] [ 0.04479989 0.00989279 0.998947 -0.29053858] [ 0. 0. 0. 1. ]] SLAMing on 146.073133365 meters Centerline goodness : 0.136619 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.06, Z:-0.29 [[ 0.99898131 0.0026423 -0.04504847 -1.08258809] [-0.00309817 0.99994467 -0.01005275 -0.05681955] [ 0.04501941 0.01018208 0.99893422 -0.29130493] [ 0. 0. 0. 1. ]] SLAMing on 146.103133365 meters Centerline goodness : 0.104257 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.06, Z:-0.29 [[ 0.99896595 0.00256912 -0.04539197 -1.08118509] [-0.00303966 0.99994233 -0.01030019 -0.05503619] [ 0.04536289 0.01042751 0.99891615 -0.29212326] [ 0. 0. 0. 1. ]] SLAMing on 146.133133365 meters Centerline goodness : 0.090064 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.05, Z:-0.29 [[ 0.99889293 -0.00551749 -0.04671699 -1.09930073] [ 0.00511222 0.9999483 -0.00878998 -0.04820786] [ 0.04676307 0.00854142 0.99886949 -0.294116 ] [ 0. 0. 0. 1. ]] SLAMing on 146.163133365 meters Centerline goodness : 0.095231 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.05, Z:-0.29 [[ 0.99889165 -0.00570436 -0.0467219 -1.09943228] [ 0.00527815 0.99994337 -0.00924057 -0.04572705] [ 0.04677197 0.00898372 0.99886519 -0.29390873] [ 0. 0. 0. 1. ]] SLAMing on 146.193133365 meters Centerline goodness : 0.097146 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.04, Z:-0.29 [[ 0.99888819 -0.00579949 -0.04678407 -1.09933584] [ 0.00536394 0.99994115 -0.00943005 -0.04477226] [ 0.04683601 0.00916862 0.99886051 -0.29386229] [ 0. 0. 0. 1. ]] SLAMing on 146.223133365 meters Centerline goodness : 0.121245 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.04, Z:-0.29 [[ 0.998884 -0.00588145 -0.04686315 -1.09919147] [ 0.00543691 0.99993906 -0.00960789 -0.04383576] [ 0.0469168 0.00934238 0.99885511 -0.29380481] [ 0. 0. 0. 1. ]] SLAMing on 146.253133365 meters Centerline goodness : 0.039630 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.04, Z:-0.29 [[ 0.99888286 -0.00595103 -0.04687872 -1.0991898 ] [ 0.00549642 0.99993667 -0.00982047 -0.04249328] [ 0.04693419 0.00955183 0.99885231 -0.29376018] [ 0. 0. 0. 1. ]] SLAMing on 146.283133365 meters Centerline goodness : 0.126460 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.04, Z:-0.29 [[ 0.99888359 -0.00603591 -0.04685228 -1.09908575] [ 0.00557052 0.99993391 -0.01005748 -0.04115015] [ 0.04690989 0.00978526 0.9988512 -0.29399986] [ 0. 0. 0. 1. ]] SLAMing on 146.313133365 meters Centerline goodness : 0.247284 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.04, Z:-0.29 [[ 0.99886933 -0.00327879 -0.04742688 -1.09736641] [ 0.00293208 0.99996848 -0.00737807 -0.04021229] [ 0.04744957 0.00723067 0.99884746 -0.29446454] [ 0. 0. 0. 1. ]] SLAMing on 146.343133365 meters Centerline goodness : 0.100250 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.04, Z:-0.29 [[ 9.98860977e-01 1.66811289e-04 -4.77149862e-02 -1.09633547e+00] [-3.71373805e-04 9.99990779e-01 -4.27834247e-03 -3.80668488e-02] [ 4.77138326e-02 4.29118943e-03 9.98851829e-01 -2.94925243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.373133365 meters Centerline goodness : 0.114898 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.03, Z:-0.29 [[ 0.99885448 -0.00724762 -0.04729909 -1.07753382] [ 0.00709865 0.9999693 -0.0033168 -0.03255361] [ 0.04732168 0.00297724 0.99887526 -0.29240937] [ 0. 0. 0. 1. ]] SLAMing on 146.403133365 meters Centerline goodness : 0.242214 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.03, Z:-0.29 [[ 0.99886031 -0.00737763 -0.0471557 -1.07812551] [ 0.00721451 0.99996739 -0.00362853 -0.03100175] [ 0.04718093 0.00328419 0.99888096 -0.29205613] [ 0. 0. 0. 1. ]] SLAMing on 146.433133365 meters Centerline goodness : 0.130379 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.03, Z:-0.29 [[ 0.9988586 -0.00749848 -0.04717279 -1.07834707] [ 0.00731998 0.99996539 -0.00395559 -0.02920592] [ 0.04720081 0.00360577 0.99887891 -0.29170176] [ 0. 0. 0. 1. ]] SLAMing on 146.463133365 meters Centerline goodness : 0.209549 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 9.98880595e-01 7.94485142e-04 -4.72961581e-02 -1.09948640e+00] [-1.01686687e-03 9.99988541e-01 -4.67802372e-03 -3.08809487e-02] [ 4.72918995e-02 4.72088101e-03 9.98869956e-01 -2.93313692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49313336499998 meters Centerline goodness : 0.103673 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 9.98884540e-01 6.58696606e-04 -4.72148497e-02 -1.09972052e+00] [-8.96537145e-04 9.99987016e-01 -5.01640991e-03 -2.91682226e-02] [ 4.72109324e-02 5.05314417e-03 9.98872161e-01 -2.93256392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52313336499998 meters Centerline goodness : 0.096782 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 9.98892672e-01 5.11041174e-04 -4.70443173e-02 -1.10010786e+00] [-7.61837715e-04 9.99985594e-01 -5.31329422e-03 -2.78655376e-02] [ 4.70409243e-02 5.34325080e-03 9.98878672e-01 -2.93293491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55313336499998 meters Centerline goodness : 0.100789 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 9.98902259e-01 4.13172993e-04 -4.68412835e-02 -1.10067244e+00] [-6.71680304e-04 9.99984632e-01 -5.50318674e-03 -2.68605123e-02] [ 4.68382898e-02 5.52860804e-03 9.98887185e-01 -2.93245675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58313336499998 meters Centerline goodness : 0.101655 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.02, Z:-0.29 [[ 9.98903803e-01 3.33475274e-04 -4.68089948e-02 -1.10070639e+00] [-6.03276044e-04 9.99983287e-01 -5.74985716e-03 -2.47208264e-02] [ 4.68062951e-02 5.77179293e-03 9.98887310e-01 -2.93338908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61313336499998 meters SLAMing on 146.64313336499998 meters Centerline goodness : 0.105138 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.02, Z:-0.29 [[ 9.98906718e-01 6.76704545e-05 -4.67478751e-02 -1.10084655e+00] [-3.60711472e-04 9.99980340e-01 -6.26013456e-03 -2.23055314e-02] [ 4.67465324e-02 6.27015297e-03 9.98887104e-01 -2.93308967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67313336499998 meters Centerline goodness : 0.154540 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.02, Z:-0.29 [[ 9.98917205e-01 -9.53305513e-05 -4.65232123e-02 -1.10154600e+00] [-2.11849225e-04 9.99978212e-01 -6.59774540e-03 -2.08425842e-02] [ 4.65228276e-02 6.60045729e-03 9.98895420e-01 -2.93082958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70313336499999 meters SLAMing on 146.733133365 meters Centerline goodness : 0.098046 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.01, Z:-0.29 [[ 0.99905552 -0.00716909 -0.04285637 -1.08474316] [ 0.00694894 0.9999619 -0.0052836 -0.01380011] [ 0.04289262 0.0049808 0.99906727 -0.29102909] [ 0. 0. 0. 1. ]] SLAMing on 146.763133365 meters SLAMing on 146.793133365 meters Centerline goodness : 0.089964 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.01, Z:-0.29 [[ 0.99904171 -0.00760286 -0.04310284 -1.08348946] [ 0.00734015 0.99995353 -0.00624988 -0.00791115] [ 0.04314835 0.00592751 0.99905109 -0.29188144] [ 0. 0. 0. 1. ]] SLAMing on 146.823133365 meters Centerline goodness : 0.091362 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.01, Z:-0.29 [[ 0.99902602 -0.00772937 -0.04344273 -1.0821918 ] [ 0.00745279 0.99995094 -0.00652492 -0.00636949] [ 0.04349103 0.0061948 0.99903461 -0.29259667] [ 0. 0. 0. 1. ]] SLAMing on 146.853133365 meters Centerline goodness : 0.099104 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.00, Z:-0.29 [[ 0.9990129 -0.00785819 -0.04372032 -1.08125714] [ 0.00756816 0.99994827 -0.00679543 -0.00489156] [ 0.04377146 0.00645784 0.9990207 -0.29304082] [ 0. 0. 0. 1. ]] SLAMing on 146.883133365 meters Centerline goodness : 0.126469 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.01, Z:-0.29 [[ 9.99050994e-01 1.21298560e-04 -4.35556832e-02 -1.06107849e+00] [-4.63506198e-04 9.99969106e-01 -7.84677199e-03 -7.75931503e-03] [ 4.35533858e-02 7.85951368e-03 9.99020185e-01 -2.92044793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.913133365 meters SLAMing on 146.943133365 meters SLAMing on 146.973133365 meters SLAMing on 147.003133365 meters Centerline goodness : 0.122608 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.00, Z:-0.29 [[ 0.99908201 0.00164187 -0.04280709 -1.06361294] [-0.00196618 0.99996968 -0.00753522 0.00401357] [ 0.04279342 0.00761247 0.99905494 -0.29105399] [ 0. 0. 0. 1. ]] SLAMing on 147.033133365 meters Centerline goodness : 0.154582 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.01, Z:-0.29 [[ 0.99906682 0.00152917 -0.04316421 -1.06245614] [-0.00187444 0.99996656 -0.00795969 0.00659983] [ 0.04315059 0.00803317 0.99903628 -0.29143502] [ 0. 0. 0. 1. ]] SLAMing on 147.063133365 meters Centerline goodness : 0.175895 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.01, Z:-0.29 [[ 0.99905917 0.00136956 -0.04334635 -1.06183922] [-0.00173577 0.99996311 -0.00841207 0.00897822] [ 0.04333323 0.0084794 0.99902469 -0.29164524] [ 0. 0. 0. 1. ]] SLAMing on 147.093133365 meters Centerline goodness : 0.159575 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.01, Z:-0.29 [[ 0.99905682 0.00120135 -0.04340546 -1.06167042] [-0.00158784 0.99995939 -0.00887089 0.01123077] [ 0.04339304 0.00893144 0.99901815 -0.29163189] [ 0. 0. 0. 1. ]] SLAMing on 147.123133365 meters Centerline goodness : 0.164250 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.01, Z:-0.29 [[ 9.99066785e-01 1.04074820e-03 -4.31795846e-02 -1.06249184e+00] [-1.44577749e-03 9.99955243e-01 -9.34994298e-03 1.37092692e-02] [ 4.31679211e-02 9.40364554e-03 9.99023574e-01 -2.91138121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.153133365 meters Centerline goodness : 0.099147 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.02, Z:-0.29 [[ 9.99080617e-01 8.97465373e-04 -4.28615788e-02 -1.06379315e+00] [-1.31978013e-03 9.99950856e-01 -9.82571092e-03 1.62405055e-02] [ 4.28506542e-02 9.87324519e-03 9.99032702e-01 -2.90299630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.183133365 meters Centerline goodness : 0.159073 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.02, Z:-0.29 [[ 0.99912289 0.00271148 -0.04178638 -1.06885826] [-0.00307521 0.99995792 -0.00864278 0.02161768] [ 0.04176119 0.0087637 0.99908919 -0.2874784 ] [ 0. 0. 0. 1. ]] SLAMing on 147.213133365 meters Centerline goodness : 0.116628 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.02, Z:-0.29 [[ 0.99911379 0.00253982 -0.04201401 -1.06794019] [-0.00292342 0.99995458 -0.00907136 0.02382412] [ 0.04198906 0.00918615 0.99907584 -0.28799863] [ 0. 0. 0. 1. ]] SLAMing on 147.24313336499998 meters Centerline goodness : 0.160820 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.03, Z:-0.29 [[ 0.99910667 0.00234564 -0.0421944 -1.06709459] [-0.0027472 0.99995147 -0.00946133 0.02559903] [ 0.04217016 0.0095688 0.99906462 -0.28861169] [ 0. 0. 0. 1. ]] SLAMing on 147.27313336499998 meters Centerline goodness : 0.155121 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.03, Z:-0.29 [[ 0.999104 0.00218526 -0.04226616 -1.06676452] [-0.00260272 0.99994835 -0.00982443 0.02741596] [ 0.04224251 0.00992564 0.99905808 -0.28882734] [ 0. 0. 0. 1. ]] SLAMing on 147.30313336499998 meters SLAMing on 147.33313336499998 meters SLAMing on 147.36313336499998 meters Centerline goodness : 0.167462 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.29 [[ 0.99916524 0.00347437 -0.04070322 -1.07244614] [-0.00386899 0.99994624 -0.00962034 0.03793634] [ 0.04066761 0.00976979 0.99912497 -0.28629714] [ 0. 0. 0. 1. ]] SLAMing on 147.39313336499998 meters Centerline goodness : 0.153519 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.29 [[ 0.9991634 0.00329131 -0.04076365 -1.07200684] [-0.00370326 0.9999428 -0.01003441 0.04005605] [ 0.04072829 0.01017698 0.99911843 -0.28672189] [ 0. 0. 0. 1. ]] SLAMing on 147.42313336499998 meters Centerline goodness : 0.157023 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.29 [[ 0.99916036 0.00313605 -0.04085033 -1.07141192] [-0.00356394 0.9999395 -0.01040599 0.04202805] [ 0.04081523 0.01054285 0.99911109 -0.28725876] [ 0. 0. 0. 1. ]] SLAMing on 147.45313336499999 meters Centerline goodness : 0.096363 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.99913893 -0.00478579 -0.04121276 -1.05161171] [ 0.00440137 0.99994601 -0.00941344 0.0470721 ] [ 0.04125559 0.00922394 0.99910605 -0.28509188] [ 0. 0. 0. 1. ]] SLAMing on 147.483133365 meters Centerline goodness : 0.156645 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.99914108 -0.00486272 -0.04115151 -1.0517695 ] [ 0.00447255 0.99994422 -0.00956811 0.04793272] [ 0.04119574 0.00937583 0.9991071 -0.28510794] [ 0. 0. 0. 1. ]] SLAMing on 147.513133365 meters Centerline goodness : 0.161568 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.99913653 -0.00495452 -0.04125112 -1.05148145] [ 0.00455834 0.99994264 -0.00969251 0.04866618] [ 0.04129678 0.0094961 0.9991018 -0.2851706 ] [ 0. 0. 0. 1. ]] SLAMing on 147.543133365 meters Centerline goodness : 0.158963 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.99913366 -0.00505294 -0.04130845 -1.05142617] [ 0.00464805 0.99994027 -0.00989182 0.04954151] [ 0.04135596 0.00969125 0.99909747 -0.28501788] [ 0. 0. 0. 1. ]] SLAMing on 147.573133365 meters Centerline goodness : 0.156530 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.28 [[ 0.99912956 -0.00516857 -0.04139334 -1.05128157] [ 0.00475271 0.99993731 -0.01013857 0.05059865] [ 0.04144315 0.00993302 0.99909149 -0.28489841] [ 0. 0. 0. 1. ]] SLAMing on 147.603133365 meters Centerline goodness : 0.158423 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.99912092 -0.00525613 -0.0415904 -1.05069977] [ 0.00482954 0.99993477 -0.01035071 0.05172089] [ 0.04164209 0.01014074 0.99908113 -0.28504998] [ 0. 0. 0. 1. ]] SLAMing on 147.633133365 meters Centerline goodness : 0.168265 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.99910582 -0.0052856 -0.04194793 -1.04950969] [ 0.00484842 0.99993294 -0.01051678 0.0528403 ] [ 0.0420007 0.01030399 0.99906445 -0.28547116] [ 0. 0. 0. 1. ]] SLAMing on 147.663133365 meters Centerline goodness : 0.151401 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.9991015 -0.00204234 -0.04233228 -1.0482675 ] [ 0.00173419 0.99997174 -0.00731468 0.05332611] [ 0.04234603 0.0072347 0.99907681 -0.28603829] [ 0. 0. 0. 1. ]] SLAMing on 147.693133365 meters Centerline goodness : 0.151962 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.99909824 0.00181433 -0.04241952 -1.0480886 ] [-0.00197687 0.99999086 -0.00378998 0.05459533] [ 0.04241225 0.00387042 0.9990927 -0.2860005 ] [ 0. 0. 0. 1. ]] SLAMing on 147.723133365 meters Centerline goodness : 0.154778 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.06, Z:-0.29 [[ 0.99909867 0.00179131 -0.04241025 -1.04826329] [-0.00196437 0.99998991 -0.00403917 0.05622085] [ 0.04240259 0.00411883 0.99909212 -0.28572077] [ 0. 0. 0. 1. ]] SLAMing on 147.753133365 meters Centerline goodness : 0.148794 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.06, Z:-0.28 [[ 0.99910217 -0.00590043 -0.04195293 -1.02931196] [ 0.00578373 0.99997906 -0.00290241 0.06072333] [ 0.04196918 0.00265716 0.99911537 -0.28326544] [ 0. 0. 0. 1. ]] SLAMing on 147.783133365 meters Centerline goodness : 0.152791 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.06, Z:-0.28 [[ 0.99910294 -0.00603692 -0.04191515 -1.02956471] [ 0.00590366 0.99997712 -0.00330234 0.0626258 ] [ 0.04193413 0.00305192 0.99911572 -0.28295537] [ 0. 0. 0. 1. ]] SLAMing on 147.813133365 meters Centerline goodness : 0.152791 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.06, Z:-0.28 [[ 0.99910294 -0.00603692 -0.04191515 -1.02956471] [ 0.00590366 0.99997712 -0.00330234 0.0626258 ] [ 0.04193413 0.00305192 0.99911572 -0.28295537] [ 0. 0. 0. 1. ]] SLAMing on 147.843133365 meters Centerline goodness : 0.154152 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.06, Z:-0.28 [[ 0.9991605 0.00184457 -0.04092544 -1.01037065] [-0.0020425 0.99998642 -0.00479497 0.06079868] [ 0.04091604 0.00487453 0.9991507 -0.28115984] [ 0. 0. 0. 1. ]] SLAMing on 147.873133365 meters Centerline goodness : 0.158460 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.06, Z:-0.28 [[ 0.99916417 0.00169517 -0.04084224 -1.01069887] [-0.00191223 0.99998425 -0.00527625 0.0633586 ] [ 0.04083266 0.00534994 0.99915168 -0.28089222] [ 0. 0. 0. 1. ]] SLAMing on 147.903133365 meters Centerline goodness : 0.142462 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.07, Z:-0.28 [[ 0.99915562 0.0054451 -0.04072352 -1.01103159] [-0.00553797 0.99998231 -0.00216824 0.06752856] [ 0.040711 0.00239194 0.9991681 -0.2807279 ] [ 0. 0. 0. 1. ]] SLAMing on 147.933133365 meters Centerline goodness : 0.104635 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.07, Z:-0.28 [[ 0.99915547 0.00527766 -0.04074914 -1.0109583 ] [-0.00539119 0.99998188 -0.00267674 0.07041175] [ 0.04073427 0.00289417 0.99916582 -0.28071418] [ 0. 0. 0. 1. ]] SLAMing on 147.963133365 meters Centerline goodness : 0.147610 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.07, Z:-0.28 [[ 0.99915712 0.00506803 -0.04073519 -1.01104956] [-0.00520137 0.99998145 -0.00316798 0.07279877] [ 0.04071838 0.00337719 0.99916496 -0.28059683] [ 0. 0. 0. 1. ]] SLAMing on 147.99313336499998 meters Centerline goodness : 0.140557 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.07, Z:-0.28 [[ 0.99916343 0.00486815 -0.04060464 -1.01152033] [-0.00501934 0.99998084 -0.00362231 0.07498441] [ 0.04058623 0.00382309 0.99916873 -0.28034975] [ 0. 0. 0. 1. ]] SLAMing on 148.02313336499998 meters Centerline goodness : 0.144841 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.08, Z:-0.28 [[ 0.99919993 -0.00319779 -0.0398657 -0.99299385] [ 0.00310128 0.99999211 -0.00248262 0.08044482] [ 0.03987332 0.002357 0.99920196 -0.27775407] [ 0. 0. 0. 1. ]] SLAMing on 148.05313336499998 meters Centerline goodness : 0.145313 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.08, Z:-0.28 [[ 0.99921033 -0.00332313 -0.03959396 -0.99387404] [ 0.00321457 0.9999909 -0.00280523 0.08231301] [ 0.03960292 0.00267574 0.99921191 -0.27741618] [ 0. 0. 0. 1. ]] SLAMing on 148.08313336499998 meters Centerline goodness : 0.146539 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.08, Z:-0.28 [[ 0.99921626 -0.00347612 -0.03943071 -0.99427831] [ 0.00335563 0.9999895 -0.00312148 0.0838665 ] [ 0.03944114 0.00298672 0.99921743 -0.27740433] [ 0. 0. 0. 1. ]] SLAMing on 148.11313336499998 meters Centerline goodness : 0.146346 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.08, Z:-0.28 [[ 0.99921332 -0.00363564 -0.03949087 -0.99390639] [ 0.00350583 0.99998822 -0.00335589 0.08473471] [ 0.03950261 0.0032148 0.9992143 -0.27775247] [ 0. 0. 0. 1. ]] SLAMing on 148.14313336499998 meters Centerline goodness : 0.153170 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.09, Z:-0.28 [[ 0.9991796 -0.00401144 -0.04029921 -0.99159889] [ 0.00386211 0.99998539 -0.00378276 0.08615555] [ 0.04031379 0.00362402 0.9991805 -0.27837169] [ 0. 0. 0. 1. ]] SLAMing on 148.17313336499998 meters Centerline goodness : 0.146488 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.09, Z:-0.28 [[ 0.99917008 -0.00400927 -0.04053489 -0.99095926] [ 0.00385689 0.9999852 -0.00383684 0.08691207] [ 0.04054968 0.00367732 0.99917076 -0.27851934] [ 0. 0. 0. 1. ]] SLAMing on 148.20313336499999 meters Centerline goodness : 0.146958 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.09, Z:-0.28 [[ 0.99916654 -0.0040067 -0.0406223 -0.99080714] [ 0.00385071 0.99998491 -0.00391758 0.08777866] [ 0.04063738 0.00375789 0.99916689 -0.27841831] [ 0. 0. 0. 1. ]] SLAMing on 148.233133365 meters Centerline goodness : 0.154661 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.08, Z:-0.28 [[ 0.99919693 0.00369646 -0.0398977 -0.97278154] [-0.00390511 0.9999791 -0.00515301 0.08451078] [ 0.03987782 0.00530468 0.99919048 -0.27615532] [ 0. 0. 0. 1. ]] SLAMing on 148.263133365 meters Centerline goodness : 0.146845 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.09, Z:-0.28 [[ 0.99920763 0.00356821 -0.03964054 -0.97365507] [-0.00378845 0.9999778 -0.00548206 0.08617233] [ 0.03962009 0.0056279 0.99919897 -0.27572342] [ 0. 0. 0. 1. ]] SLAMing on 148.293133365 meters Centerline goodness : 0.145022 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.09, Z:-0.28 [[ 0.99921581 0.00340657 -0.03944812 -0.97429408] [-0.00364174 0.99997602 -0.00589111 0.08813877] [ 0.0394271 0.00603015 0.99920425 -0.27538852] [ 0. 0. 0. 1. ]] SLAMing on 148.323133365 meters Centerline goodness : 0.138483 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.09, Z:-0.28 [[ 0.9992043 0.00328517 -0.03974891 -0.97343582] [-0.00355112 0.99997177 -0.00662212 0.09317 ] [ 0.03972603 0.006758 0.99918776 -0.27540205] [ 0. 0. 0. 1. ]] SLAMing on 148.353133365 meters Centerline goodness : 0.130511 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.10, Z:-0.27 [[ 0.99913516 -0.00368552 -0.0414168 -0.95460102] [ 0.00347522 0.99998071 -0.00514849 0.09975463] [ 0.04143498 0.00500011 0.99912869 -0.27210431] [ 0. 0. 0. 1. ]] SLAMing on 148.383133365 meters Centerline goodness : 0.147570 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.10, Z:-0.27 [[ 0.99912679 -0.00381907 -0.04160626 -0.95411933] [ 0.0035899 0.99997798 -0.00558136 0.10230725] [ 0.04162666 0.00542712 0.9991185 -0.27209724] [ 0. 0. 0. 1. ]] SLAMing on 148.413133365 meters Centerline goodness : 0.145026 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.10, Z:-0.27 [[ 0.99911775 -0.00398047 -0.04180762 -0.95350403] [ 0.00373197 0.99997491 -0.00602022 0.10466196] [ 0.04183053 0.00585889 0.99910754 -0.27223791] [ 0. 0. 0. 1. ]] SLAMing on 148.443133365 meters Centerline goodness : 0.127886 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.11, Z:-0.27 [[ 0.9991112 -0.00415064 -0.04194734 -0.95314262] [ 0.00388364 0.99997169 -0.00644452 0.10682147] [ 0.0419729 0.00627588 0.99909904 -0.27223181] [ 0. 0. 0. 1. ]] SLAMing on 148.473133365 meters Centerline goodness : 0.139779 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.11, Z:-0.27 [[ 0.99910874 -0.00426723 -0.04199435 -0.95306881] [ 0.0039856 0.99996902 -0.00678784 0.10877116] [ 0.04202201 0.00661442 0.99909479 -0.27215594] [ 0. 0. 0. 1. ]] SLAMing on 148.503133365 meters Centerline goodness : 0.140212 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.11, Z:-0.27 [[ 0.99912171 -0.00456776 -0.04165278 -0.9544627 ] [ 0.00425807 0.99996265 -0.00752058 0.1125692 ] [ 0.04168557 0.00733661 0.99910384 -0.27125572] [ 0. 0. 0. 1. ]] SLAMing on 148.533133365 meters Centerline goodness : 0.133364 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.27 [[ 0.99912994 -0.00472517 -0.04143723 -0.95525404] [ 0.0044022 0.99995925 -0.00788197 0.11430778] [ 0.04147278 0.0076927 0.99911002 -0.27079897] [ 0. 0. 0. 1. ]] SLAMing on 148.563133365 meters Centerline goodness : 0.137234 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.12, Z:-0.27 [[ 0.99913924 -0.00484333 -0.04119849 -0.9560361 ] [ 0.00450835 0.99995605 -0.0082198 0.11612531] [ 0.04123649 0.00802699 0.99911717 -0.2704307 ] [ 0. 0. 0. 1. ]] SLAMing on 148.593133365 meters Centerline goodness : 0.131655 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.12, Z:-0.27 [[ 0.99914017 -0.00497411 -0.04116042 -0.95636711] [ 0.00462215 0.99995198 -0.00864173 0.11846493] [ 0.04120143 0.00844405 0.99911518 -0.26999055] [ 0. 0. 0. 1. ]] SLAMing on 148.623133365 meters Centerline goodness : 0.129145 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.12, Z:-0.27 [[ 0.99917467 -0.00243121 -0.04054701 -0.9588179 ] [ 0.00217246 0.99997701 -0.00642414 0.12122138] [ 0.0405617 0.00633075 0.99915698 -0.26899457] [ 0. 0. 0. 1. ]] SLAMing on 148.653133365 meters Centerline goodness : 0.139514 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.12, Z:-0.27 [[ 0.99916251 -0.0025585 -0.04083793 -0.95802989] [ 0.00227773 0.99997346 -0.00692028 0.12413111] [ 0.04085455 0.00682146 0.99914182 -0.26906359] [ 0. 0. 0. 1. ]] SLAMing on 148.683133365 meters Centerline goodness : 0.148680 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.13, Z:-0.27 [[ 9.99143030e-01 9.27965003e-04 -4.13804838e-02 -9.56251366e-01] [-1.10072522e-03 9.99990773e-01 -4.15233171e-03 1.28525846e-01] [ 4.13762488e-02 4.19432183e-03 9.99134833e-01 -2.69705737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.713133365 meters Centerline goodness : 0.131950 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.13, Z:-0.27 [[ 9.99131488e-01 8.05308409e-04 -4.16607828e-02 -9.55573310e-01] [-1.00040631e-03 9.99988631e-01 -4.66237507e-03 1.31617995e-01] [ 4.16565545e-02 4.70000345e-03 9.99120934e-01 -2.69662196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74313336499998 meters Centerline goodness : 0.137991 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.13, Z:-0.27 [[ 9.99126104e-01 6.56727267e-04 -4.17922990e-02 -9.55259912e-01] [-8.73894916e-04 9.99986211e-01 -5.17829881e-03 1.34550941e-01] [ 4.17883219e-02 5.21029560e-03 9.99112901e-01 -2.69595587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77313336499998 meters Centerline goodness : 0.133210 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.14, Z:-0.27 [[ 9.99120246e-01 4.56251153e-04 -4.19347741e-02 -9.54729514e-01] [-6.96030993e-04 9.99983493e-01 -5.70350120e-03 1.37332792e-01] [ 4.19314797e-02 5.72767143e-03 9.99104071e-01 -2.69842805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80313336499998 meters Centerline goodness : 0.137497 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.14, Z:-0.27 [[ 9.99109019e-01 3.07883834e-04 -4.22027645e-02 -9.53682703e-01] [-5.67737965e-04 9.99980955e-01 -6.14543037e-03 1.39810964e-01] [ 4.22000687e-02 6.16391502e-03 9.99090166e-01 -2.70384356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83313336499998 meters Centerline goodness : 0.141000 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.14, Z:-0.27 [[ 0.99906552 -0.00637391 -0.04274875 -0.93088053] [ 0.00621038 0.99997289 -0.00395704 0.14406725] [ 0.04277281 0.00368786 0.99907802 -0.26989653] [ 0. 0. 0. 1. ]] SLAMing on 148.86313336499998 meters Centerline goodness : 0.138964 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.16, Z:-0.27 [[ 0.99901326 -0.0042027 -0.04421364 -0.97739768] [ 0.00402916 0.99998383 -0.00401336 0.15528057] [ 0.04422979 0.00383125 0.99901404 -0.2697833 ] [ 0. 0. 0. 1. ]] SLAMing on 148.89313336499998 meters Centerline goodness : 0.142187 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.16, Z:-0.27 [[ 0.99907088 0.00388748 -0.0429216 -0.95691354] [-0.00410735 0.99997889 -0.00503556 0.15672082] [ 0.04290112 0.00520718 0.99906575 -0.26833663] [ 0. 0. 0. 1. ]] SLAMing on 148.92313336499998 meters Centerline goodness : 0.139918 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.16, Z:-0.27 [[ 0.99906393 0.00391801 -0.04308028 -0.95675147] [-0.00416553 0.99997532 -0.00565717 0.1622567 ] [ 0.04305705 0.00583133 0.9990556 -0.26790567] [ 0. 0. 0. 1. ]] SLAMing on 148.95313336499999 meters Centerline goodness : 0.133804 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.17, Z:-0.27 [[ 0.99904842 0.00397173 -0.04343358 -0.95562647] [-0.00424658 0.99997153 -0.00623773 0.16804729] [ 0.04340757 0.00641623 0.99903684 -0.26805675] [ 0. 0. 0. 1. ]] SLAMing on 148.983133365 meters Centerline goodness : 0.138438 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.17, Z:-0.27 [[ 0.99903719 0.00380398 -0.04370607 -0.95478861] [-0.00411559 0.99996674 -0.00704189 0.17299201] [ 0.04367783 0.00721499 0.99901961 -0.26818084] [ 0. 0. 0. 1. ]] SLAMing on 149.013133365 meters Centerline goodness : 0.166056 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.18, Z:-0.27 [[ 0.99905651 0.00361473 -0.04327844 -0.95607226] [-0.00397302 0.99995852 -0.00819548 0.18338872] [ 0.04324702 0.0083597 0.99902943 -0.26765948] [ 0. 0. 0. 1. ]] SLAMing on 149.043133365 meters Centerline goodness : 0.160252 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.19, Z:-0.27 [[ 0.99906554 0.0033851 -0.04308805 -0.95699583] [-0.00376616 0.99995449 -0.00876571 0.18644433] [ 0.04305642 0.00891979 0.99903282 -0.26694338] [ 0. 0. 0. 1. ]] SLAMing on 149.073133365 meters SLAMing on 149.103133365 meters Centerline goodness : 0.069727 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.19, Z:-0.27 [[ 0.9990798 0.00304084 -0.04278199 -0.9581865 ] [-0.00343669 0.99995194 -0.00918231 0.18878509] [ 0.04275201 0.00932089 0.99904223 -0.26628126] [ 0. 0. 0. 1. ]] SLAMing on 149.133133365 meters Centerline goodness : 0.145086 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.19, Z:-0.27 [[ 0.99907593 0.0028208 -0.04288747 -0.95768348] [-0.00321974 0.99995216 -0.00923587 0.1884315 ] [ 0.04285936 0.00936542 0.99903722 -0.26668853] [ 0. 0. 0. 1. ]] SLAMing on 149.163133365 meters Centerline goodness : 0.151385 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.19, Z:-0.27 [[ 0.99903857 -0.00660697 -0.0433391 -0.93632237] [ 0.00623605 0.99994281 -0.00868809 0.19029087] [ 0.04339402 0.00840947 0.99902264 -0.26543837] [ 0. 0. 0. 1. ]] SLAMing on 149.193133365 meters Centerline goodness : 0.054259 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.27 [[ 0.99901609 -0.00716785 -0.0437661 -0.93485093] [ 0.00679356 0.99993912 -0.00869477 0.18851342] [ 0.04382576 0.00838889 0.99900397 -0.26630958] [ 0. 0. 0. 1. ]] SLAMing on 149.223133365 meters Centerline goodness : 0.108666 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.27 [[ 0.999014 -0.00699059 -0.04384238 -0.93456319] [ 0.00663632 0.99994419 -0.0082209 0.18652099] [ 0.0438974 0.00792184 0.99900464 -0.26650292] [ 0. 0. 0. 1. ]] SLAMing on 149.253133365 meters Centerline goodness : 0.055781 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.18, Z:-0.27 [[ 0.99902369 -0.00686566 -0.04364093 -0.9350267 ] [ 0.00652925 0.9999479 -0.00784644 0.1847957 ] [ 0.04369253 0.00755383 0.99901647 -0.26657531] [ 0. 0. 0. 1. ]] SLAMing on 149.283133365 meters Centerline goodness : 0.156853 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.18, Z:-0.27 [[ 0.99903801 -0.00684482 -0.04331516 -0.93582959] [ 0.00652142 0.99994983 -0.00760324 0.18314648] [ 0.04336503 0.00731345 0.99903253 -0.26661624] [ 0. 0. 0. 1. ]] SLAMing on 149.313133365 meters Centerline goodness : 0.125121 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.18, Z:-0.27 [[ 0.99902613 -0.00697428 -0.04356771 -0.93474729] [ 0.00666311 0.99995128 -0.00728335 0.17988424] [ 0.04361638 0.00698596 0.99902393 -0.26744695] [ 0. 0. 0. 1. ]] SLAMing on 149.343133365 meters Centerline goodness : 0.161955 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.18, Z:-0.27 [[ 0.99901719 -0.00683199 -0.04379471 -0.93387756] [ 0.00653339 0.99995445 -0.00695768 0.17838577] [ 0.04384025 0.00666471 0.99901632 -0.26798132] [ 0. 0. 0. 1. ]] SLAMing on 149.373133365 meters Centerline goodness : 0.145575 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.18, Z:-0.27 [[ 0.99900987 -0.00663663 -0.04399122 -0.93318644] [ 0.00635323 0.99995818 -0.00657891 0.17681631] [ 0.04403305 0.00629291 0.99901026 -0.26834721] [ 0. 0. 0. 1. ]] SLAMing on 149.403133365 meters Centerline goodness : 0.149509 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.18, Z:-0.27 [[ 0.99900121 -0.00652367 -0.04420429 -0.9325104 ] [ 0.00625002 0.99996046 -0.00632591 0.17564498] [ 0.04424381 0.00604332 0.99900248 -0.26861816] [ 0. 0. 0. 1. ]] SLAMing on 149.433133365 meters Centerline goodness : 0.146011 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.17, Z:-0.27 [[ 0.99899452 -0.00640449 -0.04437256 -0.93217431] [ 0.00614026 0.99996261 -0.00608845 0.17450776] [ 0.0444099 0.00580987 0.9989965 -0.26852693] [ 0. 0. 0. 1. ]] SLAMing on 149.463133365 meters Centerline goodness : 0.059936 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.17, Z:-0.27 [[ 0.99899216 -0.00634852 -0.04443387 -0.93207686] [ 0.00608825 0.99996352 -0.00599039 0.173909 ] [ 0.04447028 0.00571383 0.99899437 -0.26846892] [ 0. 0. 0. 1. ]] SLAMing on 149.49313336499998 meters Centerline goodness : 0.136648 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.17, Z:-0.27 [[ 0.99912607 0.00259313 -0.04171787 -0.95548366] [-0.002855 0.99997659 -0.00621892 0.16912093] [ 0.04170076 0.00633259 0.99911008 -0.27013461] [ 0. 0. 0. 1. ]] SLAMing on 149.52313336499998 meters Centerline goodness : 0.142361 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99917539 -0.00564925 -0.04020731 -0.9375269 ] [ 0.00545664 0.99997311 -0.00489842 0.17120558] [ 0.0402339 0.00467498 0.99917935 -0.26817756] [ 0. 0. 0. 1. ]] SLAMing on 149.55313336499998 meters Centerline goodness : 0.137954 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99917496 -0.00559052 -0.04022623 -0.93756679] [ 0.00539926 0.99997361 -0.00486173 0.17117648] [ 0.04025234 0.00464053 0.99917877 -0.26805911] [ 0. 0. 0. 1. ]] SLAMing on 149.58313336499998 meters Centerline goodness : 0.133478 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99916182 -0.00545671 -0.04056936 -0.93658081] [ 0.00527211 0.99997526 -0.00465588 0.17046023] [ 0.04059377 0.0044381 0.99916588 -0.26831666] [ 0. 0. 0. 1. ]] SLAMing on 149.61313336499998 meters Centerline goodness : 0.148608 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99914692 -0.00534269 -0.04094979 -0.93544736] [ 0.00516384 0.99997667 -0.00447212 0.1697758 ] [ 0.04097273 0.00425685 0.9991512 -0.26867668] [ 0. 0. 0. 1. ]] SLAMing on 149.64313336499998 meters Centerline goodness : 0.140429 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99914344 -0.00525518 -0.04104602 -0.93538418] [ 0.00508279 0.99997782 -0.00430304 0.16879295] [ 0.04106772 0.00409073 0.99914799 -0.26846858] [ 0. 0. 0. 1. ]] SLAMing on 149.67313336499998 meters Centerline goodness : 0.146701 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.16, Z:-0.27 [[ 0.9992332 0.00251974 -0.03907253 -0.91669001] [-0.00271911 0.99998355 -0.00505026 0.16409804] [ 0.03905917 0.00515263 0.99922361 -0.26679343] [ 0. 0. 0. 1. ]] SLAMing on 149.70313336499999 meters Centerline goodness : 0.147502 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.17, Z:-0.27 [[ 0.99939458 0.00447027 -0.03450338 -0.9606683 ] [-0.00463974 0.99997756 -0.00483332 0.16705388] [ 0.034481 0.00499048 0.99939289 -0.26933424] [ 0. 0. 0. 1. ]] SLAMing on 149.733133365 meters Centerline goodness : 0.147502 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.17, Z:-0.27 [[ 0.99939458 0.00447027 -0.03450338 -0.9606683 ] [-0.00463974 0.99997756 -0.00483332 0.16705388] [ 0.034481 0.00499048 0.99939289 -0.26933424] [ 0. 0. 0. 1. ]] SLAMing on 149.763133365 meters Centerline goodness : 0.142132 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.17, Z:-0.27 [[ 0.99941119 0.00451015 -0.03401376 -0.96236553] [-0.00467856 0.99997718 -0.00487328 0.16751199] [ 0.03399101 0.00502955 0.99940948 -0.26848906] [ 0. 0. 0. 1. ]] SLAMing on 149.793133365 meters Centerline goodness : 0.132638 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99944182 -0.00360382 -0.03321238 -0.94421241] [ 0.00349317 0.99998816 -0.00338922 0.17050001] [ 0.0332242 0.00327131 0.99944257 -0.26614536] [ 0. 0. 0. 1. ]] SLAMing on 149.823133365 meters SLAMing on 149.853133365 meters Centerline goodness : 0.141811 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99941729 -0.00368417 -0.03393398 -0.94212206] [ 0.00355941 0.99998669 -0.00373619 0.17201938] [ 0.03394729 0.00361323 0.99941709 -0.26674212] [ 0. 0. 0. 1. ]] SLAMing on 149.883133365 meters Centerline goodness : 0.141057 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99941416 -0.0037225 -0.03402181 -0.94201409] [ 0.00358984 0.99998572 -0.00395945 0.17333909] [ 0.03403606 0.003835 0.99941325 -0.26658574] [ 0. 0. 0. 1. ]] SLAMing on 149.913133365 meters SLAMing on 149.943133365 meters Centerline goodness : 0.055404 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.17, Z:-0.26 [[ 0.99948016 0.00510097 -0.03183378 -0.9234813 ] [-0.00523883 0.99997725 -0.00424863 0.17301881] [ 0.03181138 0.0044132 0.99948415 -0.26453532] [ 0. 0. 0. 1. ]] SLAMing on 149.973133365 meters Centerline goodness : 0.153361 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.18, Z:-0.26 [[ 9.99520564e-01 -2.36708581e-05 -3.09619458e-02 -9.46779443e-01] [-2.18577728e-05 9.99998919e-01 -1.47013131e-03 1.79343080e-01] [ 3.09619471e-02 1.47010323e-03 9.99519483e-01 -2.64694658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.003133365 meters SLAMing on 150.033133365 meters SLAMing on 150.063133365 meters SLAMing on 150.093133365 meters SLAMing on 150.123133365 meters Centerline goodness : 0.148455 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.20, Z:-0.26 [[ 9.99519773e-01 3.73645645e-03 -3.07613775e-02 -9.01931396e-01] [-3.74713996e-03 9.99992937e-01 -2.89662374e-04 2.00849572e-01] [ 3.07600779e-02 4.04790457e-04 9.99526715e-01 -2.64474785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.153133365 meters Centerline goodness : 0.147545 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.20, Z:-0.26 [[ 9.99515202e-01 3.52767159e-03 -3.09340770e-02 -9.01285932e-01] [-3.55346993e-03 9.99993383e-01 -7.79042563e-04 2.03375126e-01] [ 3.09311241e-02 8.88588196e-04 9.99521123e-01 -2.64784058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.183133365 meters Centerline goodness : 0.142412 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99950482 0.00320142 -0.03130281 -0.90013635] [-0.00324625 0.99999378 -0.00138152 0.20639192] [ 0.03129819 0.00148245 0.99950899 -0.2651628 ] [ 0. 0. 0. 1. ]] SLAMing on 150.213133365 meters Centerline goodness : 0.151637 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99950398 0.00311313 -0.03133859 -0.89998703] [-0.00316433 0.99999374 -0.00158449 0.20770974] [ 0.03133346 0.00168287 0.99950757 -0.26523299] [ 0. 0. 0. 1. ]] SLAMing on 150.24313336499998 meters Centerline goodness : 0.162434 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99950494 0.00301014 -0.03131803 -0.89990358] [-0.00306709 0.99999373 -0.00177065 0.20874721] [ 0.0313125 0.00186583 0.9995079 -0.26542175] [ 0. 0. 0. 1. ]] SLAMing on 150.27313336499998 meters Centerline goodness : 0.143225 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99950559 0.00286297 -0.03131089 -0.89978995] [-0.0029251 0.99999384 -0.00193877 0.20940242] [ 0.03130514 0.0020294 0.99950781 -0.26563192] [ 0. 0. 0. 1. ]] SLAMing on 150.30313336499998 meters Centerline goodness : 0.143609 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99950789 0.002731 -0.0312492 -0.89978673] [-0.0027979 0.99999389 -0.00209733 0.20991969] [ 0.03124328 0.00218373 0.99950942 -0.26586016] [ 0. 0. 0. 1. ]] SLAMing on 150.33313336499998 meters Centerline goodness : 0.145273 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99950607 0.00262761 -0.03131625 -0.89966265] [-0.00269902 0.99999385 -0.00223811 0.21037135] [ 0.03131018 0.00232153 0.99950702 -0.26582806] [ 0. 0. 0. 1. ]] SLAMing on 150.36313336499998 meters Centerline goodness : 0.080533 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99949926 0.00247123 -0.03154547 -0.89913904] [-0.00255184 0.99999358 -0.00251539 0.21143459] [ 0.03153905 0.00259463 0.99949915 -0.26580068] [ 0. 0. 0. 1. ]] SLAMing on 150.39313336499998 meters Centerline goodness : 0.138395 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99949443 0.00246248 -0.0316988 -0.89858462] [-0.00254546 0.99999344 -0.00257756 0.21189129] [ 0.03169225 0.00265695 0.99949414 -0.26612141] [ 0. 0. 0. 1. ]] SLAMing on 150.42313336499998 meters Centerline goodness : 0.079846 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99949165 0.00246069 -0.03178643 -0.89847365] [-0.00254626 0.99999324 -0.00265199 0.21245131] [ 0.03177969 0.00273158 0.99949117 -0.26599247] [ 0. 0. 0. 1. ]] SLAMing on 150.45313336499999 meters Centerline goodness : 0.149155 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99948999 0.00245109 -0.03183962 -0.89841294] [-0.00253879 0.99999309 -0.00271426 0.21287042] [ 0.03183275 0.00279371 0.99948931 -0.26589747] [ 0. 0. 0. 1. ]] SLAMing on 150.483133365 meters Centerline goodness : 0.129737 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99949292 0.00245301 -0.03174709 -0.8985493 ] [-0.00254174 0.99999298 -0.00275485 0.21317731] [ 0.0317401 0.00283415 0.99949214 -0.26606966] [ 0. 0. 0. 1. ]] SLAMing on 150.513133365 meters Centerline goodness : 0.080183 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99949337 0.00246256 -0.03173217 -0.89852001] [-0.00255069 0.999993 -0.00273727 0.21320572] [ 0.03172521 0.00281682 0.99949266 -0.26621163] [ 0. 0. 0. 1. ]] SLAMing on 150.543133365 meters Centerline goodness : 0.080140 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99948928 0.00244154 -0.03186243 -0.89821411] [-0.00253353 0.99999274 -0.00284689 0.21386452] [ 0.03185525 0.00292616 0.99948821 -0.26619135] [ 0. 0. 0. 1. ]] SLAMing on 150.573133365 meters Centerline goodness : 0.140654 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99948973 0.00236621 -0.03185412 -0.89831376] [-0.00246463 0.99999231 -0.00305102 0.21480607] [ 0.03184666 0.00312797 0.99948787 -0.26607684] [ 0. 0. 0. 1. ]] SLAMing on 150.603133365 meters Centerline goodness : 0.175280 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.22, Z:-0.27 [[ 0.99949078 0.00228825 -0.03182687 -0.89855846] [-0.00239421 0.99999172 -0.00329166 0.21607374] [ 0.03181907 0.00336618 0.99948798 -0.26581116] [ 0. 0. 0. 1. ]] SLAMing on 150.633133365 meters Centerline goodness : 0.136649 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.22, Z:-0.27 [[ 0.99949196 0.00223627 -0.03179344 -0.89867884] [-0.00234988 0.99999099 -0.00353656 0.21761364] [ 0.03178525 0.00360948 0.9994882 -0.2657398 ] [ 0. 0. 0. 1. ]] SLAMing on 150.663133365 meters Centerline goodness : 0.138682 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.22, Z:-0.27 [[ 9.99491291e-01 5.96263691e-03 -3.13305856e-02 -8.99748443e-01] [-5.97215475e-03 9.99982144e-01 -2.10216828e-04 2.19912124e-01] [ 3.13287727e-02 3.97220994e-04 9.99509055e-01 -2.65697875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.693133365 meters Centerline goodness : 0.148784 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 0.99951495 -0.00218951 -0.03106546 -0.88143507] [ 0.00222669 0.99999685 0.0011623 0.225516 ] [ 0.03106282 -0.00123091 0.99951668 -0.26360379] [ 0. 0. 0. 1. ]] SLAMing on 150.723133365 meters Centerline goodness : 0.133893 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 9.99518378e-01 -2.33793587e-03 -3.09442267e-02 -8.81614948e-01] [ 2.36324503e-03 9.99996902e-01 7.81348060e-04 2.27442546e-01] [ 3.09423041e-02 -8.54100536e-04 9.99520807e-01 -2.63752440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.753133365 meters Centerline goodness : 0.142832 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 9.99517496e-01 -2.43352793e-03 -3.09653663e-02 -8.81577855e-01] [ 2.45100718e-03 9.99996858e-01 5.26532623e-04 2.28739800e-01] [ 3.09639877e-02 -6.02174904e-04 9.99520319e-01 -2.63696383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.783133365 meters Centerline goodness : 0.140324 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 9.99516454e-01 -2.50169463e-03 -3.09935412e-02 -8.81630154e-01] [ 2.51422314e-03 9.99996773e-01 3.65264414e-04 2.29696039e-01] [ 3.09925274e-02 -4.43012470e-04 9.99519518e-01 -2.63455354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.813133365 meters Centerline goodness : 0.127870 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 9.99514930e-01 -2.57575648e-03 -3.10365882e-02 -8.81513533e-01] [ 2.58594911e-03 9.99996615e-01 2.88272240e-04 2.30102700e-01] [ 3.10357406e-02 -3.68391445e-04 9.99518207e-01 -2.63367557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.843133365 meters Centerline goodness : 0.146662 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 9.99496719e-01 -2.96534583e-03 -3.15834783e-02 -8.79752629e-01] [ 2.96835500e-03 9.99995593e-01 4.83897955e-05 2.30065240e-01] [ 3.15831956e-02 -1.42116417e-04 9.99501116e-01 -2.64194525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.873133365 meters Centerline goodness : 0.128812 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 9.99490203e-01 -2.94401091e-03 -3.17909759e-02 -8.78999505e-01] [ 2.94887924e-03 9.99995646e-01 1.06251101e-04 2.29946517e-01] [ 3.17905247e-02 -1.99944683e-04 9.99494534e-01 -2.64575778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.903133365 meters Centerline goodness : 0.130232 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 9.99487182e-01 -2.96141360e-03 -3.18842157e-02 -8.78857652e-01] [ 2.96145287e-03 9.99995614e-01 -4.59923034e-05 2.31102065e-01] [ 3.18842120e-02 -4.84548843e-05 9.99491568e-01 -2.64419711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.933133365 meters Centerline goodness : 0.129624 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.23, Z:-0.26 [[ 0.99951733 0.00465513 -0.03071546 -0.86034259] [-0.00469391 0.99998827 -0.00119063 0.22951269] [ 0.03070956 0.00133423 0.99952746 -0.26246155] [ 0. 0. 0. 1. ]] SLAMing on 150.963133365 meters Centerline goodness : 0.053982 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.23, Z:-0.26 [[ 0.99953428 0.00470835 -0.03015052 -0.86208324] [-0.0047613 0.99998725 -0.00168439 0.23282861] [ 0.0301422 0.00182716 0.99954395 -0.26165531] [ 0. 0. 0. 1. ]] SLAMing on 150.99313336499998 meters Centerline goodness : 0.157707 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.26 [[ 0.9995489 0.0048605 -0.02963724 -0.86371595] [-0.00492863 0.99998538 -0.00222635 0.23678394] [ 0.02962598 0.00237141 0.99955824 -0.26087 ] [ 0. 0. 0. 1. ]] SLAMing on 151.02313336499998 meters Centerline goodness : 0.121976 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.25, Z:-0.26 [[ 0.99954308 0.00815517 -0.02910528 -0.86580477] [-0.00819436 0.99996567 -0.00122755 0.24773429] [ 0.02909427 0.00146549 0.9995756 -0.26112662] [ 0. 0. 0. 1. ]] SLAMing on 151.05313336499998 meters Centerline goodness : 0.146303 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.25, Z:-0.26 [[ 0.99952366 0.00864328 -0.02962681 -0.86465509] [-0.00869447 0.99996092 -0.00159932 0.25123107] [ 0.02961183 0.00185614 0.99955975 -0.26173457] [ 0. 0. 0. 1. ]] SLAMing on 151.08313336499998 meters Centerline goodness : 0.149816 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.25, Z:-0.26 [[ 0.99950408 0.00886478 -0.03021618 -0.86326716] [-0.00893689 0.99995753 -0.00225203 0.25499758] [ 0.03019493 0.00252095 0.99954085 -0.26245933] [ 0. 0. 0. 1. ]] SLAMing on 151.11313336499998 meters Centerline goodness : 0.143102 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.26, Z:-0.26 [[ 0.99948761 0.00896192 -0.03072772 -0.86222922] [-0.009059 0.9999544 -0.00302157 0.25887272] [ 0.03069924 0.00329838 0.99952323 -0.26292028] [ 0. 0. 0. 1. ]] SLAMing on 151.14313336499998 meters Centerline goodness : 0.141655 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.26, Z:-0.26 [[ 0.99948614 0.00897798 -0.03077092 -0.86250105] [-0.00910213 0.99995098 -0.00389679 0.26285568] [ 0.03073443 0.00417486 0.99951887 -0.26304908] [ 0. 0. 0. 1. ]] SLAMing on 151.17313336499998 meters Centerline goodness : 0.210343 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.27, Z:-0.26 [[ 0.99949138 0.00910936 -0.03056144 -0.86371647] [-0.00925656 0.99994621 -0.00467831 0.26687027] [ 0.03051718 0.00495882 0.99952194 -0.26267595] [ 0. 0. 0. 1. ]] SLAMing on 151.20313336499999 meters Centerline goodness : 0.166292 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.28, Z:-0.26 [[ 0.9994658 0.01195593 -0.03041675 -0.86568687] [-0.01207467 0.99992017 -0.00372329 0.27717732] [ 0.03036981 0.00408857 0.99953037 -0.26154198] [ 0. 0. 0. 1. ]] SLAMing on 151.233133365 meters Centerline goodness : 0.165305 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.28, Z:-0.26 [[ 0.99947013 0.01199964 -0.03025676 -0.86650485] [-0.01214101 0.9999162 -0.00449295 0.28120092] [ 0.03020031 0.00485792 0.99953206 -0.26138003] [ 0. 0. 0. 1. ]] SLAMing on 151.263133365 meters Centerline goodness : 0.164615 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.29, Z:-0.26 [[ 0.99959072 0.00441337 -0.02826495 -0.88642849] [-0.00452675 0.99998196 -0.0039485 0.29231725] [ 0.02824701 0.00407483 0.99959267 -0.26280573] [ 0. 0. 0. 1. ]] SLAMing on 151.293133365 meters Centerline goodness : 0.186441 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.30, Z:-0.26 [[ 0.99968848 -0.00160956 -0.02490686 -0.86565733] [ 0.0015738 0.9999977 -0.00145538 0.30073054] [ 0.02490915 0.00141573 0.99968872 -0.26327414] [ 0. 0. 0. 1. ]] SLAMing on 151.323133365 meters Centerline goodness : 0.160160 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.30, Z:-0.26 [[ 0.9996942 -0.00181782 -0.02466171 -0.86640255] [ 0.00177119 0.9999966 -0.00191272 0.30287685] [ 0.0246651 0.00186846 0.99969402 -0.26302844] [ 0. 0. 0. 1. ]] SLAMing on 151.353133365 meters Centerline goodness : 0.155291 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.30, Z:-0.26 [[ 0.99969475 -0.00196946 -0.02462768 -0.86646843] [ 0.00191583 0.99999574 -0.00220103 0.30411474] [ 0.02463191 0.00215318 0.99969427 -0.26304495] [ 0. 0. 0. 1. ]] SLAMing on 151.383133365 meters SLAMing on 151.413133365 meters Centerline goodness : 0.156374 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.30, Z:-0.26 [[ 0.99967712 -0.00218043 -0.02531599 -0.86413541] [ 0.00212245 0.99999506 -0.00231668 0.3043682 ] [ 0.02532092 0.0022622 0.99967681 -0.2640657 ] [ 0. 0. 0. 1. ]] SLAMing on 151.443133365 meters Centerline goodness : 0.159173 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.30, Z:-0.26 [[ 0.99965856 -0.00226032 -0.02603183 -0.86183775] [ 0.00220014 0.99999484 -0.00234027 0.30446037] [ 0.02603699 0.0022822 0.99965838 -0.26489424] [ 0. 0. 0. 1. ]] SLAMing on 151.473133365 meters Centerline goodness : 0.152303 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.31, Z:-0.27 [[ 0.99965336 -0.00231331 -0.02622599 -0.86116353] [ 0.00224846 0.99999434 -0.00250213 0.30529416] [ 0.02623163 0.0024423 0.99965291 -0.26520965] [ 0. 0. 0. 1. ]] SLAMing on 151.503133365 meters SLAMing on 151.533133365 meters Centerline goodness : 0.147770 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.31, Z:-0.27 [[ 0.99963836 -0.00200088 -0.02681692 -0.8597156 ] [ 0.00192796 0.99999437 -0.0027447 0.3082949 ] [ 0.02682226 0.00269201 0.99963659 -0.26527298] [ 0. 0. 0. 1. ]] SLAMing on 151.563133365 meters Centerline goodness : 0.161431 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.31, Z:-0.27 [[ 0.9996301 -0.00176878 -0.02713923 -0.85904129] [ 0.00168936 0.99999422 -0.00294925 0.31071129] [ 0.02714429 0.00290231 0.99962731 -0.26515725] [ 0. 0. 0. 1. ]] SLAMing on 151.593133365 meters SLAMing on 151.623133365 meters SLAMing on 151.653133365 meters Centerline goodness : 0.157616 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.31, Z:-0.26 [[ 0.99964038 0.00831257 -0.02549536 -0.83823589] [-0.00837321 0.99996236 -0.0022727 0.31423423] [ 0.02547551 0.00248536 0.99967236 -0.26479938] [ 0. 0. 0. 1. ]] SLAMing on 151.683133365 meters Centerline goodness : 0.203548 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.32, Z:-0.27 [[ 9.99632072e-01 1.09214700e-02 -2.48282372e-02 -8.39366944e-01] [-1.09468778e-02 9.99939687e-01 -8.87654015e-04 3.22063068e-01] [ 2.48170453e-02 1.15911910e-03 9.99691338e-01 -2.65133099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.713133365 meters SLAMing on 151.74313336499998 meters Centerline goodness : 0.165645 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.33, Z:-0.27 [[ 0.9996275 0.01132848 -0.02483003 -0.83944325] [-0.01136578 0.99993448 -0.00136137 0.32717509] [ 0.02481298 0.00164307 0.99969076 -0.26507013] [ 0. 0. 0. 1. ]] SLAMing on 151.77313336499998 meters Centerline goodness : 0.157225 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.33, Z:-0.26 [[ 0.99967916 0.00478761 -0.02487275 -0.81811333] [-0.00476104 0.99998803 0.00112728 0.33363077] [ 0.02487785 -0.0010085 0.99968999 -0.26481249] [ 0. 0. 0. 1. ]] SLAMing on 151.80313336499998 meters Centerline goodness : 0.160743 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.33, Z:-0.26 [[ 9.99677707e-01 4.70219475e-03 -2.49473688e-02 -8.18077157e-01] [-4.68102200e-03 9.99988633e-01 9.07027715e-04 3.34663018e-01] [ 2.49513502e-02 -7.89956204e-04 9.99688354e-01 -2.64629873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83313336499998 meters Centerline goodness : 0.168461 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.34, Z:-0.26 [[ 9.99676441e-01 4.63163323e-03 -2.50112055e-02 -8.18011147e-01] [-4.61402811e-03 9.99989065e-01 7.61554217e-04 3.35273052e-01] [ 2.50144592e-02 -6.45905405e-04 9.99686881e-01 -2.64540409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86313336499998 meters Centerline goodness : 0.179552 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.34, Z:-0.26 [[ 0.9996766 -0.00419739 -0.02508152 -0.79946925] [ 0.00424855 0.999989 0.00198673 0.33961613] [ 0.0250729 -0.00209265 0.99968344 -0.26268167] [ 0. 0. 0. 1. ]] SLAMing on 151.89313336499998 meters SLAMing on 151.92313336499998 meters Centerline goodness : 0.150256 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.34, Z:-0.26 [[ 0.99968358 -0.00435559 -0.02477422 -0.80050639] [ 0.00441173 0.99998782 0.00221198 0.33726497] [ 0.02476428 -0.00232058 0.99969062 -0.26211289] [ 0. 0. 0. 1. ]] SLAMing on 151.95313336499999 meters SLAMing on 151.983133365 meters SLAMing on 152.013133365 meters Centerline goodness : 0.121540 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.33, Z:-0.26 [[ 0.99971817 -0.00623356 -0.022907 -0.80725385] [ 0.00626732 0.99997938 0.00140234 0.32846282] [ 0.02289778 -0.00154551 0.99973662 -0.25903172] [ 0. 0. 0. 1. ]] SLAMing on 152.043133365 meters Centerline goodness : 0.144534 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.33, Z:-0.26 [[ 0.99971684 -0.00608973 -0.02300337 -0.80663846] [ 0.00613241 0.9999796 0.00178552 0.32651101] [ 0.02299202 -0.00192608 0.99973379 -0.25957068] [ 0. 0. 0. 1. ]] SLAMing on 152.073133365 meters Centerline goodness : 0.150536 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.32, Z:-0.26 [[ 0.99971304 -0.00591768 -0.02321234 -0.80563962] [ 0.00596917 0.99997987 0.00214933 0.32477571] [ 0.02319915 -0.00228727 0.99972825 -0.26034117] [ 0. 0. 0. 1. ]] SLAMing on 152.103133365 meters Centerline goodness : 0.167242 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.32, Z:-0.26 [[ 0.99970617 -0.005526 -0.02360165 -0.80442167] [ 0.00559371 0.99998042 0.00280402 0.32200098] [ 0.02358569 -0.00293521 0.99971751 -0.26080506] [ 0. 0. 0. 1. ]] SLAMing on 152.133133365 meters Centerline goodness : 0.163589 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.32, Z:-0.26 [[ 0.99970445 -0.00528595 -0.02372908 -0.80409303] [ 0.00536254 0.99998061 0.00316548 0.3206559 ] [ 0.02371188 -0.00329179 0.99971341 -0.26083406] [ 0. 0. 0. 1. ]] SLAMing on 152.163133365 meters Centerline goodness : 0.140929 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.32, Z:-0.26 [[ 0.99970455 -0.00510248 -0.02376511 -0.8039451 ] [ 0.00518668 0.99998048 0.00348287 0.31926968] [ 0.02374688 -0.00360511 0.9997115 -0.26095985] [ 0. 0. 0. 1. ]] SLAMing on 152.193133365 meters SLAMing on 152.223133365 meters Centerline goodness : 0.154998 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.31, Z:-0.26 [[ 9.99669887e-01 1.01238565e-03 -2.56727850e-02 -7.85055071e-01] [-9.45819739e-04 9.99996160e-01 2.60486915e-03 3.08222052e-01] [ 2.56753235e-02 -2.57972742e-03 9.99667006e-01 -2.58799344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.253133365 meters Centerline goodness : 0.124594 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.31, Z:-0.26 [[ 0.99967579 0.00111851 -0.02543751 -0.78586768] [-0.0010448 0.99999522 0.00291079 0.30651894] [ 0.02544065 -0.00288327 0.99967218 -0.25845392] [ 0. 0. 0. 1. ]] SLAMing on 152.283133365 meters Centerline goodness : 0.150648 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.30, Z:-0.26 [[ 0.99968054 0.00138377 -0.02523681 -0.78656536] [-0.00129762 0.99999328 0.00342965 0.30427111] [ 0.02524138 -0.00339581 0.99967562 -0.2581065 ] [ 0. 0. 0. 1. ]] SLAMing on 152.313133365 meters Centerline goodness : 0.128421 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.30, Z:-0.26 [[ 0.9996862 0.00160887 -0.02499831 -0.78717402] [-0.00151013 0.99999099 0.00396818 0.30171839] [ 0.02500447 -0.00392919 0.99967962 -0.25804135] [ 0. 0. 0. 1. ]] SLAMing on 152.343133365 meters Centerline goodness : 0.147094 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.30, Z:-0.26 [[ 0.99968566 0.00180068 -0.02500662 -0.78671584] [-0.00168688 0.99998813 0.00457092 0.29831824] [ 0.02501455 -0.0045273 0.99967684 -0.25865132] [ 0. 0. 0. 1. ]] SLAMing on 152.373133365 meters Centerline goodness : 0.131348 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.29, Z:-0.26 [[ 9.99686224e-01 -8.50993475e-04 -2.50345740e-02 -7.42011319e-01] [ 9.58292650e-04 9.99990406e-01 4.27435474e-03 2.94323502e-01] [ 2.50306964e-02 -4.29700399e-03 9.99677448e-01 -2.58432246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.403133365 meters Centerline goodness : 0.129345 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.29, Z:-0.26 [[ 0.99965436 -0.00376565 -0.02601872 -0.73894666] [ 0.00382124 0.99999052 0.00208714 0.28798958] [ 0.02601061 -0.00218584 0.99965928 -0.25939914] [ 0. 0. 0. 1. ]] SLAMing on 152.433133365 meters Centerline goodness : 0.129660 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.28, Z:-0.26 [[ 0.99965641 -0.00351509 -0.0259751 -0.7391332 ] [ 0.0035873 0.99998983 0.00273369 0.28466945] [ 0.02596522 -0.00282593 0.99965885 -0.25926069] [ 0. 0. 0. 1. ]] SLAMing on 152.463133365 meters Centerline goodness : 0.108559 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.28, Z:-0.26 [[ 0.99966901 0.00353938 -0.02548212 -0.72172841] [-0.0034916 0.99999206 0.0019194 0.27746887] [ 0.02548871 -0.00182979 0.99967344 -0.25658886] [ 0. 0. 0. 1. ]] SLAMing on 152.49313336499998 meters Centerline goodness : 0.136553 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.27, Z:-0.26 [[ 0.99967816 0.00372341 -0.02509397 -0.72300471] [-0.00366421 0.9999904 0.00240476 0.27481573] [ 0.02510268 -0.00231204 0.9996822 -0.25605532] [ 0. 0. 0. 1. ]] SLAMing on 152.52313336499998 meters Centerline goodness : 0.154485 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.27, Z:-0.26 [[ 0.99968042 0.00408911 -0.0249468 -0.72318329] [-0.00400862 0.9999866 0.00327571 0.26966197] [ 0.02495986 -0.00317466 0.99968341 -0.2563333 ] [ 0. 0. 0. 1. ]] SLAMing on 152.55313336499998 meters Centerline goodness : 0.109988 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.27, Z:-0.26 [[ 0.99967126 0.00434553 -0.02526818 -0.72178567] [-0.00425229 0.99998396 0.00374259 0.26750085] [ 0.02528404 -0.00363391 0.9996737 -0.25733718] [ 0. 0. 0. 1. ]] SLAMing on 152.58313336499998 meters Centerline goodness : 0.122651 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.27, Z:-0.26 [[ 0.99966012 0.00462988 -0.02565557 -0.72044923] [-0.00452361 0.99998095 0.00419844 0.2656633 ] [ 0.02567452 -0.00408096 0.99966203 -0.25801878] [ 0. 0. 0. 1. ]] SLAMing on 152.61313336499998 meters Centerline goodness : 0.101191 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.26, Z:-0.26 [[ 0.99965834 0.00481611 -0.02569064 -0.72020586] [-0.00470225 0.99997886 0.00449048 0.26424114] [ 0.02571173 -0.00436815 0.99965986 -0.258302 ] [ 0. 0. 0. 1. ]] SLAMing on 152.64313336499998 meters Centerline goodness : 0.123018 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.26, Z:-0.26 [[ 0.99966496 0.00479078 -0.02543671 -0.72126629] [-0.00467608 0.99997864 0.00456655 0.26302514] [ 0.02545804 -0.00444608 0.999666 -0.25769647] [ 0. 0. 0. 1. ]] SLAMing on 152.67313336499998 meters Centerline goodness : 0.115087 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.26, Z:-0.26 [[ 0.9996753 0.00475333 -0.02503413 -0.72286098] [-0.0046386 0.99997848 0.00463873 0.2617536 ] [ 0.02505564 -0.0045211 0.99967583 -0.25682246] [ 0. 0. 0. 1. ]] SLAMing on 152.70313336499999 meters Centerline goodness : 0.106626 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.26, Z:-0.26 [[ 0.99969848 0.00505256 -0.02402938 -0.72597235] [-0.00493008 0.99997457 0.00515345 0.25950275] [ 0.02405481 -0.00503343 0.99969797 -0.2557109 ] [ 0. 0. 0. 1. ]] SLAMing on 152.733133365 meters Centerline goodness : 0.111041 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.26, Z:-0.26 [[ 0.99970253 0.00524197 -0.02381971 -0.72646007] [-0.00511215 0.99997176 0.00550792 0.25814475] [ 0.02384791 -0.00538452 0.9997011 -0.25572558] [ 0. 0. 0. 1. ]] SLAMing on 152.763133365 meters Centerline goodness : 0.120425 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.26, Z:-0.26 [[ 0.9997035 0.00536197 -0.02375213 -0.72641691] [-0.00522427 0.99996921 0.00585536 0.2562718 ] [ 0.0237828 -0.00572954 0.99970073 -0.25598751] [ 0. 0. 0. 1. ]] SLAMing on 152.793133365 meters Centerline goodness : 0.108339 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.25, Z:-0.26 [[ 0.99970467 0.00198019 -0.02422099 -0.72523436] [-0.00191709 0.99999471 0.00262847 0.25486871] [ 0.02422607 -0.00258126 0.99970317 -0.25622005] [ 0. 0. 0. 1. ]] SLAMing on 152.823133365 meters Centerline goodness : 0.123411 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.25, Z:-0.26 [[ 0.99969467 0.00207146 -0.02462276 -0.72375493] [-0.0019959 0.99999322 0.00309297 0.25179624] [ 0.024629 -0.00304288 0.99969203 -0.25695006] [ 0. 0. 0. 1. ]] SLAMing on 152.853133365 meters Centerline goodness : 0.125997 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.25, Z:-0.26 [[ 0.99968015 0.0024531 -0.02517104 -0.7219216 ] [-0.0023482 0.99998844 0.0041961 0.24524277] [ 0.02518104 -0.00413565 0.99967435 -0.25756789] [ 0. 0. 0. 1. ]] SLAMing on 152.883133365 meters Centerline goodness : 0.120035 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.24, Z:-0.26 [[ 0.99968037 0.00266747 -0.02514027 -0.72203551] [-0.00254766 0.99998525 0.00479661 0.24210504] [ 0.0251527 -0.00473103 0.99967243 -0.25743831] [ 0. 0. 0. 1. ]] SLAMing on 152.913133365 meters Centerline goodness : 0.110614 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.24, Z:-0.26 [[ 0.99968547 0.00280886 -0.02492148 -0.72263219] [-0.00267786 0.99998243 0.00528852 0.23925859] [ 0.0249359 -0.00522012 0.99967542 -0.25726084] [ 0. 0. 0. 1. ]] SLAMing on 152.943133365 meters Centerline goodness : 0.103204 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.24, Z:-0.26 [[ 0.99968751 0.00299481 -0.02481762 -0.72275524] [-0.002851 0.99997895 0.0058279 0.23634438] [ 0.02483456 -0.00575533 0.99967501 -0.25738587] [ 0. 0. 0. 1. ]] SLAMing on 152.973133365 meters Centerline goodness : 0.095083 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.23, Z:-0.26 [[ 0.9996849 0.00343014 -0.02486631 -0.72196674] [-0.00326227 0.99997164 0.00678811 0.2314833 ] [ 0.02488889 -0.00670485 0.99966774 -0.25827179] [ 0. 0. 0. 1. ]] SLAMing on 153.003133365 meters Centerline goodness : 0.110417 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.23, Z:-0.26 [[ 0.99962079 0.00398968 -0.02724633 -0.76621518] [-0.00381444 0.99997173 0.00648049 0.22689789] [ 0.02727141 -0.0063741 0.99960774 -0.25861382] [ 0. 0. 0. 1. ]] SLAMing on 153.033133365 meters Centerline goodness : 0.101494 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 0.99962042 0.0040957 -0.02724405 -0.76612101] [-0.00391189 0.99996925 0.00679641 0.22492009] [ 0.02727104 -0.00668726 0.99960571 -0.25875686] [ 0. 0. 0. 1. ]] SLAMing on 153.063133365 meters Centerline goodness : 0.116167 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 0.99962044 0.00415204 -0.02723493 -0.76608153] [-0.00396247 0.99996757 0.00701117 0.22337292] [ 0.02726315 -0.00690059 0.99960447 -0.25882211] [ 0. 0. 0. 1. ]] SLAMing on 153.093133365 meters Centerline goodness : 0.122279 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.22, Z:-0.26 [[ 0.99955943 0.01172044 -0.02726853 -0.74618861] [-0.01156005 0.99991498 0.00603231 0.2184809 ] [ 0.02733691 -0.00571443 0.99960994 -0.25695922] [ 0. 0. 0. 1. ]] SLAMing on 153.123133365 meters Centerline goodness : 0.157274 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.22, Z:-0.26 [[ 0.99955156 0.01206772 -0.02740536 -0.74567216] [-0.01189472 0.99990834 0.00646703 0.2168583 ] [ 0.02748089 -0.00613815 0.99960348 -0.25732789] [ 0. 0. 0. 1. ]] SLAMing on 153.153133365 meters Centerline goodness : 0.092955 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 0.99960049 0.00431699 -0.02793263 -0.76575348] [-0.00411001 0.9999637 0.00746331 0.21986908] [ 0.02796383 -0.00734552 0.99958195 -0.25891298] [ 0. 0. 0. 1. ]] SLAMing on 153.183133365 meters SLAMing on 153.213133365 meters Centerline goodness : 0.092322 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.22, Z:-0.26 [[ 0.99959376 0.00445323 -0.02815101 -0.76467817] [-0.00423991 0.99996188 0.00763263 0.21873218] [ 0.02818392 -0.00751017 0.99957454 -0.25982412] [ 0. 0. 0. 1. ]] SLAMing on 153.24313336499998 meters SLAMing on 153.27313336499998 meters SLAMing on 153.30313336499998 meters SLAMing on 153.33313336499998 meters SLAMing on 153.36313336499998 meters Centerline goodness : 0.095219 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 0.99963427 0.0047973 -0.02661411 -0.76899514] [-0.00458827 0.99995819 0.00790996 0.21799817] [ 0.02665094 -0.00778496 0.99961449 -0.25881684] [ 0. 0. 0. 1. ]] SLAMing on 153.39313336499998 meters SLAMing on 153.42313336499998 meters SLAMing on 153.45313336499999 meters SLAMing on 153.483133365 meters Centerline goodness : 0.090187 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.22, Z:-0.26 [[ 0.99967475 -0.00331114 -0.02528694 -0.75182673] [ 0.00355056 0.99994924 0.00942909 0.22311053] [ 0.02525444 -0.0095158 0.99963577 -0.25614669] [ 0. 0. 0. 1. ]] SLAMing on 153.513133365 meters SLAMing on 153.543133365 meters SLAMing on 153.573133365 meters Centerline goodness : 0.094039 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.22, Z:-0.26 [[ 0.99965121 -0.00725102 -0.02539442 -0.75103586] [ 0.00739866 0.99995624 0.00572449 0.2224519 ] [ 0.0253518 -0.00591037 0.99966112 -0.25678008] [ 0. 0. 0. 1. ]] SLAMing on 153.603133365 meters SLAMing on 153.633133365 meters SLAMing on 153.663133365 meters Centerline goodness : 0.100292 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.22, Z:-0.26 [[ 0.99965652 -0.00698305 -0.02526037 -0.75104813] [ 0.00714781 0.99995373 0.00643805 0.21906419] [ 0.02521425 -0.00661639 0.99966017 -0.25697869] [ 0. 0. 0. 1. ]] SLAMing on 153.693133365 meters SLAMing on 153.723133365 meters Centerline goodness : 0.216148 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 9.99643028e-01 5.40603004e-04 -2.67118722e-02 -7.66909512e-01] [-4.18940432e-04 9.99989515e-01 4.56001187e-03 2.09117944e-01] [ 2.67140573e-02 -4.54719339e-03 9.99632774e-01 -2.60370378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.753133365 meters SLAMing on 153.783133365 meters SLAMing on 153.813133365 meters SLAMing on 153.843133365 meters Centerline goodness : 0.201430 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.20, Z:-0.26 [[ 0.99965389 0.0014461 -0.02626795 -0.76725979] [-0.0012985 0.99998328 0.00563498 0.20436725] [ 0.02627566 -0.00559892 0.99963906 -0.26135899] [ 0. 0. 0. 1. ]] SLAMing on 153.873133365 meters Centerline goodness : 0.093076 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.20, Z:-0.26 [[ 0.99966261 0.00149539 -0.0259314 -0.76811724] [-0.00134865 0.99998299 0.00567526 0.20416771] [ 0.02593944 -0.00563837 0.99964761 -0.26133157] [ 0. 0. 0. 1. ]] SLAMing on 153.903133365 meters SLAMing on 153.933133365 meters SLAMing on 153.963133365 meters SLAMing on 153.99313336499998 meters SLAMing on 154.02313336499998 meters SLAMing on 154.05313336499998 meters SLAMing on 154.08313336499998 meters SLAMing on 154.11313336499998 meters SLAMing on 154.14313336499998 meters SLAMing on 154.17313336499998 meters SLAMing on 154.20313336499999 meters SLAMing on 154.233133365 meters Centerline goodness : 0.085864 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 0.99967072 0.0012595 -0.02562926 -0.76990154] [-0.0011286 0.99998625 0.00512143 0.20763953] [ 0.02563535 -0.00509082 0.9996584 -0.25993351] [ 0. 0. 0. 1. ]] SLAMing on 154.263133365 meters Centerline goodness : 0.091347 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 0.99967059 0.00125246 -0.02563477 -0.76988528] [-0.00112329 0.9999866 0.00505268 0.2082566 ] [ 0.02564076 -0.00502222 0.99965861 -0.25996835] [ 0. 0. 0. 1. ]] SLAMing on 154.293133365 meters SLAMing on 154.323133365 meters Centerline goodness : 0.229646 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 0.9996841 0.00122676 -0.02510388 -0.7718474 ] [-0.00110109 0.9999868 0.00501902 0.20851651] [ 0.0251097 -0.0049898 0.99967225 -0.25890449] [ 0. 0. 0. 1. ]] SLAMing on 154.353133365 meters Centerline goodness : 0.096069 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 9.99690396e-01 1.10222500e-03 -2.48575297e-02 -7.72781432e-01] [-9.79632920e-04 9.99987301e-01 4.94342686e-03 2.08131677e-01] [ 2.48626628e-02 -4.91754510e-03 9.99678781e-01 -2.58381093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.383133365 meters Centerline goodness : 0.127063 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 9.99691253e-01 1.02403514e-03 -2.48264153e-02 -7.72768172e-01] [-9.01881816e-04 9.99987436e-01 4.93099418e-03 2.07475991e-01] [ 2.48311528e-02 -4.90708126e-03 9.99679616e-01 -2.58510435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.413133365 meters Centerline goodness : 0.136795 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 9.99674581e-01 1.00760735e-03 -2.54895484e-02 -7.70128675e-01] [-8.80950268e-04 9.99987213e-01 4.97972248e-03 2.06969952e-01] [ 2.54942400e-02 -4.95564696e-03 9.99662686e-01 -2.60148409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.443133365 meters Centerline goodness : 0.110410 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 9.99667798e-01 1.05253732e-03 -2.57524109e-02 -7.69181892e-01] [-9.23332853e-04 9.99986930e-01 5.02855612e-03 2.06977002e-01] [ 2.57573670e-02 -5.00310758e-03 9.99655704e-01 -2.60668839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.473133365 meters Centerline goodness : 0.097458 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 9.99664121e-01 1.09153224e-03 -2.58931054e-02 -7.68776292e-01] [-9.59542025e-04 9.99986487e-01 5.10938157e-03 2.06569069e-01] [ 2.58983326e-02 -5.08281991e-03 9.99651660e-01 -2.60758361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.503133365 meters Centerline goodness : 0.202924 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 9.99662239e-01 1.08475620e-03 -2.59659582e-02 -7.68721820e-01] [-9.48916470e-04 9.99985804e-01 5.24320494e-03 2.05103438e-01] [ 2.59712772e-02 -5.21679447e-03 9.99649077e-01 -2.60561789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.533133365 meters Centerline goodness : 0.093164 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.20, Z:-0.26 [[ 9.99663730e-01 1.12217285e-03 -2.59068935e-02 -7.68787271e-01] [-9.83360836e-04 9.99985097e-01 5.37022954e-03 2.04258135e-01] [ 2.59125338e-02 -5.34294787e-03 9.99649935e-01 -2.60695970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.563133365 meters Centerline goodness : 0.093389 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.20, Z:-0.26 [[ 0.99966634 0.00120531 -0.02580216 -0.76910242] [-0.00106185 0.99998391 0.00557279 0.20324727] [ 0.02580846 -0.00554354 0.99965154 -0.2606028 ] [ 0. 0. 0. 1. ]] SLAMing on 154.593133365 meters Centerline goodness : 0.146358 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.20, Z:-0.26 [[ 0.99967098 0.00132821 -0.02561582 -0.76961134] [-0.00117853 0.99998215 0.00585756 0.201875 ] [ 0.02562315 -0.00582544 0.9996547 -0.2604578 ] [ 0. 0. 0. 1. ]] SLAMing on 154.623133365 meters Centerline goodness : 0.101778 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.20, Z:-0.26 [[ 0.99967237 0.00140121 -0.02555751 -0.76979069] [-0.00124493 0.99998044 0.0061296 0.20023274] [ 0.0255656 -0.00609577 0.99965456 -0.26036125] [ 0. 0. 0. 1. ]] SLAMing on 154.653133365 meters Centerline goodness : 0.098793 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.20, Z:-0.26 [[ 0.99966588 0.00153201 -0.02580277 -0.76870665] [-0.00135825 0.99997629 0.00675023 0.19601774] [ 0.0258125 -0.00671293 0.99964426 -0.26093472] [ 0. 0. 0. 1. ]] SLAMing on 154.683133365 meters Centerline goodness : 0.224392 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99965871 0.00163486 -0.02607287 -0.76759661] [-0.00145227 0.9999743 0.00702044 0.19441514] [ 0.02608368 -0.00698018 0.99963539 -0.2616052 ] [ 0. 0. 0. 1. ]] SLAMing on 154.713133365 meters SLAMing on 154.74313336499998 meters Centerline goodness : 0.102171 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99964938 0.00187286 -0.02641215 -0.76595905] [-0.00167282 0.99996977 0.00759389 0.19107967] [ 0.02642557 -0.00754704 0.99962229 -0.26278851] [ 0. 0. 0. 1. ]] SLAMing on 154.77313336499998 meters SLAMing on 154.80313336499998 meters SLAMing on 154.83313336499998 meters SLAMing on 154.86313336499998 meters Centerline goodness : 0.099484 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99967329 0.00249205 -0.0254383 -0.768599 ] [-0.00227516 0.99996085 0.00855151 0.18666508] [ 0.02545862 -0.00849084 0.99963982 -0.26228429] [ 0. 0. 0. 1. ]] SLAMing on 154.89313336499998 meters SLAMing on 154.92313336499998 meters Centerline goodness : 0.210900 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99967886 0.00255596 -0.02521213 -0.76941666] [-0.00234 0.99996035 0.00859148 0.18642617] [ 0.02523309 -0.00852972 0.9996452 -0.26201744] [ 0. 0. 0. 1. ]] SLAMing on 154.95313336499999 meters Centerline goodness : 0.115286 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.9996737 0.00258324 -0.02541311 -0.7684159 ] [-0.00236508 0.99996013 0.00861106 0.18624233] [ 0.02543434 -0.00854815 0.99963995 -0.26283509] [ 0. 0. 0. 1. ]] SLAMing on 154.983133365 meters SLAMing on 155.013133365 meters SLAMing on 155.043133365 meters SLAMing on 155.073133365 meters Centerline goodness : 0.300986 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99970425 0.00259871 -0.02417981 -0.77237798] [-0.00240273 0.99996406 0.00813089 0.19019771] [ 0.02420007 -0.00807039 0.99967456 -0.26142042] [ 0. 0. 0. 1. ]] SLAMing on 155.103133365 meters Centerline goodness : 0.108153 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99970909 0.00247058 -0.02399236 -0.77291553] [-0.00228173 0.99996623 0.00789555 0.19115816] [ 0.02401105 -0.00783851 0.99968096 -0.26130578] [ 0. 0. 0. 1. ]] SLAMing on 155.133133365 meters SLAMing on 155.163133365 meters Centerline goodness : 0.094893 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99971022 0.00231717 -0.02396049 -0.77303471] [-0.00213278 0.99996794 0.0077185 0.19163593] [ 0.02397761 -0.00766516 0.99968311 -0.26129173] [ 0. 0. 0. 1. ]] SLAMing on 155.193133365 meters Centerline goodness : 0.098333 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99970908 0.00230847 -0.02400903 -0.77295843] [-0.00212344 0.99996787 0.00772925 0.19161074] [ 0.0240261 -0.00767602 0.99968186 -0.26121485] [ 0. 0. 0. 1. ]] SLAMing on 155.223133365 meters SLAMing on 155.253133365 meters SLAMing on 155.283133365 meters Centerline goodness : 0.164822 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99971263 -0.00159081 -0.02391908 -0.77267287] [ 0.00169076 0.99998992 0.0041593 0.19043782] [ 0.02391223 -0.00419854 0.99970525 -0.26179906] [ 0. 0. 0. 1. ]] SLAMing on 155.313133365 meters Centerline goodness : 0.137502 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99970983 -0.00149693 -0.02404179 -0.77202031] [ 0.00160307 0.99998905 0.00439633 0.18932204] [ 0.02403494 -0.00443359 0.99970129 -0.26229956] [ 0. 0. 0. 1. ]] SLAMing on 155.343133365 meters Centerline goodness : 0.102821 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99970494 -0.00143999 -0.02424799 -0.77092492] [ 0.00155471 0.99998769 0.00471258 0.18710311] [ 0.0242409 -0.00474889 0.99969487 -0.26312607] [ 0. 0. 0. 1. ]] SLAMing on 155.373133365 meters SLAMing on 155.403133365 meters SLAMing on 155.433133365 meters SLAMing on 155.463133365 meters Centerline goodness : 0.164198 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.18, Z:-0.26 [[ 0.99972444 0.00435317 -0.02306714 -0.7508072 ] [-0.00431904 0.9999895 0.00152941 0.18436343] [ 0.02307355 -0.00142936 0.99973275 -0.26236906] [ 0. 0. 0. 1. ]] SLAMing on 155.49313336499998 meters SLAMing on 155.52313336499998 meters Centerline goodness : 0.308333 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.19, Z:-0.26 [[ 0.99971716 0.00444137 -0.02336394 -0.74945371] [-0.00441297 0.99998946 0.00126688 0.18674279] [ 0.02336932 -0.00116341 0.99972622 -0.26348997] [ 0. 0. 0. 1. ]] SLAMing on 155.55313336499998 meters Centerline goodness : 0.168070 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.19, Z:-0.26 [[ 9.99702534e-01 4.53618944e-03 -2.39638421e-02 -7.47720312e-01] [-4.51775963e-03 9.99989456e-01 8.23151177e-04 1.90142374e-01] [ 2.39673234e-02 -7.14643439e-04 9.99712487e-01 -2.64249979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58313336499998 meters SLAMing on 155.61313336499998 meters SLAMing on 155.64313336499998 meters Centerline goodness : 0.102105 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.20, Z:-0.26 [[ 0.99972212 0.00671539 -0.02259597 -0.75351338] [-0.00666411 0.99997505 0.00234404 0.19600615] [ 0.02261114 -0.0021928 0.99974193 -0.2613782 ] [ 0. 0. 0. 1. ]] SLAMing on 155.67313336499998 meters SLAMing on 155.70313336499999 meters SLAMing on 155.733133365 meters SLAMing on 155.763133365 meters Centerline goodness : 0.097735 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.21, Z:-0.26 [[ 0.99967579 0.00818239 -0.02411144 -0.74796665] [-0.00812675 0.99996409 0.00240454 0.20891554] [ 0.02413025 -0.00220782 0.99970639 -0.26399251] [ 0. 0. 0. 1. ]] SLAMing on 155.793133365 meters Centerline goodness : 0.304960 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.27 [[ 9.99755143e-01 4.42877702e-04 -2.21236875e-02 -7.68385975e-01] [-3.95349154e-04 9.99997605e-01 2.15263801e-03 2.18033636e-01] [ 2.21245879e-02 -2.14336434e-03 9.99752924e-01 -2.66142365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.823133365 meters Centerline goodness : 0.308705 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.27 [[ 9.99755433e-01 2.72777972e-04 -2.21133298e-02 -7.68620094e-01] [-2.34979582e-04 9.99998507e-01 1.71188378e-03 2.20357002e-01] [ 2.21137637e-02 -1.70626893e-03 9.99754005e-01 -2.65958906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.853133365 meters Centerline goodness : 0.205657 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.27 [[ 9.99756005e-01 1.58057701e-04 -2.20885608e-02 -7.68923260e-01] [-1.26838329e-04 9.99998991e-01 1.41476673e-03 2.22151474e-01] [ 2.20887621e-02 -1.41161985e-03 9.99755017e-01 -2.65662381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.883133365 meters Centerline goodness : 0.185955 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.27 [[ 9.99757480e-01 5.52766134e-05 -2.20222216e-02 -7.69304058e-01] [-2.87160678e-05 9.99999272e-01 1.20639370e-03 2.23293936e-01] [ 2.20222723e-02 -1.20546874e-03 9.99756754e-01 -2.65337415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.913133365 meters SLAMing on 155.943133365 meters Centerline goodness : 0.103091 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 9.99764596e-01 -5.44921331e-04 -2.16899702e-02 -7.70529849e-01] [ 5.60708358e-04 9.99999582e-01 7.21774246e-04 2.23616611e-01] [ 2.16895678e-02 -7.33766085e-04 9.99764484e-01 -2.64643553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.973133365 meters SLAMing on 156.003133365 meters Centerline goodness : 0.092336 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 9.99759880e-01 -5.08974372e-04 -2.19071715e-02 -7.70116607e-01] [ 5.27121590e-04 9.99999523e-01 8.22602248e-04 2.23414675e-01] [ 2.19067424e-02 -8.33952467e-04 9.99759671e-01 -2.64446205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.033133365 meters SLAMing on 156.063133365 meters Centerline goodness : 0.227671 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 9.99756501e-01 -4.73391472e-04 -2.20615964e-02 -7.69613507e-01] [ 4.91407741e-04 9.99999550e-01 8.11220735e-04 2.23672951e-01] [ 2.20612024e-02 -8.21864443e-04 9.99756284e-01 -2.64701190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.093133365 meters Centerline goodness : 0.040761 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 9.99758392e-01 -4.96025476e-04 -2.19752546e-02 -7.69875693e-01] [ 5.11513652e-04 9.99999625e-01 6.99185363e-04 2.24277881e-01] [ 2.19748996e-02 -7.10257077e-04 9.99758270e-01 -2.64728812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.123133365 meters SLAMing on 156.153133365 meters Centerline goodness : 0.104398 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.23, Z:-0.26 [[ 9.99770457e-01 -9.30590596e-05 -2.14248517e-02 -7.71215378e-01] [ 1.08761834e-04 9.99999726e-01 7.31759291e-04 2.26332979e-01] [ 2.14247777e-02 -7.33921527e-04 9.99770194e-01 -2.64803204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.183133365 meters Centerline goodness : 0.119477 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.23, Z:-0.27 [[ 9.99769791e-01 -1.01937962e-04 -2.14558676e-02 -7.71071414e-01] [ 1.14818342e-04 9.99999814e-01 5.99088666e-04 2.27226671e-01] [ 2.14558025e-02 -6.01414277e-04 9.99769617e-01 -2.65035111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.213133365 meters Centerline goodness : 0.213365 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.23, Z:-0.27 [[ 9.99769120e-01 -6.42982085e-05 -2.14872577e-02 -7.70801759e-01] [ 7.63144653e-05 9.99999841e-01 5.58407578e-04 2.27843398e-01] [ 2.14872184e-02 -5.59918442e-04 9.99768966e-01 -2.65397805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24313336499998 meters SLAMing on 156.27313336499998 meters Centerline goodness : 0.095223 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.23, Z:-0.26 [[ 9.99770683e-01 -1.09823774e-04 -2.14142411e-02 -7.71278511e-01] [ 1.19668985e-04 9.99999888e-01 4.58469739e-04 2.28397279e-01] [ 2.14141884e-02 -4.60927225e-04 9.99770584e-01 -2.64987527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30313336499998 meters Centerline goodness : 0.286461 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.23, Z:-0.26 [[ 9.99771695e-01 -1.53885081e-04 -2.13666558e-02 -7.71411373e-01] [ 1.63841648e-04 9.99999879e-01 4.64236419e-04 2.27850459e-01] [ 2.13665818e-02 -4.67631180e-04 9.99771599e-01 -2.64940116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33313336499998 meters Centerline goodness : 0.216642 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.22, Z:-0.26 [[ 0.99974109 0.00598762 -0.02195209 -0.79349368] [-0.00604807 0.9999781 -0.00268826 0.22342178] [ 0.02193551 0.00282034 0.99975541 -0.26482535] [ 0. 0. 0. 1. ]] SLAMing on 156.36313336499998 meters Centerline goodness : 0.204782 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.23, Z:-0.26 [[ 9.99748532e-01 -1.54645118e-03 -2.23714551e-02 -7.75608524e-01] [ 1.52429465e-03 9.99998331e-01 -1.00741153e-03 2.29170497e-01] [ 2.23729757e-02 9.73057505e-04 9.99749220e-01 -2.62778751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39313336499998 meters Centerline goodness : 0.042681 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.23, Z:-0.26 [[ 0.99974968 -0.0015036 -0.02232296 -0.77569112] [ 0.00148023 0.99999834 -0.00106308 0.23009844] [ 0.02232452 0.00102977 0.99975025 -0.26287619] [ 0. 0. 0. 1. ]] SLAMing on 156.42313336499998 meters Centerline goodness : 0.323147 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.23, Z:-0.26 [[ 0.9997549 -0.00151583 -0.0220871 -0.77641171] [ 0.00148916 0.99999814 -0.00122402 0.23123428] [ 0.02208891 0.00119083 0.9997553 -0.26268516] [ 0. 0. 0. 1. ]] SLAMing on 156.45313336499999 meters Centerline goodness : 0.196601 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.23, Z:-0.26 [[ 0.99978483 0.00623817 -0.0197835 -0.7579256 ] [-0.00629696 0.99997594 -0.0029106 0.23248919] [ 0.01976486 0.00303455 0.99980005 -0.26075703] [ 0. 0. 0. 1. ]] SLAMing on 156.483133365 meters Centerline goodness : 0.098857 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.23, Z:-0.26 [[ 0.99978653 0.00617767 -0.01971629 -0.75820608] [-0.00624087 0.99997558 -0.00314567 0.23394594] [ 0.01969637 0.00326805 0.99980067 -0.26070029] [ 0. 0. 0. 1. ]] SLAMing on 156.513133365 meters Centerline goodness : 0.041257 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.23, Z:-0.26 [[ 0.99978535 0.0061997 -0.019769 -0.75785519] [-0.00626465 0.99997517 -0.00322562 0.23481236] [ 0.01974851 0.00334878 0.99979937 -0.26112089] [ 0. 0. 0. 1. ]] SLAMing on 156.543133365 meters Centerline goodness : 0.041034 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.24, Z:-0.26 [[ 0.99978301 0.00616317 -0.01989837 -0.75707558] [-0.00622988 0.99997517 -0.00329258 0.23515412] [ 0.01987758 0.00341583 0.99979659 -0.26182296] [ 0. 0. 0. 1. ]] SLAMing on 156.573133365 meters Centerline goodness : 0.228072 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.23, Z:-0.26 [[ 0.99977991 0.00611043 -0.02006995 -0.75626274] [-0.00617802 0.99997545 -0.00330743 0.23498233] [ 0.02004925 0.0034307 0.99979311 -0.26241656] [ 0. 0. 0. 1. ]] SLAMing on 156.603133365 meters Centerline goodness : 0.137133 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.23, Z:-0.26 [[ 0.99977704 0.00584316 -0.02029108 -0.75572415] [-0.0059132 0.99997676 -0.00339315 0.23411402] [ 0.02027078 0.00351238 0.99978836 -0.26238964] [ 0. 0. 0. 1. ]] SLAMing on 156.633133365 meters Centerline goodness : 0.209182 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.23, Z:-0.26 [[ 0.99978222 0.00575951 -0.02005864 -0.75658189] [-0.00582773 0.99997743 -0.00334416 0.23327559] [ 0.02003893 0.00346033 0.99979321 -0.26187005] [ 0. 0. 0. 1. ]] SLAMing on 156.663133365 meters Centerline goodness : 0.119550 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.24, Z:-0.26 [[ 0.99981957 -0.00258215 -0.01881905 -0.73820227] [ 0.00254452 0.99999472 -0.00202304 0.23734146] [ 0.01882417 0.00197479 0.99982086 -0.26007669] [ 0. 0. 0. 1. ]] SLAMing on 156.693133365 meters SLAMing on 156.723133365 meters Centerline goodness : 0.107236 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.23, Z:-0.26 [[ 0.99984046 -0.00306457 -0.01759736 -0.74142409] [ 0.00303423 0.99999386 -0.00175096 0.23315692] [ 0.01760261 0.00169729 0.99984362 -0.25925562] [ 0. 0. 0. 1. ]] SLAMing on 156.753133365 meters Centerline goodness : 0.143003 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.23, Z:-0.26 [[ 0.99983753 -0.00304176 -0.01776671 -0.7406675 ] [ 0.00301508 0.99999429 -0.00152836 0.23154914] [ 0.01777126 0.00147454 0.99984099 -0.25973496] [ 0. 0. 0. 1. ]] SLAMing on 156.783133365 meters Centerline goodness : 0.101411 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.23, Z:-0.26 [[ 0.99983201 -0.00300996 -0.01808001 -0.73957275] [ 0.00298641 0.99999466 -0.00132926 0.23013313] [ 0.01808391 0.00127504 0.99983566 -0.26022648] [ 0. 0. 0. 1. ]] SLAMing on 156.813133365 meters Centerline goodness : 0.104056 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.23, Z:-0.26 [[ 0.99982743 -0.00289615 -0.01835021 -0.7384556 ] [ 0.00287688 0.99999528 -0.00107646 0.22872692] [ 0.01835325 0.00102348 0.99983104 -0.26094637] [ 0. 0. 0. 1. ]] SLAMing on 156.843133365 meters SLAMing on 156.873133365 meters Centerline goodness : 0.118872 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.23, Z:-0.26 [[ 9.99825478e-01 -2.80621704e-03 -1.84699616e-02 -7.37601777e-01] [ 2.78892122e-03 9.99995648e-01 -9.62121407e-04 2.28129954e-01] [ 1.84725811e-02 9.10442227e-04 9.99828953e-01 -2.61877024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.903133365 meters Centerline goodness : 0.230514 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.23, Z:-0.26 [[ 9.99824647e-01 -2.77273056e-03 -1.85199087e-02 -7.37046328e-01] [ 2.75651040e-03 9.99995795e-01 -9.01292686e-04 2.27818757e-01] [ 1.85223299e-02 8.50084321e-04 9.99828086e-01 -2.62572065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.933133365 meters Centerline goodness : 0.212142 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.23, Z:-0.26 [[ 9.99822647e-01 -2.64634752e-03 -1.86459742e-02 -7.36437470e-01] [ 2.63404932e-03 9.99996297e-01 -6.84091784e-04 2.26936697e-01] [ 1.86477155e-02 6.34856042e-04 9.99825915e-01 -2.63052437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.963133365 meters SLAMing on 156.99313336499998 meters SLAMing on 157.02313336499998 meters Centerline goodness : 0.102336 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.22, Z:-0.26 [[ 0.99981403 -0.00607758 -0.01830234 -0.73759957] [ 0.00602773 0.99997798 -0.00277757 0.2175522 ] [ 0.01831882 0.00266673 0.99982864 -0.26226776] [ 0. 0. 0. 1. ]] SLAMing on 157.05313336499998 meters Centerline goodness : 0.139419 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.21, Z:-0.26 [[ 0.99975593 -0.00723705 -0.02087349 -0.78131401] [ 0.00715725 0.9999668 -0.00389526 0.21029246] [ 0.02090098 0.00374492 0.99977454 -0.26268198] [ 0. 0. 0. 1. ]] SLAMing on 157.08313336499998 meters Centerline goodness : 0.194488 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.20, Z:-0.26 [[ 9.99748885e-01 -8.57029844e-04 -2.23926949e-02 -7.61228457e-01] [ 7.48456695e-04 9.99987927e-01 -4.85652802e-03 2.02968438e-01] [ 2.23965867e-02 4.83854851e-03 9.99737456e-01 -2.60931361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11313336499998 meters Centerline goodness : 0.191728 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.19, Z:-0.26 [[ 0.99975473 -0.00271586 -0.02197972 -0.76217645] [ 0.00259723 0.99998192 -0.00542388 0.19355636] [ 0.02199406 0.00536546 0.9997437 -0.26073417] [ 0. 0. 0. 1. ]] SLAMing on 157.14313336499998 meters Centerline goodness : 0.098287 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.19, Z:-0.26 [[ 0.99976427 -0.00276451 -0.02153533 -0.76321617] [ 0.00266248 0.9999851 -0.00476504 0.1887209 ] [ 0.02154818 0.00470658 0.99975673 -0.26056459] [ 0. 0. 0. 1. ]] SLAMing on 157.17313336499998 meters Centerline goodness : 0.093003 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.18, Z:-0.26 [[ 0.99977407 -0.00291108 -0.02105565 -0.76451641] [ 0.00282353 0.99998725 -0.00418662 0.18363494] [ 0.02106757 0.00412622 0.99976954 -0.26016576] [ 0. 0. 0. 1. ]] SLAMing on 157.20313336499999 meters Centerline goodness : 0.300199 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.17, Z:-0.26 [[ 0.9997641 -0.00559804 -0.02098588 -0.76597167] [ 0.00548384 0.99996986 -0.00549545 0.17293087] [ 0.02101601 0.00537907 0.99976467 -0.25855322] [ 0. 0. 0. 1. ]] SLAMing on 157.233133365 meters Centerline goodness : 0.211177 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.17, Z:-0.26 [[ 0.99976835 -0.0054107 -0.02083191 -0.76628017] [ 0.00531624 0.99997535 -0.0045871 0.16747025] [ 0.02085622 0.00447529 0.99977247 -0.25851744] [ 0. 0. 0. 1. ]] SLAMing on 157.263133365 meters Centerline goodness : 0.129719 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.16, Z:-0.26 [[ 0.99976823 -0.00521816 -0.02088688 -0.76587278] [ 0.00514119 0.9999798 -0.0037368 0.16211446] [ 0.02090596 0.00362855 0.99977486 -0.25881856] [ 0. 0. 0. 1. ]] SLAMing on 157.293133365 meters SLAMing on 157.323133365 meters Centerline goodness : 0.253173 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.15, Z:-0.26 [[ 0.99975411 -0.00889456 -0.02031295 -0.76721449] [ 0.00877723 0.99994432 -0.00585797 0.14808644] [ 0.02036392 0.00567824 0.99977651 -0.25855142] [ 0. 0. 0. 1. ]] SLAMing on 157.353133365 meters Centerline goodness : 0.253173 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.15, Z:-0.26 [[ 0.99975411 -0.00889456 -0.02031295 -0.76721449] [ 0.00877723 0.99994432 -0.00585797 0.14808644] [ 0.02036392 0.00567824 0.99977651 -0.25855142] [ 0. 0. 0. 1. ]] SLAMing on 157.383133365 meters Centerline goodness : 0.091181 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.14, Z:-0.26 [[ 0.99975919 -0.0087371 -0.02013005 -0.76771182] [ 0.00863244 0.9999488 -0.00528037 0.14453724] [ 0.02017516 0.00510532 0.99978343 -0.25841809] [ 0. 0. 0. 1. ]] SLAMing on 157.413133365 meters Centerline goodness : 0.213966 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.14, Z:-0.26 [[ 0.99985644 -0.00283493 -0.01670538 -0.78332019] [ 0.00274979 0.99998313 -0.00511701 0.13571702] [ 0.01671961 0.00507034 0.99984736 -0.26117259] [ 0. 0. 0. 1. ]] SLAMing on 157.443133365 meters Centerline goodness : 0.099284 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.13, Z:-0.26 [[ 0.99984877 0.00528125 -0.01656918 -0.80253933] [-0.00537979 0.99996807 -0.00590842 0.12776474] [ 0.01653745 0.00599667 0.99984526 -0.26315931] [ 0. 0. 0. 1. ]] SLAMing on 157.473133365 meters Centerline goodness : 0.195671 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.12, Z:-0.26 [[ 0.99984352 0.00540568 -0.01684404 -0.80139748] [-0.00549793 0.99997011 -0.0054355 0.12483093] [ 0.01681416 0.00552726 0.99984335 -0.26391315] [ 0. 0. 0. 1. ]] SLAMing on 157.503133365 meters Centerline goodness : 0.096164 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.12, Z:-0.26 [[ 0.99983725 0.00545645 -0.01719616 -0.80003913] [-0.00554454 0.99997173 -0.00507959 0.12229122] [ 0.01716796 0.0051741 0.99983923 -0.26474283] [ 0. 0. 0. 1. ]] SLAMing on 157.533133365 meters SLAMing on 157.563133365 meters Centerline goodness : 0.214256 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.12, Z:-0.27 [[ 0.99982867 0.00328373 -0.01821694 -0.79564862] [-0.00340268 0.99997307 -0.00650289 0.11653655] [ 0.0181951 0.00656377 0.99981291 -0.26718409] [ 0. 0. 0. 1. ]] SLAMing on 157.593133365 meters Centerline goodness : 0.041159 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.11, Z:-0.27 [[ 0.99982784 0.0033131 -0.01825662 -0.79558563] [-0.00342672 0.99997494 -0.00619564 0.11447259] [ 0.01823564 0.00625713 0.99981414 -0.26714248] [ 0. 0. 0. 1. ]] SLAMing on 157.623133365 meters Centerline goodness : 0.103303 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.11, Z:-0.27 [[ 0.99982847 0.00325707 -0.01823248 -0.79578004] [-0.00336538 0.99997686 -0.00591299 0.11200042] [ 0.0182128 0.00597333 0.99981629 -0.26695341] [ 0. 0. 0. 1. ]] SLAMing on 157.653133365 meters SLAMing on 157.683133365 meters Centerline goodness : 0.090430 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.11, Z:-0.27 [[ 9.99833857e-01 -4.08074728e-04 -1.82234073e-02 -7.95425319e-01] [ 2.51709537e-04 9.99963143e-01 -8.58192802e-03 1.05645588e-01] [ 1.82262377e-02 8.57591518e-03 9.99797108e-01 -2.67455466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.713133365 meters Centerline goodness : 0.105594 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.10, Z:-0.27 [[ 9.99833311e-01 -3.64652427e-04 -1.82542395e-02 -7.94997318e-01] [ 2.14894053e-04 9.99966313e-01 -8.20532184e-03 1.03085051e-01] [ 1.82566167e-02 8.20003137e-03 9.99799708e-01 -2.68012248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74313336499998 meters Centerline goodness : 0.285800 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.10, Z:-0.27 [[ 9.99835173e-01 -3.13759214e-04 -1.81529178e-02 -7.94918736e-01] [ 1.74429541e-04 9.99970521e-01 -7.67640645e-03 9.97349235e-02] [ 1.81547912e-02 7.67197476e-03 9.99805753e-01 -2.68476842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77313336499998 meters Centerline goodness : 0.092887 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.10, Z:-0.27 [[ 9.99838289e-01 -2.54827334e-04 -1.79813862e-02 -7.95341425e-01] [ 1.21549421e-04 9.99972518e-01 -7.41269691e-03 9.81010067e-02] [ 1.79827810e-02 7.40931257e-03 9.99810843e-01 -2.68481941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80313336499998 meters Centerline goodness : 0.093928 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.10, Z:-0.27 [[ 9.99839178e-01 -1.84081104e-04 -1.79327812e-02 -7.95621413e-01] [ 5.62852421e-05 9.99974604e-01 -7.12662681e-03 9.63777836e-02] [ 1.79336376e-02 7.12447133e-03 9.99813796e-01 -2.68261095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83313336499998 meters Centerline goodness : 0.044560 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.09, Z:-0.27 [[ 0.99983018 0.00611409 -0.0173848 -0.81775342] [-0.00628293 0.99993347 -0.0096742 0.09151166] [ 0.01732449 0.00978178 0.99980207 -0.26913753] [ 0. 0. 0. 1. ]] SLAMing on 157.86313336499998 meters Centerline goodness : 0.074324 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.09, Z:-0.27 [[ 0.99985214 -0.00208404 -0.01706891 -0.79759916] [ 0.00193535 0.99996008 -0.00872299 0.09356246] [ 0.01708641 0.00868867 0.99981626 -0.26829377] [ 0. 0. 0. 1. ]] SLAMing on 157.89313336499998 meters Centerline goodness : 0.307308 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.09, Z:-0.27 [[ 0.99985027 -0.00199044 -0.01718954 -0.79718519] [ 0.00184609 0.99996294 -0.00840944 0.09172977] [ 0.01720564 0.00837645 0.99981688 -0.26856507] [ 0. 0. 0. 1. ]] SLAMing on 157.92313336499998 meters Centerline goodness : 0.102357 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.09, Z:-0.27 [[ 0.99984971 -0.00184911 -0.01723741 -0.79684774] [ 0.00171321 0.99996736 -0.00789541 0.08872674] [ 0.01725145 0.00786469 0.99982025 -0.26894839] [ 0. 0. 0. 1. ]] SLAMing on 157.95313336499999 meters Centerline goodness : 0.144583 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.09, Z:-0.27 [[ 0.9998155 -0.01023936 -0.01625208 -0.7767778 ] [ 0.01012763 0.99992461 -0.00694233 0.09022771] [ 0.01632194 0.00677645 0.99984382 -0.26805513] [ 0. 0. 0. 1. ]] SLAMing on 157.983133365 meters Centerline goodness : 0.096856 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.09, Z:-0.27 [[ 0.99981957 -0.01019055 -0.01603084 -0.77744615] [ 0.01008496 0.99992701 -0.00665332 0.08831862] [ 0.01609747 0.00649045 0.99984936 -0.2678391 ] [ 0. 0. 0. 1. ]] SLAMing on 158.013133365 meters Centerline goodness : 0.092926 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.08, Z:-0.27 [[ 0.99987808 -0.00331383 -0.01525937 -0.76003295] [ 0.00319249 0.99996315 -0.00796944 0.07967183] [ 0.01528522 0.00791975 0.99985181 -0.26558327] [ 0. 0. 0. 1. ]] SLAMing on 158.043133365 meters SLAMing on 158.073133365 meters SLAMing on 158.103133365 meters Centerline goodness : 0.144357 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.07, Z:-0.27 [[ 0.9998808 -0.00330068 -0.01508273 -0.76025142] [ 0.0031931 0.99996933 -0.00715126 0.07441586] [ 0.01510587 0.00710225 0.99986068 -0.26591689] [ 0. 0. 0. 1. ]] SLAMing on 158.133133365 meters Centerline goodness : 0.108255 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.07, Z:-0.27 [[ 0.99988971 -0.0033159 -0.0144769 -0.76215575] [ 0.00321781 0.99997175 -0.00679338 0.07146838] [ 0.01449902 0.00674605 0.99987213 -0.26514141] [ 0. 0. 0. 1. ]] SLAMing on 158.163133365 meters Centerline goodness : 0.109255 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.07, Z:-0.27 [[ 0.9998915 -0.00327047 -0.01436279 -0.76249045] [ 0.00317523 0.99997285 -0.00664901 0.07049887] [ 0.01438414 0.00660268 0.99987474 -0.26508358] [ 0. 0. 0. 1. ]] SLAMing on 158.193133365 meters SLAMing on 158.223133365 meters Centerline goodness : 0.091953 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.07, Z:-0.27 [[ 0.99983021 -0.00890442 -0.01613275 -0.73744864] [ 0.00884469 0.99995378 -0.00376964 0.0721884 ] [ 0.01616557 0.00362631 0.99986275 -0.2662188 ] [ 0. 0. 0. 1. ]] SLAMing on 158.253133365 meters Centerline goodness : 0.104349 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.07, Z:-0.27 [[ 9.99857420e-01 -4.82742433e-04 -1.68791583e-02 -7.56804747e-01] [ 4.00636169e-04 9.99988074e-01 -4.86740088e-03 6.92143786e-02] [ 1.68813067e-02 4.85994449e-03 9.99845689e-01 -2.68619803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.283133365 meters Centerline goodness : 0.044214 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.07, Z:-0.27 [[ 0.99981743 -0.00829811 -0.01721175 -0.73646381] [ 0.00822864 0.99995773 -0.0041028 0.0741742 ] [ 0.01724507 0.00396042 0.99984345 -0.26769774] [ 0. 0. 0. 1. ]] SLAMing on 158.313133365 meters Centerline goodness : 0.089249 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.07, Z:-0.27 [[ 0.99981701 -0.00829804 -0.01723617 -0.73648766] [ 0.00822869 0.99995778 -0.00409012 0.07401221] [ 0.01726939 0.00394754 0.99984308 -0.26760989] [ 0. 0. 0. 1. ]] SLAMing on 158.343133365 meters Centerline goodness : 0.100928 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.07, Z:-0.27 [[ 0.99981708 -0.00831095 -0.0172257 -0.73644029] [ 0.00824178 0.9999577 -0.004083 0.0738824 ] [ 0.01725891 0.00394028 0.99984329 -0.2677425 ] [ 0. 0. 0. 1. ]] SLAMing on 158.373133365 meters Centerline goodness : 0.145968 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.07, Z:-0.27 [[ 0.99981542 -0.00834496 -0.01730571 -0.73602187] [ 0.00827627 0.9999576 -0.00403732 0.07337968] [ 0.01733867 0.00389334 0.99984209 -0.26815426] [ 0. 0. 0. 1. ]] SLAMing on 158.403133365 meters SLAMing on 158.433133365 meters Centerline goodness : 0.138499 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.07, Z:-0.27 [[ 0.99979606 -0.00908668 -0.01803511 -0.73327082] [ 0.0090137 0.99995087 -0.00412327 0.07001482] [ 0.01807169 0.00395987 0.99982885 -0.26977196] [ 0. 0. 0. 1. ]] SLAMing on 158.463133365 meters Centerline goodness : 0.134261 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.06, Z:-0.27 [[ 0.99982691 -0.00173232 -0.01852413 -0.7136862 ] [ 0.0016424 0.9999868 -0.00486823 0.06326815] [ 0.01853232 0.00483696 0.99981656 -0.268571 ] [ 0. 0. 0. 1. ]] SLAMing on 158.49313336499998 meters Centerline goodness : 0.148938 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.06, Z:-0.27 [[ 0.99983029 -0.00213687 -0.01829831 -0.71418839] [ 0.00205187 0.99998702 -0.00466292 0.060124 ] [ 0.01830804 0.00462458 0.9998217 -0.26866939] [ 0. 0. 0. 1. ]] SLAMing on 158.52313336499998 meters Centerline goodness : 0.129137 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.06, Z:-0.27 [[ 0.99983342 -0.00209205 -0.01813158 -0.71461114] [ 0.00201231 0.99998823 -0.00441529 0.05861812] [ 0.01814061 0.00437806 0.99982586 -0.26866856] [ 0. 0. 0. 1. ]] SLAMing on 158.55313336499998 meters Centerline goodness : 0.105195 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99983551 -0.00200686 -0.0180256 -0.71512878] [ 0.00193051 0.9999891 -0.00425185 0.05817286] [ 0.01803393 0.00421635 0.99982849 -0.26830134] [ 0. 0. 0. 1. ]] SLAMing on 158.58313336499998 meters Centerline goodness : 0.120126 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99983711 -0.00196796 -0.01794089 -0.71559687] [ 0.00189229 0.99998925 -0.00423347 0.05853089] [ 0.01794903 0.00419883 0.99983009 -0.26791366] [ 0. 0. 0. 1. ]] SLAMing on 158.61313336499998 meters Centerline goodness : 0.140955 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99983989 -0.00198098 -0.01778386 -0.71604173] [ 0.001904 0.99998875 -0.00434429 0.0595305 ] [ 0.01779227 0.00430974 0.99983242 -0.26780753] [ 0. 0. 0. 1. ]] SLAMing on 158.64313336499998 meters Centerline goodness : 0.104576 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984295 -0.00201208 -0.01760762 -0.71637171] [ 0.00193444 0.99998834 -0.00442567 0.05994951] [ 0.01761632 0.00439092 0.99983518 -0.2679855 ] [ 0. 0. 0. 1. ]] SLAMing on 158.67313336499998 meters Centerline goodness : 0.139297 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984299 -0.00202613 -0.01760387 -0.71629649] [ 0.00194749 0.99998805 -0.00448336 0.06049073] [ 0.01761275 0.00444838 0.99983499 -0.2681483 ] [ 0. 0. 0. 1. ]] SLAMing on 158.70313336499999 meters Centerline goodness : 0.140183 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984074 -0.00205811 -0.01772736 -0.71572158] [ 0.00197706 0.99998752 -0.00458847 0.06120425] [ 0.01773659 0.00455269 0.99983233 -0.26858239] [ 0. 0. 0. 1. ]] SLAMing on 158.733133365 meters Centerline goodness : 0.143182 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99983844 -0.00208316 -0.01785344 -0.7152254 ] [ 0.00199994 0.99998706 -0.00467797 0.06191245] [ 0.01786296 0.00464151 0.99982967 -0.2689113 ] [ 0. 0. 0. 1. ]] SLAMing on 158.763133365 meters Centerline goodness : 0.105143 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99983895 -0.00216912 -0.01781459 -0.71518403] [ 0.00208272 0.99998599 -0.0048673 0.06294394] [ 0.0178249 0.00482941 0.99982946 -0.26912229] [ 0. 0. 0. 1. ]] SLAMing on 158.793133365 meters Centerline goodness : 0.091294 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984669 -0.00239901 -0.01734479 -0.71686661] [ 0.00231043 0.9999842 -0.00512557 0.06341345] [ 0.01735681 0.00508471 0.99983643 -0.26833896] [ 0. 0. 0. 1. ]] SLAMing on 158.823133365 meters Centerline goodness : 0.132908 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99985008 -0.00243272 -0.01714347 -0.71747902] [ 0.00234591 0.99998433 -0.0050822 0.06303998] [ 0.01715557 0.00504122 0.99984012 -0.26817766] [ 0. 0. 0. 1. ]] SLAMing on 158.853133365 meters Centerline goodness : 0.137885 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99985036 -0.00243324 -0.01712686 -0.71732814] [ 0.00234849 0.99998491 -0.00496642 0.06228144] [ 0.01713868 0.00492546 0.99984099 -0.26851452] [ 0. 0. 0. 1. ]] SLAMing on 158.883133365 meters Centerline goodness : 0.130088 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99985 -0.00251235 -0.01713657 -0.71692043] [ 0.00242872 0.99998505 -0.00489937 0.06138114] [ 0.01714862 0.00485701 0.99984115 -0.26914415] [ 0. 0. 0. 1. ]] SLAMing on 158.913133365 meters Centerline goodness : 0.131935 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99985086 -0.00309823 -0.01698967 -0.71702596] [ 0.00301069 0.99998207 -0.00517583 0.06027268] [ 0.0170054 0.00512391 0.99984227 -0.26961032] [ 0. 0. 0. 1. ]] SLAMing on 158.943133365 meters Centerline goodness : 0.153577 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99985014 -0.00307799 -0.01703603 -0.71676497] [ 0.00299373 0.99998317 -0.00496933 0.05918184] [ 0.01705104 0.00491758 0.99984253 -0.26991376] [ 0. 0. 0. 1. ]] SLAMing on 158.973133365 meters Centerline goodness : 0.133261 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984877 -0.00300285 -0.01712951 -0.71629997] [ 0.00292136 0.99998431 -0.00478034 0.05852767] [ 0.01714359 0.00472958 0.99984185 -0.27034483] [ 0. 0. 0. 1. ]] SLAMing on 159.003133365 meters Centerline goodness : 0.150573 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984535 -0.0029282 -0.01734073 -0.71548413] [ 0.00284928 0.99998548 -0.00457398 0.05764831] [ 0.01735387 0.00452386 0.99983918 -0.2708159 ] [ 0. 0. 0. 1. ]] SLAMing on 159.033133365 meters Centerline goodness : 0.148133 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984349 -0.00292216 -0.01744854 -0.7150226 ] [ 0.00284402 0.99998582 -0.00450127 0.05713387] [ 0.01746145 0.00445094 0.99983763 -0.27114266] [ 0. 0. 0. 1. ]] SLAMing on 159.063133365 meters Centerline goodness : 0.144732 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984741 -0.00290441 -0.0172255 -0.71576969] [ 0.00282784 0.99998602 -0.00446775 0.05693312] [ 0.01723823 0.00441836 0.99984165 -0.27084719] [ 0. 0. 0. 1. ]] SLAMing on 159.093133365 meters SLAMing on 159.123133365 meters Centerline goodness : 0.138218 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.9998502 -0.00281042 -0.01707858 -0.71612828] [ 0.0027368 0.99998687 -0.00433282 0.05668025] [ 0.01709054 0.00428543 0.99984476 -0.27086428] [ 0. 0. 0. 1. ]] SLAMing on 159.153133365 meters Centerline goodness : 0.140646 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984838 -0.00275532 -0.01719386 -0.71555962] [ 0.00268339 0.99998756 -0.00420551 0.05602582] [ 0.01720523 0.00415873 0.99984333 -0.27135598] [ 0. 0. 0. 1. ]] SLAMing on 159.183133365 meters Centerline goodness : 0.107812 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99984143 -0.00265455 -0.01760885 -0.7142522 ] [ 0.00258642 0.99998909 -0.00389033 0.05431713] [ 0.01761898 0.00384417 0.99983738 -0.27194771] [ 0. 0. 0. 1. ]] SLAMing on 159.213133365 meters Centerline goodness : 0.138570 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99983893 -0.00253628 -0.01776723 -0.71372497] [ 0.00247138 0.9999902 -0.00367391 0.0535274 ] [ 0.01777638 0.00362941 0.9998354 -0.27218657] [ 0. 0. 0. 1. ]] SLAMing on 159.24313336499998 meters Centerline goodness : 0.138570 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99983893 -0.00253628 -0.01776723 -0.71372497] [ 0.00247138 0.9999902 -0.00367391 0.0535274 ] [ 0.01777638 0.00362941 0.9998354 -0.27218657] [ 0. 0. 0. 1. ]] SLAMing on 159.27313336499998 meters Centerline goodness : 0.152877 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99983764 -0.00244613 -0.01785266 -0.7134951 ] [ 0.00238387 0.99999101 -0.00350802 0.05293604] [ 0.01786108 0.0034649 0.99983447 -0.27224501] [ 0. 0. 0. 1. ]] SLAMing on 159.30313336499998 meters Centerline goodness : 0.101002 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99983763 -0.00242406 -0.01785585 -0.71353635] [ 0.00236272 0.99999124 -0.003456 0.05263915] [ 0.01786407 0.00341326 0.9998346 -0.27220783] [ 0. 0. 0. 1. ]] SLAMing on 159.33313336499998 meters Centerline goodness : 0.126128 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99983831 -0.00236478 -0.01782595 -0.71380174] [ 0.00230536 0.99999172 -0.00335304 0.05225331] [ 0.01783373 0.0033114 0.99983548 -0.27197052] [ 0. 0. 0. 1. ]] SLAMing on 159.36313336499998 meters Centerline goodness : 0.104772 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99983821 -0.00231895 -0.01783763 -0.71380539] [ 0.0022609 0.99999209 -0.00327371 0.05210765] [ 0.01784508 0.00323286 0.99983554 -0.27196852] [ 0. 0. 0. 1. ]] SLAMing on 159.39313336499998 meters Centerline goodness : 0.135999 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99984046 -0.0022494 -0.01771972 -0.71411893] [ 0.00219368 0.99999259 -0.00316314 0.05187026] [ 0.0177267 0.00312377 0.99983799 -0.27191206] [ 0. 0. 0. 1. ]] SLAMing on 159.42313336499998 meters Centerline goodness : 0.104945 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.05, Z:-0.27 [[ 0.99984715 -0.00233105 -0.01732765 -0.7152891 ] [ 0.00227643 0.99999238 -0.00317111 0.05097698] [ 0.01733491 0.00313118 0.99984484 -0.27156063] [ 0. 0. 0. 1. ]] SLAMing on 159.45313336499999 meters Centerline goodness : 0.157341 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.05, Z:-0.27 [[ 0.9998494 -0.00234099 -0.01719606 -0.71571162] [ 0.00228893 0.99999274 -0.00304631 0.04988451] [ 0.01720307 0.00300649 0.9998475 -0.27147299] [ 0. 0. 0. 1. ]] SLAMing on 159.483133365 meters Centerline goodness : 0.121598 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.05, Z:-0.27 [[ 0.99984973 -0.00222591 -0.01719201 -0.71579256] [ 0.00218075 0.99999412 -0.00264539 0.04782077] [ 0.0171978 0.0026075 0.99984871 -0.27149073] [ 0. 0. 0. 1. ]] SLAMing on 159.513133365 meters Centerline goodness : 0.145437 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.05, Z:-0.27 [[ 0.99980463 -0.00249528 -0.01960807 -0.76108142] [ 0.00244354 0.99999347 -0.00266194 0.04765869] [ 0.01961458 0.0026135 0.9998042 -0.27144554] [ 0. 0. 0. 1. ]] SLAMing on 159.543133365 meters Centerline goodness : 0.102354 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.04, Z:-0.27 [[ 0.99979911 -0.0025586 -0.01987967 -0.7603414 ] [ 0.00251426 0.9999943 -0.00225537 0.0444644 ] [ 0.01988533 0.00220493 0.99979984 -0.27175653] [ 0. 0. 0. 1. ]] SLAMing on 159.573133365 meters Centerline goodness : 0.134771 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.04, Z:-0.27 [[ 0.99978275 -0.00624486 -0.01988599 -0.76024119] [ 0.00614278 0.99996766 -0.00519018 0.039468 ] [ 0.01991775 0.0050669 0.99978878 -0.2719424 ] [ 0. 0. 0. 1. ]] SLAMing on 159.603133365 meters Centerline goodness : 0.099379 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.04, Z:-0.27 [[ 0.99978835 -0.0062043 -0.01961536 -0.76093212] [ 0.00611215 0.99997002 -0.00475447 0.03660733] [ 0.01964427 0.00463358 0.9997963 -0.27201038] [ 0. 0. 0. 1. ]] SLAMing on 159.633133365 meters Centerline goodness : 0.112524 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.03, Z:-0.27 [[ 0.99983603 0.00174364 -0.01802416 -0.78145545] [-0.00184113 0.99998376 -0.00539369 0.03040865] [ 0.01801446 0.00542599 0.999823 -0.27457766] [ 0. 0. 0. 1. ]] SLAMing on 159.663133365 meters Centerline goodness : 0.143132 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.03, Z:-0.27 [[ 0.99983904 0.00185027 -0.01784571 -0.7818343 ] [-0.00193901 0.99998583 -0.00495684 0.02781978] [ 0.01783628 0.00499065 0.99982847 -0.27476359] [ 0. 0. 0. 1. ]] SLAMing on 159.693133365 meters Centerline goodness : 0.099031 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.27 [[ 0.99984043 0.00193821 -0.01775846 -0.78199048] [-0.00201524 0.99998863 -0.00432078 0.02323751] [ 0.01774988 0.00435588 0.99983297 -0.27499767] [ 0. 0. 0. 1. ]] SLAMing on 159.723133365 meters Centerline goodness : 0.150513 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.28 [[ 0.99984036 0.00206793 -0.01774764 -0.78198241] [-0.00213919 0.99998972 -0.00399693 0.02146324] [ 0.01773919 0.00403425 0.99983451 -0.27512885] [ 0. 0. 0. 1. ]] SLAMing on 159.753133365 meters Centerline goodness : 0.167735 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.28 [[ 0.99984027 0.00220839 -0.01773558 -0.78196974] [-0.00227402 0.99999064 -0.00368073 0.02001435] [ 0.01772729 0.00372047 0.99983594 -0.27522972] [ 0. 0. 0. 1. ]] SLAMing on 159.783133365 meters Centerline goodness : 0.163926 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.28 [[ 0.99984118 0.00235134 -0.01766618 -0.78192356] [-0.00241137 0.99999139 -0.00337786 0.01865138] [ 0.01765809 0.00341992 0.99983823 -0.27558972] [ 0. 0. 0. 1. ]] SLAMing on 159.813133365 meters Centerline goodness : 0.132116 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.28 [[ 0.99984465 0.002499 -0.01744768 -0.78211536] [-0.00254928 0.99999266 -0.00286017 0.01532791] [ 0.0174404 0.0029042 0.99984369 -0.27618789] [ 0. 0. 0. 1. ]] SLAMing on 159.843133365 meters Centerline goodness : 0.135022 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.01, Z:-0.28 [[ 0.99984526 0.00252746 -0.01740907 -0.7821001 ] [-0.00257375 0.99999321 -0.00263715 0.01359321] [ 0.01740229 0.00268155 0.99984497 -0.27643121] [ 0. 0. 0. 1. ]] SLAMing on 159.873133365 meters Centerline goodness : 0.145615 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.01, Z:-0.28 [[ 0.99984231 0.00259095 -0.0175684 -0.78155481] [-0.00263352 0.99999365 -0.00240016 0.01203584] [ 0.01756207 0.00244604 0.99984278 -0.27676502] [ 0. 0. 0. 1. ]] SLAMing on 159.903133365 meters Centerline goodness : 0.154895 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.01, Z:-0.28 [[ 0.99983788 0.00271357 -0.01780037 -0.7806857 ] [-0.00275165 0.99999398 -0.00211504 0.01077783] [ 0.01779452 0.00216368 0.99983932 -0.2773404 ] [ 0. 0. 0. 1. ]] SLAMing on 159.933133365 meters Centerline goodness : 0.121341 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.01, Z:-0.28 [[ 0.99983288 0.00300571 -0.01803294 -0.7798377 ] [-0.00303315 0.99999428 -0.0014943 0.00812794] [ 0.01802835 0.00154875 0.99983628 -0.27790234] [ 0. 0. 0. 1. ]] SLAMing on 159.963133365 meters Centerline goodness : 0.109975 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.01, Z:-0.28 [[ 9.99839037e-01 -5.00663372e-03 -1.72288556e-02 -7.59966310e-01] [ 5.00479446e-03 9.99987465e-01 -1.49870285e-04 7.94456499e-03] [ 1.72293900e-02 6.36192799e-05 9.99851561e-01 -2.76359953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99313336499998 meters Centerline goodness : 0.130680 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.01, Z:-0.28 [[ 9.99842701e-01 -4.88862932e-03 -1.70491589e-02 -7.60607784e-01] [ 4.89372475e-03 9.99987993e-01 2.57159833e-04 5.48632750e-03] [ 1.70476971e-02 -3.40553273e-04 9.99854619e-01 -2.76156862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02313336499998 meters Centerline goodness : 0.149946 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.00, Z:-0.28 [[ 9.99846344e-01 -4.70518137e-03 -1.68863616e-02 -7.61315005e-01] [ 4.72456790e-03 9.99988225e-01 1.10834870e-03 3.31955805e-04] [ 1.68809478e-02 -1.18795916e-03 9.99856801e-01 -2.75863894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05313336499998 meters Centerline goodness : 0.141973 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:-0.28 [[ 9.99853173e-01 3.55724351e-03 -1.67624353e-02 -7.82623728e-01] [-3.54825484e-03 9.99993545e-01 5.65949304e-04 -5.13278510e-03] [ 1.67643403e-02 -5.06388815e-04 9.99859340e-01 -2.77220342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08313336499998 meters Centerline goodness : 0.151170 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99986671 -0.00444578 -0.01570968 -0.76241269] [ 0.00447538 0.99998828 0.00184942 -0.00543925] [ 0.01570127 -0.00191949 0.99987488 -0.27602205] [ 0. 0. 0. 1. ]] SLAMing on 160.11313336499998 meters Centerline goodness : 0.137607 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99986839 -0.00431938 -0.01563825 -0.762618 ] [ 0.0043535 0.99998821 0.0021487 -0.00693382] [ 0.01562879 -0.00221649 0.99987541 -0.27601848] [ 0. 0. 0. 1. ]] SLAMing on 160.14313336499998 meters Centerline goodness : 0.149944 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.9998683 -0.00420553 -0.01567498 -0.76248245] [ 0.00424372 0.99998811 0.00240416 -0.00826261] [ 0.01566469 -0.00247037 0.99987425 -0.27610663] [ 0. 0. 0. 1. ]] SLAMing on 160.17313336499998 meters Centerline goodness : 0.144735 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99987001 -0.00393218 -0.01563643 -0.76260091] [ 0.00397968 0.99998756 0.00300807 -0.01121145] [ 0.0156244 -0.0030699 0.99987322 -0.27609376] [ 0. 0. 0. 1. ]] SLAMing on 160.20313336499999 meters Centerline goodness : 0.141326 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99987099 -0.0038295 -0.01559925 -0.7627644 ] [ 0.00388137 0.99998704 0.00329586 -0.01280012] [ 0.01558643 -0.00335599 0.99987289 -0.27605589] [ 0. 0. 0. 1. ]] SLAMing on 160.233133365 meters Centerline goodness : 0.157476 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99987142 -0.00372852 -0.01559645 -0.76281749] [ 0.00378502 0.99998638 0.00359475 -0.01453527] [ 0.01558284 -0.00365333 0.99987191 -0.27603081] [ 0. 0. 0. 1. ]] SLAMing on 160.263133365 meters Centerline goodness : 0.130528 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:-0.28 [[ 0.99987281 -0.0036656 -0.0155217 -0.7631561 ] [ 0.00372631 0.99998551 0.0038843 -0.01648544] [ 0.01550724 -0.00394165 0.99987199 -0.27585456] [ 0. 0. 0. 1. ]] SLAMing on 160.293133365 meters Centerline goodness : 0.132072 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:-0.28 [[ 0.99988349 -0.00387375 -0.01476479 -0.7655918 ] [ 0.00393501 0.99998376 0.00412229 -0.01981201] [ 0.01474858 -0.00417991 0.9998825 -0.27500456] [ 0. 0. 0. 1. ]] SLAMing on 160.323133365 meters Centerline goodness : 0.134462 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:-0.27 [[ 0.99988538 -0.00381841 -0.01465074 -0.7659804 ] [ 0.00388209 0.99998313 0.00432064 -0.02105749] [ 0.01463399 -0.00437702 0.99988334 -0.27486826] [ 0. 0. 0. 1. ]] SLAMing on 160.353133365 meters Centerline goodness : 0.116465 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:-0.27 [[ 0.99988477 -0.00368427 -0.01472693 -0.76576312] [ 0.00375203 0.99998249 0.00457648 -0.02191225] [ 0.01470981 -0.00463121 0.99988108 -0.27498026] [ 0. 0. 0. 1. ]] SLAMing on 160.383133365 meters Centerline goodness : 0.115548 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:-0.28 [[ 0.99988237 -0.00357426 -0.01491574 -0.76507148] [ 0.00364509 0.9999822 0.0047243 -0.02213186] [ 0.01489859 -0.00477811 0.99987759 -0.27534072] [ 0. 0. 0. 1. ]] SLAMing on 160.413133365 meters Centerline goodness : 0.107354 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:-0.28 [[ 0.99988025 -0.00343853 -0.01508856 -0.76455281] [ 0.00351298 0.99998178 0.00491004 -0.02249984] [ 0.0150714 -0.00496246 0.99987411 -0.27548736] [ 0. 0. 0. 1. ]] SLAMing on 160.443133365 meters Centerline goodness : 0.141464 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:-0.28 [[ 0.99988013 -0.00341392 -0.01510205 -0.76448583] [ 0.00348892 0.9999817 0.00494257 -0.02259185] [ 0.0150849 -0.00499467 0.99987374 -0.27554535] [ 0. 0. 0. 1. ]] SLAMing on 160.473133365 meters Centerline goodness : 0.133780 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:-0.27 [[ 0.99988654 -0.00339822 -0.01467491 -0.76594158] [ 0.00346943 0.99998232 0.00483014 -0.02187507] [ 0.01465824 -0.0048805 0.99988065 -0.27482105] [ 0. 0. 0. 1. ]] SLAMing on 160.503133365 meters Centerline goodness : 0.146419 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:-0.28 [[ 0.99988644 0.00468017 -0.0143246 -0.78648498] [-0.00462901 0.9999828 0.00360274 -0.02362203] [ 0.01434122 -0.00353602 0.99989091 -0.27665528] [ 0. 0. 0. 1. ]] SLAMing on 160.533133365 meters Centerline goodness : 0.145881 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:-0.28 [[ 0.99988434 0.00462522 -0.01448847 -0.78577317] [-0.00457545 0.99998352 0.00346673 -0.02293013] [ 0.01450426 -0.00340004 0.99988903 -0.27714032] [ 0. 0. 0. 1. ]] SLAMing on 160.563133365 meters Centerline goodness : 0.144919 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.28 [[ 0.99988032 0.00457501 -0.01477896 -0.78470709] [-0.00452597 0.99998415 0.00334996 -0.02230841] [ 0.01479405 -0.00328267 0.99988517 -0.27774317] [ 0. 0. 0. 1. ]] SLAMing on 160.593133365 meters Centerline goodness : 0.157759 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.28 [[ 0.99987721 0.00453155 -0.01500088 -0.78377708] [-0.00448221 0.99998444 0.00332156 -0.02216521] [ 0.0150157 -0.00325391 0.99988196 -0.278404 ] [ 0. 0. 0. 1. ]] SLAMing on 160.623133365 meters Centerline goodness : 0.145021 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.28 [[ 0.99987799 0.00448445 -0.01496308 -0.78363408] [-0.00443503 0.99998461 0.0033338 -0.02261445] [ 0.0149778 -0.00326703 0.99988249 -0.27882921] [ 0. 0. 0. 1. ]] SLAMing on 160.653133365 meters Centerline goodness : 0.153364 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.28 [[ 0.99987606 0.00445401 -0.01510041 -0.78298862] [-0.00440271 0.99998443 0.00342936 -0.02346689] [ 0.01511545 -0.00336245 0.9998801 -0.27939059] [ 0. 0. 0. 1. ]] SLAMing on 160.683133365 meters Centerline goodness : 0.137367 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.28 [[ 0.9998723 0.00443228 -0.0153537 -0.78189117] [-0.00437744 0.99998393 0.00360322 -0.02486357] [ 0.01536942 -0.00353555 0.99987563 -0.28022385] [ 0. 0. 0. 1. ]] SLAMing on 160.713133365 meters Centerline goodness : 0.150801 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.28 [[ 0.99986839 0.00445814 -0.01559926 -0.78086956] [-0.00439873 0.99998295 0.00384075 -0.02645536] [ 0.01561611 -0.00377162 0.99987095 -0.28101905] [ 0. 0. 0. 1. ]] SLAMing on 160.74313336499998 meters Centerline goodness : 0.152613 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.28 [[ 0.99986415 0.00445941 -0.0158681 -0.7800509 ] [-0.00439384 0.99998168 0.00416447 -0.02864161] [ 0.01588638 -0.00409418 0.99986542 -0.28140258] [ 0. 0. 0. 1. ]] SLAMing on 160.77313336499998 meters Centerline goodness : 0.128741 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.28 [[ 0.99986483 0.00448696 -0.01581718 -0.7804204 ] [-0.00442063 0.9999813 0.00422616 -0.02898536] [ 0.01583585 -0.00415566 0.99986597 -0.28104357] [ 0. 0. 0. 1. ]] SLAMing on 160.80313336499998 meters Centerline goodness : 0.119316 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.03, Z:-0.28 [[ 0.999895 0.0048278 -0.01366293 -0.73848169] [-0.00476914 0.99997929 0.00432242 -0.0324143 ] [ 0.01368352 -0.00425681 0.99989732 -0.27989883] [ 0. 0. 0. 1. ]] SLAMing on 160.83313336499998 meters Centerline goodness : 0.157745 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.03, Z:-0.28 [[ 0.99989711 0.00476179 -0.0135315 -0.73900211] [-0.00470709 0.99998063 0.00407135 -0.03099831] [ 0.01355063 -0.00400724 0.99990016 -0.27951482] [ 0. 0. 0. 1. ]] SLAMing on 160.86313336499998 meters Centerline goodness : 0.141197 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:-0.28 [[ 0.99992503 -0.00101892 -0.0122021 -0.76081398] [ 0.00109781 0.99997853 0.0064606 -0.02191455] [ 0.01219526 -0.00647351 0.99990468 -0.28017841] [ 0. 0. 0. 1. ]] SLAMing on 160.89313336499998 meters Centerline goodness : 0.109105 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:-0.28 [[ 0.99992589 -0.00104859 -0.01212898 -0.76085014] [ 0.00112292 0.99998062 0.00612299 -0.01965208] [ 0.01212232 -0.00613615 0.99990769 -0.28029602] [ 0. 0. 0. 1. ]] SLAMing on 160.92313336499998 meters Centerline goodness : 0.106844 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:-0.28 [[ 0.99992491 -0.00109583 -0.0122054 -0.76053777] [ 0.00116682 0.99998244 0.00580996 -0.01737888] [ 0.01219882 -0.00582377 0.99990863 -0.28045441] [ 0. 0. 0. 1. ]] SLAMing on 160.95313336499999 meters Centerline goodness : 0.138619 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99992075 -0.00123436 -0.01252886 -0.75962387] [ 0.00129916 0.99998581 0.0051658 -0.01330137] [ 0.01252231 -0.00518166 0.99990817 -0.28061577] [ 0. 0. 0. 1. ]] SLAMing on 160.983133365 meters Centerline goodness : 0.111135 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99991925 -0.0014007 -0.01263063 -0.7593489 ] [ 0.00146141 0.99998742 0.00479869 -0.01166231] [ 0.01262375 -0.00481676 0.99990872 -0.2806424 ] [ 0. 0. 0. 1. ]] SLAMing on 161.013133365 meters Centerline goodness : 0.144796 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99991983 -0.0015543 -0.01256632 -0.75952353] [ 0.00160977 0.999989 0.00440528 -0.00962958] [ 0.01255934 -0.00442516 0.99991134 -0.28058969] [ 0. 0. 0. 1. ]] SLAMing on 161.043133365 meters Centerline goodness : 0.133493 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99992114 -0.00168403 -0.01244466 -0.75984437] [ 0.00173396 0.99999049 0.00400232 -0.00725961] [ 0.0124378 -0.00402358 0.99991455 -0.2804924 ] [ 0. 0. 0. 1. ]] SLAMing on 161.073133365 meters Centerline goodness : 0.113900 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.00, Z:-0.28 [[ 0.99992646 -0.00179465 -0.01199379 -0.7609716 ] [ 0.00183382 0.99999302 0.00325544 -0.0020457 ] [ 0.01198786 -0.0032772 0.99992277 -0.2802279 ] [ 0. 0. 0. 1. ]] SLAMing on 161.103133365 meters Centerline goodness : 0.138700 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.00, Z:-0.28 [[ 9.99926899e-01 -1.92408807e-03 -1.19371453e-02 -7.61144262e-01] [ 1.95764487e-03 9.99994164e-01 2.80007641e-03 5.68118560e-04] [ 1.19316880e-02 -2.82324041e-03 9.99924829e-01 -2.80123563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.133133365 meters Centerline goodness : 0.148123 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.00, Z:-0.28 [[ 0.9999273 -0.00210376 -0.01187296 -0.76117038] [ 0.00213075 0.99999517 0.00226053 0.00345969] [ 0.01186815 -0.00228566 0.99992696 -0.28025344] [ 0. 0. 0. 1. ]] SLAMing on 161.163133365 meters Centerline goodness : 0.148123 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.00, Z:-0.28 [[ 0.9999273 -0.00210376 -0.01187296 -0.76117038] [ 0.00213075 0.99999517 0.00226053 0.00345969] [ 0.01186815 -0.00228566 0.99992696 -0.28025344] [ 0. 0. 0. 1. ]] SLAMing on 161.193133365 meters Centerline goodness : 0.132797 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.01, Z:-0.28 [[ 0.99992748 -0.00220392 -0.01183992 -0.76116098] [ 0.00222533 0.99999591 0.00179499 0.00636248] [ 0.01183592 -0.00182121 0.99992829 -0.28031051] [ 0. 0. 0. 1. ]] SLAMing on 161.223133365 meters Centerline goodness : 0.131004 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.28 [[ 9.99924156e-01 6.00648443e-03 -1.07519779e-02 -7.41293530e-01] [-6.00011455e-03 9.99981804e-01 6.24597438e-04 5.13745550e-03] [ 1.07555338e-02 -5.60036967e-04 9.99942001e-01 -2.79775023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.253133365 meters Centerline goodness : 0.136916 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.28 [[ 9.99927644e-01 5.99209666e-03 -1.04307988e-02 -7.42017178e-01] [-5.99456004e-03 9.99982011e-01 -2.04915330e-04 1.21209626e-02] [ 1.04293833e-02 2.67428553e-04 9.99945577e-01 -2.79593909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.283133365 meters Centerline goodness : 0.143662 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.02, Z:-0.28 [[ 9.99952608e-01 -1.45486306e-03 -9.62628463e-03 -7.60548445e-01] [ 1.46181007e-03 9.99998676e-01 7.14674461e-04 2.18256240e-02] [ 9.62523213e-03 -7.28712391e-04 9.99953411e-01 -2.81624281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.313133365 meters Centerline goodness : 0.143588 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.02, Z:-0.28 [[ 9.99951776e-01 -1.62851830e-03 -9.68473703e-03 -7.60213953e-01] [ 1.63039284e-03 9.99998654e-01 1.85663406e-04 2.47548902e-02] [ 9.68442163e-03 -2.01444378e-04 9.99953085e-01 -2.81868153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.343133365 meters Centerline goodness : 0.110636 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99950427e-01 -1.72732762e-03 -9.80613792e-03 -7.59791782e-01] [ 1.72553832e-03 9.99998493e-01 -1.90925142e-04 2.73227977e-02] [ 9.80645293e-03 1.73994810e-04 9.99951900e-01 -2.82088447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.373133365 meters Centerline goodness : 0.124578 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99947232e-01 -1.86962501e-03 -1.01013236e-02 -7.58723814e-01] [ 1.86307970e-03 9.99998048e-01 -6.57336760e-04 3.05466494e-02] [ 1.01025328e-02 6.38482503e-04 9.99948764e-01 -2.82665103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.403133365 meters Centerline goodness : 0.114380 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99944430e-01 -1.97125701e-03 -1.03561776e-02 -7.57877087e-01] [ 1.96316530e-03 9.99997760e-01 -7.91449536e-04 3.10106179e-02] [ 1.03577146e-02 7.71074667e-04 9.99946060e-01 -2.83077250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.433133365 meters Centerline goodness : 0.107973 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99942251e-01 -2.06978333e-03 -1.05456425e-02 -7.57354641e-01] [ 2.06034100e-03 9.99997467e-01 -9.06162554e-04 3.13288101e-02] [ 1.05474913e-02 8.84382604e-04 9.99943983e-01 -2.83191113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.463133365 meters Centerline goodness : 0.112864 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99941998e-01 -2.11685461e-03 -1.05603022e-02 -7.57248694e-01] [ 2.10691090e-03 9.99997327e-01 -9.52648422e-04 3.14721584e-02] [ 1.05622906e-02 9.30343551e-04 9.99943785e-01 -2.83359798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49313336499998 meters Centerline goodness : 0.130524 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99943721e-01 -2.10233113e-03 -1.03987980e-02 -7.57865945e-01] [ 2.09250304e-03 9.99997354e-01 -9.55907278e-04 3.19872839e-02] [ 1.04007801e-02 9.34093964e-04 9.99945474e-01 -2.83044569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52313336499998 meters Centerline goodness : 0.143406 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99944340e-01 -2.06558323e-03 -1.03464776e-02 -7.58017153e-01] [ 2.05594442e-03 9.99997443e-01 -9.42152096e-04 3.23339852e-02] [ 1.03483972e-02 9.20827873e-04 9.99946030e-01 -2.83003854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55313336499998 meters Centerline goodness : 0.144070 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99944468e-01 -2.02262536e-03 -1.03425809e-02 -7.57990557e-01] [ 2.01335414e-03 9.99997562e-01 -9.06746669e-04 3.25627261e-02] [ 1.03443897e-02 8.85873038e-04 9.99946103e-01 -2.83077409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58313336499998 meters Centerline goodness : 0.109904 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99944215e-01 -2.00057055e-03 -1.03712898e-02 -7.57893185e-01] [ 1.99129212e-03 9.99997608e-01 -9.04875697e-04 3.28237952e-02] [ 1.03730753e-02 8.84172951e-04 9.99945807e-01 -2.83159198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61313336499998 meters Centerline goodness : 0.133775 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.03, Z:-0.28 [[ 0.9999196 0.00631292 -0.01099718 -0.77745833] [-0.00633618 0.99997776 -0.00208189 0.03023374] [ 0.01098379 0.0021514 0.99993736 -0.28499774] [ 0. 0. 0. 1. ]] SLAMing on 161.64313336499998 meters Centerline goodness : 0.140673 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99937616e-01 -1.80869457e-03 -1.10223695e-02 -7.56585383e-01] [ 1.79834330e-03 9.99997933e-01 -9.48954000e-04 3.20399708e-02] [ 1.10240631e-02 9.29072796e-04 9.99938802e-01 -2.83875219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67313336499998 meters Centerline goodness : 0.128571 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99939604e-01 -1.74820551e-03 -1.08504175e-02 -7.57326976e-01] [ 1.74168989e-03 9.99998297e-01 -6.09915430e-04 3.02623942e-02] [ 1.08514653e-02 5.90980531e-04 9.99940946e-01 -2.83471672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70313336499999 meters Centerline goodness : 0.131895 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99941490e-01 -1.71270132e-03 -1.06810030e-02 -7.57945334e-01] [ 1.70935682e-03 9.99998487e-01 -3.22247975e-04 2.83359542e-02] [ 1.06815387e-02 3.03971475e-04 9.99942905e-01 -2.83245126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.733133365 meters Centerline goodness : 0.136944 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.29 [[ 0.999944 0.00548555 -0.0090499 -0.77864665] [-0.00550114 0.99998343 -0.00169853 0.02273614] [ 0.00904043 0.00174822 0.99995761 -0.28553562] [ 0. 0. 0. 1. ]] SLAMing on 161.763133365 meters Centerline goodness : 0.111658 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.29 [[ 0.99994639 0.0054484 -0.00880471 -0.77949557] [-0.00546122 0.99998406 -0.0014325 0.02052786] [ 0.00879676 0.0014805 0.99996021 -0.2852415 ] [ 0. 0. 0. 1. ]] SLAMing on 161.793133365 meters Centerline goodness : 0.130624 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.28 [[ 0.99995219 0.00535518 -0.00818157 -0.78133358] [-0.0053639 0.99998507 -0.00104404 0.01714807] [ 0.00817585 0.00108787 0.99996599 -0.28481621] [ 0. 0. 0. 1. ]] SLAMing on 161.823133365 meters Centerline goodness : 0.127944 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99964178e-01 -2.56690001e-03 -8.06554099e-03 -8.00630258e-01] [ 2.56964356e-03 9.99996644e-01 3.29812408e-04 2.16156758e-02] [ 8.06466732e-03 -3.50526159e-04 9.99967419e-01 -2.86250654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.853133365 meters Centerline goodness : 0.106746 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.29 [[ 0.99996991 0.00393059 -0.00668784 -0.77989856] [-0.00394367 0.99999034 -0.00194254 0.01659436] [ 0.00668014 0.00196885 0.99997575 -0.28650775] [ 0. 0. 0. 1. ]] SLAMing on 161.883133365 meters Centerline goodness : 0.126651 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99970899e-01 -4.00382962e-03 -6.49393910e-03 -8.00376374e-01] [ 3.99883495e-03 9.99991699e-01 -7.81930077e-04 2.10441588e-02] [ 6.49701591e-03 7.55939131e-04 9.99978608e-01 -2.87088018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.913133365 meters Centerline goodness : 0.126987 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99970911e-01 -3.93365889e-03 -6.53482549e-03 -8.00112209e-01] [ 3.92901897e-03 9.99992020e-01 -7.22716990e-04 2.10082364e-02] [ 6.53761627e-03 6.97020514e-04 9.99978387e-01 -2.87336328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.943133365 meters Centerline goodness : 0.145341 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99970626e-01 -3.89182043e-03 -6.60309047e-03 -7.99737147e-01] [ 3.88717777e-03 9.99992189e-01 -7.15791925e-04 2.12063827e-02] [ 6.60582463e-03 6.90103513e-04 9.99977943e-01 -2.87658841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.973133365 meters Centerline goodness : 0.129708 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99969292e-01 -3.87998683e-03 -6.80894586e-03 -7.98927833e-01] [ 3.87504242e-03 9.99992219e-01 -7.39207469e-04 2.13310565e-02] [ 6.81176100e-03 7.12799815e-04 9.99976546e-01 -2.88148171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.003133365 meters Centerline goodness : 0.135100 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99968642e-01 -3.86473327e-03 -6.91220018e-03 -7.98467569e-01] [ 3.85966353e-03 9.99992273e-01 -7.46637378e-04 2.14899392e-02] [ 6.91503232e-03 7.19935198e-04 9.99975832e-01 -2.88508048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.033133365 meters Centerline goodness : 0.106166 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99968429e-01 -3.72035901e-03 -7.02141263e-03 -7.97923488e-01] [ 3.71644676e-03 9.99992931e-01 -5.70153415e-04 2.14516259e-02] [ 7.02348417e-03 5.44040709e-04 9.99975187e-01 -2.88989191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.063133365 meters Centerline goodness : 0.130792 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99967655e-01 -3.64950266e-03 -7.16734950e-03 -7.97273942e-01] [ 3.64634495e-03 9.99993249e-01 -4.53587239e-04 2.11122623e-02] [ 7.16895648e-03 4.27437939e-04 9.99974211e-01 -2.89479066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.093133365 meters Centerline goodness : 0.110650 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99965570e-01 -3.63680345e-03 -7.45875546e-03 -7.96101017e-01] [ 3.63401022e-03 9.99993322e-01 -3.88007538e-04 2.05648164e-02] [ 7.46011675e-03 3.60888985e-04 9.99972108e-01 -2.90220678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.123133365 meters Centerline goodness : 0.145949 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99964309e-01 -3.62400389e-03 -7.63195965e-03 -7.95487520e-01] [ 3.62168514e-03 9.99993391e-01 -3.17619864e-04 1.99839180e-02] [ 7.63306027e-03 2.89967973e-04 9.99970826e-01 -2.90588341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.153133365 meters Centerline goodness : 0.120098 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99964871e-01 -3.43426705e-03 -7.64613336e-03 -7.95610836e-01] [ 3.43443824e-03 9.99994102e-01 9.25924434e-06 1.86924515e-02] [ 7.64605647e-03 -3.55190919e-05 9.99970768e-01 -2.90414184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.183133365 meters Centerline goodness : 0.147153 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99964704e-01 -3.30602897e-03 -7.72399132e-03 -7.95459726e-01] [ 3.30761646e-03 9.99994511e-01 1.92762789e-04 1.82200238e-02] [ 7.72331165e-03 -2.18303986e-04 9.99970151e-01 -2.90350078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.213133365 meters Centerline goodness : 0.133670 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.01, Z:-0.29 [[ 9.99956858e-01 4.89448108e-03 -7.89468391e-03 -8.15115830e-01] [-4.90200698e-03 9.99987549e-01 -9.34218920e-04 1.44946938e-02] [ 7.89001309e-03 9.72878412e-04 9.99968400e-01 -2.92530076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24313336499998 meters Centerline goodness : 0.132560 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:-0.29 [[ 9.99956094e-01 4.84332826e-03 -8.02192666e-03 -8.14637458e-01] [-4.85106013e-03 9.99987787e-01 -9.44665239e-04 1.37454463e-02] [ 8.01725337e-03 9.83538612e-04 9.99967378e-01 -2.92803387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27313336499998 meters Centerline goodness : 0.104324 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:-0.29 [[ 9.99953066e-01 5.07834496e-03 -8.25079490e-03 -8.13771675e-01] [-5.08220774e-03 9.99986985e-01 -4.47271740e-04 1.13519374e-02] [ 8.24841612e-03 4.89183002e-04 9.99965862e-01 -2.93436188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30313336499998 meters Centerline goodness : 0.142786 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:-0.29 [[ 9.99951400e-01 5.29004007e-03 -8.31944245e-03 -8.13505780e-01] [-5.29054685e-03 9.99986004e-01 -3.89086421e-05 9.94149770e-03] [ 8.31912018e-03 8.29211512e-05 9.99965392e-01 -2.93648851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33313336499998 meters Centerline goodness : 0.150042 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:-0.29 [[ 9.99950020e-01 5.44051214e-03 -8.38798450e-03 -8.13200992e-01] [-5.43778352e-03 9.99985155e-01 3.48073254e-04 8.02210184e-03] [ 8.38975367e-03 -3.02443814e-04 9.99964760e-01 -2.93931417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36313336499998 meters Centerline goodness : 0.107679 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:-0.29 [[ 9.99949720e-01 5.44857241e-03 -8.41848863e-03 -8.13133251e-01] [-5.44369924e-03 9.99985002e-01 6.01670829e-04 5.81659510e-03] [ 8.42164062e-03 -5.55812856e-04 9.99964383e-01 -2.94002085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39313336499998 meters Centerline goodness : 0.131590 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.00, Z:-0.29 [[ 0.99996642 0.00359585 -0.00736428 -0.81820091] [-0.00360407 0.9999929 -0.00110351 0.0039443 ] [ 0.00736026 0.00113002 0.99997227 -0.29109156] [ 0. 0. 0. 1. ]] SLAMing on 162.42313336499998 meters Centerline goodness : 0.139935 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 0.99997598 -0.00278022 -0.00634896 -0.84121839] [ 0.0027905 0.99999481 0.00161022 0.00759779] [ 0.00634445 -0.0016279 0.99997855 -0.29087697] [ 0. 0. 0. 1. ]] SLAMing on 162.45313336499999 meters Centerline goodness : 0.134828 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 0.99997832 -0.00264869 -0.00602915 -0.8422121 ] [ 0.00265927 0.99999494 0.00174638 0.00755604] [ 0.00602449 -0.00176238 0.9999803 -0.29049759] [ 0. 0. 0. 1. ]] SLAMing on 162.483133365 meters Centerline goodness : 0.102193 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.00, Z:-0.29 [[ 9.99968542e-01 5.72505522e-03 -5.48994288e-03 -8.63962084e-01] [-5.72001199e-03 9.99983205e-01 9.33891861e-04 4.88757362e-03] [ 5.49519726e-03 -9.02459944e-04 9.99984494e-01 -2.91636099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.513133365 meters Centerline goodness : 0.142845 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 0.99998958 -0.00227185 -0.00395866 -0.84413088] [ 0.00227902 0.99999577 0.00180651 0.006999 ] [ 0.00395454 -0.00181552 0.99999053 -0.29071154] [ 0. 0. 0. 1. ]] SLAMing on 162.543133365 meters Centerline goodness : 0.106105 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.01, Z:-0.29 [[ 0.99999158 -0.00227518 -0.00341538 -0.84606875] [ 0.00228096 0.99999597 0.00168898 0.00768073] [ 0.00341152 -0.00169676 0.99999274 -0.28968301] [ 0. 0. 0. 1. ]] SLAMing on 162.573133365 meters Centerline goodness : 0.113525 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.01, Z:-0.29 [[ 0.99999221 -0.00218701 -0.00328461 -0.84656863] [ 0.00219271 0.9999961 0.00173142 0.00822062] [ 0.00328081 -0.00173861 0.99999311 -0.28938113] [ 0. 0. 0. 1. ]] SLAMing on 162.603133365 meters Centerline goodness : 0.141147 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.01, Z:-0.29 [[ 0.99999241 -0.00219792 -0.00321546 -0.84668308] [ 0.00220337 0.99999614 0.00169258 0.00864856] [ 0.00321172 -0.00169965 0.9999934 -0.28945052] [ 0. 0. 0. 1. ]] SLAMing on 162.633133365 meters Centerline goodness : 0.142997 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.01, Z:-0.29 [[ 0.99999064 -0.00242295 -0.00358457 -0.84511919] [ 0.00242851 0.99999586 0.00154647 0.0081694 ] [ 0.00358081 -0.00155516 0.99999238 -0.29066094] [ 0. 0. 0. 1. ]] SLAMing on 162.663133365 meters Centerline goodness : 0.127823 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 0.99998917 -0.00243887 -0.00396277 -0.8438453 ] [ 0.00244494 0.99999584 0.00152732 0.00842377] [ 0.00395903 -0.00153699 0.99999098 -0.29132145] [ 0. 0. 0. 1. ]] SLAMing on 162.693133365 meters Centerline goodness : 0.126380 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 0.99998805 -0.00243134 -0.00424232 -0.84292177] [ 0.00243737 0.99999603 0.00141578 0.00962318] [ 0.00423886 -0.0014261 0.99999 -0.2917569 ] [ 0. 0. 0. 1. ]] SLAMing on 162.723133365 meters Centerline goodness : 0.126427 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 0.9999872 -0.00249565 -0.00440111 -0.8423329 ] [ 0.00250081 0.99999619 0.00116819 0.01124499] [ 0.00439817 -0.00117919 0.99998963 -0.29208102] [ 0. 0. 0. 1. ]] SLAMing on 162.753133365 meters Centerline goodness : 0.145532 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 9.99986936e-01 -2.69682762e-03 -4.34215655e-03 -8.42371958e-01] [ 2.69954941e-03 9.99996163e-01 6.21088696e-04 1.41546666e-02] [ 4.34046492e-03 -6.32802448e-04 9.99990380e-01 -2.92191899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.783133365 meters Centerline goodness : 0.127870 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 9.99987842e-01 -2.71382119e-03 -4.11720627e-03 -8.42855551e-01] [ 2.71614141e-03 9.99996156e-01 5.58056668e-04 1.47362032e-02] [ 4.11567598e-03 -5.69232798e-04 9.99991369e-01 -2.92318056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.813133365 meters Centerline goodness : 0.134146 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:-0.29 [[ 9.99976593e-01 5.47741629e-03 -4.10010957e-03 -8.63928066e-01] [-5.47939428e-03 9.99984877e-01 -4.71347198e-04 1.23368409e-02] [ 4.09746580e-03 4.93802282e-04 9.99991483e-01 -2.93611203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.843133365 meters Centerline goodness : 0.154929 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:-0.29 [[ 9.99977247e-01 5.43643773e-03 -3.99376495e-03 -8.64053874e-01] [-5.43821848e-03 9.99985118e-01 -4.35159379e-04 1.19253813e-02] [ 3.99133980e-03 4.56868444e-04 9.99991930e-01 -2.93865105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.873133365 meters Centerline goodness : 0.140989 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:-0.29 [[ 9.99977116e-01 5.34884100e-03 -4.14203406e-03 -8.63404394e-01] [-5.35052979e-03 9.99985607e-01 -3.96746194e-04 1.12295974e-02] [ 4.13985231e-03 4.18899192e-04 9.99991343e-01 -2.94447551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.903133365 meters Centerline goodness : 0.149106 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:-0.30 [[ 9.99976673e-01 5.29119996e-03 -4.31938860e-03 -8.62552372e-01] [-5.29284235e-03 9.99985925e-01 -3.68895246e-04 1.07683462e-02] [ 4.31737591e-03 3.91748483e-04 9.99990603e-01 -2.95232199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.933133365 meters Centerline goodness : 0.139730 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 9.99979273e-01 -2.44983957e-03 -5.95422185e-03 -8.41066117e-01] [ 2.45428937e-03 9.99996714e-01 7.40142907e-04 1.43015224e-02] [ 5.95238905e-03 -7.54740949e-04 9.99982000e-01 -2.94090780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.963133365 meters Centerline goodness : 0.111331 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:-0.29 [[ 9.99979011e-01 -2.45588064e-03 -5.99547287e-03 -8.40931989e-01] [ 2.45958277e-03 9.99996789e-01 6.10191283e-04 1.53937023e-02] [ 5.99395506e-03 -6.24924838e-04 9.99981841e-01 -2.94118119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99313336499998 meters Centerline goodness : 0.132951 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:-0.29 [[ 9.99978257e-01 -2.50403018e-03 -6.10039506e-03 -8.40809579e-01] [ 2.50648665e-03 9.99996781e-01 3.95060872e-04 1.67192163e-02] [ 6.09938618e-03 -4.10342842e-04 9.99981314e-01 -2.93901834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02313336499998 meters Centerline goodness : 0.127943 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:-0.29 [[ 9.99977276e-01 -2.56199022e-03 -6.23562109e-03 -8.40440415e-01] [ 2.56285465e-03 9.99996707e-01 1.30640976e-04 1.82542334e-02] [ 6.23526585e-03 -1.46618998e-04 9.99980550e-01 -2.93940646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05313336499998 meters Centerline goodness : 0.127943 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:-0.29 [[ 9.99977276e-01 -2.56199022e-03 -6.23562109e-03 -8.40440415e-01] [ 2.56285465e-03 9.99996707e-01 1.30640976e-04 1.82542334e-02] [ 6.23526585e-03 -1.46618998e-04 9.99980550e-01 -2.93940646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08313336499998 meters Centerline goodness : 0.156365 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:-0.29 [[ 9.99977291e-01 -2.49596807e-03 -6.25992851e-03 -8.40326683e-01] [ 2.49453013e-03 9.99996860e-01 -2.37502148e-04 2.12794992e-02] [ 6.26050166e-03 2.21881174e-04 9.99980378e-01 -2.93953613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11313336499998 meters Centerline goodness : 0.155758 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:-0.29 [[ 9.99978460e-01 -2.51187084e-03 -6.06390013e-03 -8.40849246e-01] [ 2.50901593e-03 9.99996738e-01 -4.78366534e-04 2.29517645e-02] [ 6.06508195e-03 4.63141807e-04 9.99981500e-01 -2.93806798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14313336499998 meters Centerline goodness : 0.090552 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:-0.29 [[ 9.99979685e-01 -2.58433375e-03 -5.82680908e-03 -8.41525613e-01] [ 2.57984329e-03 9.99996370e-01 -7.78038724e-04 2.47318150e-02] [ 5.82879864e-03 7.62990664e-04 9.99982721e-01 -2.93584548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17313336499998 meters Centerline goodness : 0.152405 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.03, Z:-0.29 [[ 0.9999803 -0.00275064 -0.00564209 -0.84190252] [ 0.00274331 0.99999538 -0.00130642 0.02764301] [ 0.00564566 0.00129092 0.99998323 -0.29360895] [ 0. 0. 0. 1. ]] SLAMing on 163.20313336499999 meters Centerline goodness : 0.120110 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.03, Z:-0.29 [[ 0.99997981 -0.00279746 -0.00570549 -0.8417311 ] [ 0.00278878 0.99999494 -0.00152956 0.02926973] [ 0.00570974 0.00151362 0.99998255 -0.29362056] [ 0. 0. 0. 1. ]] SLAMing on 163.233133365 meters Centerline goodness : 0.110035 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.03, Z:-0.29 [[ 0.99997928 -0.0028512 -0.00577222 -0.84157355] [ 0.00284111 0.99999442 -0.00175642 0.03083118] [ 0.00577719 0.00173999 0.9999818 -0.29359802] [ 0. 0. 0. 1. ]] SLAMing on 163.263133365 meters Centerline goodness : 0.155383 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.03, Z:-0.29 [[ 0.99997901 -0.0029024 -0.00579309 -0.841699 ] [ 0.00289094 0.99999385 -0.00198508 0.03242781] [ 0.00579882 0.00196829 0.99998125 -0.29330623] [ 0. 0. 0. 1. ]] SLAMing on 163.293133365 meters Centerline goodness : 0.130008 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.03, Z:-0.29 [[ 0.9999789 -0.00298498 -0.00576968 -0.84199584] [ 0.0029722 0.99999311 -0.00222355 0.03379177] [ 0.00577628 0.00220636 0.99998088 -0.29292668] [ 0. 0. 0. 1. ]] SLAMing on 163.323133365 meters Centerline goodness : 0.127406 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.04, Z:-0.29 [[ 0.99997969 -0.00316258 -0.00553246 -0.8428454 ] [ 0.00314734 0.99999124 -0.0027603 0.03673621] [ 0.00554114 0.00274283 0.99998089 -0.29244228] [ 0. 0. 0. 1. ]] SLAMing on 163.353133365 meters Centerline goodness : 0.146469 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.04, Z:-0.29 [[ 0.9999807 -0.0032152 -0.00531647 -0.84359091] [ 0.00319977 0.99999065 -0.00290897 0.0377132 ] [ 0.00532577 0.00289191 0.99998164 -0.29208622] [ 0. 0. 0. 1. ]] SLAMing on 163.383133365 meters Centerline goodness : 0.147051 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.04, Z:-0.29 [[ 0.99998182 -0.00326682 -0.00506912 -0.8444645 ] [ 0.00325178 0.9999903 -0.00297189 0.03796237] [ 0.00507878 0.00295536 0.99998274 -0.29167267] [ 0. 0. 0. 1. ]] SLAMing on 163.413133365 meters Centerline goodness : 0.135265 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:-0.29 [[ 0.99998066 0.00459301 -0.00419301 -0.86618431] [-0.00461052 0.99998065 -0.00417662 0.03466182] [ 0.00417375 0.00419587 0.99998249 -0.29288513] [ 0. 0. 0. 1. ]] SLAMing on 163.443133365 meters Centerline goodness : 0.131427 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.04, Z:-0.29 [[ 0.99998733 -0.00389493 -0.00318921 -0.84599172] [ 0.00388446 0.99998707 -0.00328185 0.03580716] [ 0.00320195 0.00326942 0.99998953 -0.29175556] [ 0. 0. 0. 1. ]] SLAMing on 163.473133365 meters Centerline goodness : 0.109666 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.03, Z:-0.29 [[ 0.99998762 -0.003913 -0.00307454 -0.84634108] [ 0.0039033 0.9999874 -0.00315579 0.03476602] [ 0.00308685 0.00314375 0.99999029 -0.29174152] [ 0. 0. 0. 1. ]] SLAMing on 163.503133365 meters Centerline goodness : 0.132890 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.04, Z:-0.29 [[ 0.99996742 -0.00373293 -0.00715748 -0.88545902] [ 0.00371318 0.99998927 -0.00277044 0.03560388] [ 0.00716774 0.00274377 0.99997055 -0.29371 ] [ 0. 0. 0. 1. ]] SLAMing on 163.533133365 meters Centerline goodness : 0.129580 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.04, Z:-0.29 [[ 0.99996465 -0.00366797 -0.00756652 -0.88384779] [ 0.00364814 0.99998988 -0.00263315 0.03513914] [ 0.0075761 0.00260545 0.99996791 -0.29476231] [ 0. 0. 0. 1. ]] SLAMing on 163.563133365 meters Centerline goodness : 0.145028 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.04, Z:-0.30 [[ 0.99996323 -0.00354634 -0.00780783 -0.882921 ] [ 0.00352623 0.99999043 -0.00258832 0.03550904] [ 0.00781694 0.00256069 0.99996617 -0.29528138] [ 0. 0. 0. 1. ]] SLAMing on 163.593133365 meters Centerline goodness : 0.137646 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.04, Z:-0.29 [[ 0.99996432 -0.00351779 -0.0076802 -0.88339367] [ 0.00349715 0.99999024 -0.00269868 0.03638968] [ 0.00768962 0.00267172 0.99996687 -0.29494531] [ 0. 0. 0. 1. ]] SLAMing on 163.623133365 meters Centerline goodness : 0.123455 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.03, Z:-0.29 [[ 0.99996619 0.00461432 -0.00680681 -0.86359205] [-0.00464018 0.99998206 -0.00378779 0.03250212] [ 0.00678921 0.00381925 0.99996966 -0.29390648] [ 0. 0. 0. 1. ]] SLAMing on 163.653133365 meters Centerline goodness : 0.129825 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.03, Z:-0.29 [[ 0.99996551 0.00460049 -0.0069155 -0.8631406 ] [-0.0046284 0.99998119 -0.00402498 0.03408796] [ 0.00689685 0.00405685 0.99996799 -0.29413325] [ 0. 0. 0. 1. ]] SLAMing on 163.683133365 meters Centerline goodness : 0.114012 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.04, Z:-0.30 [[ 0.9999564 0.00512767 -0.00780375 -0.86004331] [-0.00515973 0.99997831 -0.00409346 0.03728307] [ 0.00778259 0.00413355 0.99996117 -0.29551642] [ 0. 0. 0. 1. ]] SLAMing on 163.713133365 meters Centerline goodness : 0.136985 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.04, Z:-0.30 [[ 0.99995377 0.00523697 -0.00806434 -0.85906481] [-0.00527204 0.99997671 -0.0043339 0.03973585] [ 0.00804145 0.00437622 0.99995809 -0.29600994] [ 0. 0. 0. 1. ]] SLAMing on 163.74313336499998 meters Centerline goodness : 0.147851 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.04, Z:-0.30 [[ 0.9999526 0.00532412 -0.00815224 -0.85873067] [-0.0053622 0.99997479 -0.00465539 0.04254846] [ 0.00812725 0.00469889 0.99995593 -0.2960955 ] [ 0. 0. 0. 1. ]] SLAMing on 163.77313336499998 meters Centerline goodness : 0.115369 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.05, Z:-0.30 [[ 0.99995478 0.00535665 -0.00785815 -0.85958299] [-0.00539631 0.99997276 -0.00503516 0.04549315] [ 0.00783096 0.00507733 0.99995645 -0.29571381] [ 0. 0. 0. 1. ]] SLAMing on 163.80313336499998 meters Centerline goodness : 0.151835 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.05, Z:-0.30 [[ 0.99995718 0.0052494 -0.00762089 -0.86052653] [-0.00529167 0.99997067 -0.00553667 0.04839785] [ 0.00759161 0.00557676 0.99995563 -0.29502482] [ 0. 0. 0. 1. ]] SLAMing on 163.83313336499998 meters Centerline goodness : 0.109695 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.05, Z:-0.29 [[ 0.99996041 0.00504516 -0.00732944 -0.86140206] [-0.00509203 0.99996662 -0.0063904 0.05310306] [ 0.00729696 0.00642747 0.99995272 -0.29455438] [ 0. 0. 0. 1. ]] SLAMing on 163.86313336499998 meters Centerline goodness : 0.139197 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.06, Z:-0.30 [[ 0.99996597 -0.00281788 -0.00775347 -0.88067541] [ 0.00277596 0.99998151 -0.00541122 0.06099563] [ 0.00776858 0.00538951 0.9999553 -0.29571552] [ 0. 0. 0. 1. ]] SLAMing on 163.89313336499998 meters Centerline goodness : 0.121123 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.06, Z:-0.30 [[ 0.99996618 -0.00287532 -0.00770487 -0.88078063] [ 0.00283138 0.9999797 -0.00570756 0.06296216] [ 0.00772113 0.00568555 0.99995403 -0.29570864] [ 0. 0. 0. 1. ]] SLAMing on 163.92313336499998 meters Centerline goodness : 0.142979 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.06, Z:-0.30 [[ 0.99996739 -0.00297121 -0.00750984 -0.88126236] [ 0.00292617 0.99997771 -0.00600181 0.06462638] [ 0.0075275 0.00597964 0.99995379 -0.29566094] [ 0. 0. 0. 1. ]] SLAMing on 163.95313336499999 meters Centerline goodness : 0.145898 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.07, Z:-0.30 [[ 0.99996763 -0.00303878 -0.00744975 -0.8814679 ] [ 0.00299252 0.99997622 -0.00621339 0.06587265] [ 0.00746845 0.00619089 0.99995295 -0.29554361] [ 0. 0. 0. 1. ]] SLAMing on 163.983133365 meters Centerline goodness : 0.125801 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.07, Z:-0.30 [[ 0.99996686 -0.0031949 -0.00748869 -0.88114846] [ 0.00314598 0.99997369 -0.00653574 0.0677583 ] [ 0.00750938 0.00651197 0.9999506 -0.29592517] [ 0. 0. 0. 1. ]] SLAMing on 164.013133365 meters Centerline goodness : 0.148503 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.07, Z:-0.30 [[ 0.99996477 -0.00322563 -0.00774955 -0.88019353] [ 0.00317429 0.999973 -0.00662715 0.06861841] [ 0.00777072 0.00660232 0.99994801 -0.29647947] [ 0. 0. 0. 1. ]] SLAMing on 164.043133365 meters Centerline goodness : 0.139085 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.07, Z:-0.30 [[ 0.99996381 -0.00324054 -0.00786653 -0.87962703] [ 0.00318815 0.99997272 -0.00666354 0.06900321] [ 0.0078879 0.00663822 0.99994686 -0.29694147] [ 0. 0. 0. 1. ]] SLAMing on 164.073133365 meters Centerline goodness : 0.141693 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.07, Z:-0.30 [[ 0.99996501 -0.00339684 -0.00764428 -0.88039985] [ 0.00334358 0.99997013 -0.00696904 0.07033308] [ 0.00766772 0.00694323 0.9999465 -0.29653134] [ 0. 0. 0. 1. ]] SLAMing on 164.103133365 meters Centerline goodness : 0.123730 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.07, Z:-0.30 [[ 0.99996554 -0.00347362 -0.00753962 -0.88086109] [ 0.00341908 0.99996799 -0.00723367 0.07185223] [ 0.00756451 0.00720764 0.99994541 -0.29615215] [ 0. 0. 0. 1. ]] SLAMing on 164.133133365 meters Centerline goodness : 0.132700 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.07, Z:-0.30 [[ 9.99977316e-01 -5.49013715e-04 -6.71314053e-03 -8.83025627e-01] [ 5.19280246e-04 9.99990052e-01 -4.43008544e-03 7.28396462e-02] [ 6.71550593e-03 4.42649895e-03 9.99967654e-01 -2.95885467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.163133365 meters Centerline goodness : 0.120853 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.08, Z:-0.30 [[ 9.99977123e-01 -5.08032082e-04 -6.74500807e-03 -8.82794392e-01] [ 4.76018703e-04 9.99988620e-01 -4.74699015e-03 7.52407690e-02] [ 6.74734294e-03 4.74367081e-03 9.99965985e-01 -2.96044037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.193133365 meters Centerline goodness : 0.131895 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.08, Z:-0.30 [[ 9.99979183e-01 -4.11233013e-04 -6.43935082e-03 -8.83452435e-01] [ 3.77970351e-04 9.99986585e-01 -5.16589550e-03 7.85839894e-02] [ 6.44138883e-03 5.16335408e-03 9.99965924e-01 -2.95985434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.223133365 meters Centerline goodness : 0.125338 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.08, Z:-0.30 [[ 9.99983322e-01 -2.81886133e-04 -5.76848336e-03 -8.85153028e-01] [ 2.49335493e-04 9.99984048e-01 -5.64278343e-03 8.22132891e-02] [ 5.76998196e-03 5.64125103e-03 9.99967441e-01 -2.95598974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.253133365 meters Centerline goodness : 0.108321 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.09, Z:-0.29 [[ 0.99998377 0.00287458 -0.00491957 -0.88813609] [-0.00289225 0.99998938 -0.00358865 0.08993166] [ 0.0049092 0.00360282 0.99998146 -0.29407979] [ 0. 0. 0. 1. ]] SLAMing on 164.283133365 meters Centerline goodness : 0.120073 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.09, Z:-0.29 [[ 0.99998207 0.00299524 -0.00518627 -0.88738575] [-0.00301605 0.99998741 -0.00400931 0.09361924] [ 0.00517419 0.00402488 0.99997851 -0.29422918] [ 0. 0. 0. 1. ]] SLAMing on 164.313133365 meters Centerline goodness : 0.114258 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.10, Z:-0.29 [[ 9.99977063e-01 -2.32278259e-03 -6.36216749e-03 -9.08311712e-01] [ 2.31733348e-03 9.99996942e-01 -8.63724024e-04 9.99119990e-02] [ 6.36415428e-03 8.48960949e-04 9.99979388e-01 -2.94885744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.343133365 meters Centerline goodness : 0.122831 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.11, Z:-0.30 [[ 9.99971381e-01 -9.18166831e-04 -7.50965237e-03 -9.03443954e-01] [ 9.17231715e-04 9.99999571e-01 -1.27965089e-04 1.05450706e-01] [ 7.50976664e-03 1.21073335e-04 9.99971794e-01 -2.97537474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.373133365 meters Centerline goodness : 0.113196 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.11, Z:-0.30 [[ 9.99971808e-01 -1.06877369e-03 -7.43244861e-03 -9.03428904e-01] [ 1.06484439e-03 9.99999291e-01 -5.32606337e-04 1.07675867e-01] [ 7.43301257e-03 5.24676921e-04 9.99972237e-01 -2.97876374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.403133365 meters Centerline goodness : 0.118201 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.11, Z:-0.30 [[ 9.99972021e-01 -1.16118658e-03 -7.38973212e-03 -9.03492887e-01] [ 1.15516847e-03 9.99998998e-01 -8.18604131e-04 1.09366057e-01] [ 7.39067527e-03 8.10044842e-04 9.99972360e-01 -2.97930126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.433133365 meters Centerline goodness : 0.121410 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.11, Z:-0.30 [[ 0.99997293 -0.00121866 -0.00725688 -0.9037958 ] [ 0.00121124 0.99999874 -0.00102583 0.11082655] [ 0.00725812 0.00101701 0.99997314 -0.2979325 ] [ 0. 0. 0. 1. ]] SLAMing on 164.463133365 meters Centerline goodness : 0.136722 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.11, Z:-0.30 [[ 0.9999729 -0.00137349 -0.00723242 -0.90357578] [ 0.00136321 0.99999805 -0.00142665 0.11289871] [ 0.00723436 0.00141675 0.99997283 -0.29834195] [ 0. 0. 0. 1. ]] SLAMing on 164.49313336499998 meters Centerline goodness : 0.132536 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.11, Z:-0.30 [[ 0.99997356 -0.00139268 -0.00713694 -0.90362472] [ 0.00138112 0.99999773 -0.00162357 0.11425196] [ 0.00713918 0.00161367 0.99997321 -0.29857486] [ 0. 0. 0. 1. ]] SLAMing on 164.52313336499998 meters Centerline goodness : 0.130044 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.12, Z:-0.30 [[ 0.99997545 -0.00135723 -0.00687411 -0.90418873] [ 0.00134495 0.99999749 -0.0017901 0.11574057] [ 0.00687653 0.00178081 0.99997477 -0.29866184] [ 0. 0. 0. 1. ]] SLAMing on 164.55313336499998 meters Centerline goodness : 0.103258 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.12, Z:-0.30 [[ 0.99997638 -0.0013682 -0.00673609 -0.90450552] [ 0.00135417 0.99999691 -0.00208703 0.11778633] [ 0.00673892 0.00207786 0.99997513 -0.29860952] [ 0. 0. 0. 1. ]] SLAMing on 164.58313336499998 meters Centerline goodness : 0.136076 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.12, Z:-0.30 [[ 0.99997578 -0.0013622 -0.00682497 -0.90421166] [ 0.00134598 0.99999626 -0.00238084 0.1198012 ] [ 0.00682819 0.0023716 0.99997388 -0.29873819] [ 0. 0. 0. 1. ]] SLAMing on 164.61313336499998 meters Centerline goodness : 0.113169 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.13, Z:-0.30 [[ 9.99969485e-01 3.23481105e-04 -7.80538981e-03 -9.01651934e-01] [-3.34611334e-04 9.99998929e-01 -1.42470331e-03 1.25416553e-01] [ 7.80492059e-03 1.42727161e-03 9.99968523e-01 -2.99393807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64313336499998 meters Centerline goodness : 0.127941 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.13, Z:-0.30 [[ 9.99966551e-01 4.81190535e-04 -8.16484649e-03 -9.00779417e-01] [-4.94109632e-04 9.99998629e-01 -1.58033951e-03 1.27202461e-01] [ 8.16407486e-03 1.58432097e-03 9.99965418e-01 -2.99470051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67313336499998 meters Centerline goodness : 0.129145 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.13, Z:-0.30 [[ 9.99965441e-01 5.84235512e-04 -8.29313571e-03 -9.00393827e-01] [-5.98621956e-04 9.99998320e-01 -1.73236489e-03 1.28657592e-01] [ 8.29210967e-03 1.73726947e-03 9.99964111e-01 -2.99633569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70313336499999 meters Centerline goodness : 0.124622 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.13, Z:-0.30 [[ 9.99966076e-01 6.06475515e-04 -8.21459866e-03 -9.00540370e-01] [-6.22432153e-04 9.99997924e-01 -1.94005595e-03 1.29918624e-01] [ 8.21340501e-03 1.94510317e-03 9.99964378e-01 -2.99678620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.733133365 meters Centerline goodness : 0.105733 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.13, Z:-0.30 [[ 9.99970006e-01 8.38701614e-04 -7.69956530e-03 -9.02017453e-01] [-8.55473929e-04 9.99997268e-01 -2.17531088e-03 1.32138759e-01] [ 7.69771983e-03 2.18183241e-03 9.99967992e-01 -2.99289475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.763133365 meters Centerline goodness : 0.110359 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.13, Z:-0.30 [[ 9.99971343e-01 8.52204247e-04 -7.52241450e-03 -9.02474316e-01] [-8.69929058e-04 9.99996853e-01 -2.35330875e-03 1.33388961e-01] [ 7.52038532e-03 2.35978528e-03 9.99968937e-01 -2.99301840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.793133365 meters Centerline goodness : 0.152416 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.13, Z:-0.30 [[ 9.99971984e-01 8.65188689e-04 -7.43524867e-03 -9.02598223e-01] [-8.83574015e-04 9.99996560e-01 -2.46979615e-03 1.34217341e-01] [ 7.43308625e-03 2.47629655e-03 9.99969308e-01 -2.99473503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.823133365 meters Centerline goodness : 0.108993 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 9.99970217e-01 8.69361265e-04 -7.66876541e-03 -9.01441689e-01] [-8.90212982e-04 9.99995915e-01 -2.71605051e-03 1.35709645e-01] [ 7.66637285e-03 2.72279645e-03 9.99966906e-01 -3.00453396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.853133365 meters Centerline goodness : 0.149743 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 9.99969428e-01 7.70408243e-04 -7.78138624e-03 -9.00972976e-01] [-7.93374235e-04 9.99995338e-01 -2.94874569e-03 1.36461426e-01] [ 7.77907822e-03 2.95482909e-03 9.99965377e-01 -3.00838865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.883133365 meters Centerline goodness : 0.127620 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 9.99968841e-01 6.83422392e-04 -7.86442783e-03 -9.00630497e-01] [-7.08929591e-04 9.99994497e-01 -3.24103317e-03 1.37824680e-01] [ 7.86216955e-03 3.24650751e-03 9.99963823e-01 -3.01100339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.913133365 meters Centerline goodness : 0.121939 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 9.99968506e-01 6.88774584e-04 -7.90646009e-03 -9.00428296e-01] [-7.16595644e-04 9.99993560e-01 -3.51648237e-03 1.39758919e-01] [ 7.90398711e-03 3.52203736e-03 9.99962560e-01 -3.01313039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.943133365 meters Centerline goodness : 0.120778 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 0.99997053 0.00101782 -0.00760961 -0.90114143] [-0.00104583 0.99999269 -0.00367729 0.14263399] [ 0.00760581 0.00368514 0.99996429 -0.30132246] [ 0. 0. 0. 1. ]] SLAMing on 164.973133365 meters Centerline goodness : 0.120778 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 0.99997053 0.00101782 -0.00760961 -0.90114143] [-0.00104583 0.99999269 -0.00367729 0.14263399] [ 0.00760581 0.00368514 0.99996429 -0.30132246] [ 0. 0. 0. 1. ]] SLAMing on 165.003133365 meters Centerline goodness : 0.121625 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 9.99971963e-01 9.56759011e-04 -7.42677555e-03 -9.01573770e-01] [-9.84959225e-04 9.99992316e-01 -3.79437211e-03 1.42748740e-01] [ 7.42308819e-03 3.80158080e-03 9.99965222e-01 -3.01379183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.033133365 meters Centerline goodness : 0.147187 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 9.99973165e-01 8.72663933e-04 -7.27374593e-03 -9.01856432e-01] [-9.00456657e-04 9.99992304e-01 -3.81856560e-03 1.41944113e-01] [ 7.27035762e-03 3.82501282e-03 9.99966255e-01 -3.01576590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.063133365 meters Centerline goodness : 0.119017 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.14, Z:-0.30 [[ 9.99952072e-01 3.99479208e-04 -9.78231505e-03 -9.46391725e-01] [-4.45973352e-04 9.99988614e-01 -4.75115738e-03 1.40585308e-01] [ 9.78030568e-03 4.75529232e-03 9.99940865e-01 -3.01743326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.093133365 meters Centerline goodness : 0.129038 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.14, Z:-0.30 [[ 9.99951815e-01 4.84875726e-04 -9.80468278e-03 -9.46143596e-01] [-5.28785074e-04 9.99989841e-01 -4.47630946e-03 1.38962896e-01] [ 9.80241272e-03 4.48127834e-03 9.99941914e-01 -3.02088634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.123133365 meters Centerline goodness : 0.116475 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.14, Z:-0.30 [[ 9.99952281e-01 7.23741061e-04 -9.74228857e-03 -9.46124047e-01] [-7.62049019e-04 9.99991991e-01 -3.92899361e-03 1.36466592e-01] [ 9.73936697e-03 3.93623023e-03 9.99944824e-01 -3.02385588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.153133365 meters Centerline goodness : 0.124306 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.14, Z:-0.30 [[ 9.99952855e-01 8.04033546e-04 -9.67680706e-03 -9.46225519e-01] [-8.40250604e-04 9.99992656e-01 -3.73918273e-03 1.35387651e-01] [ 9.67372957e-03 3.74713740e-03 9.99946188e-01 -3.02487310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.183133365 meters Centerline goodness : 0.153240 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.14, Z:-0.30 [[ 0.99993364 -0.0069659 -0.00917608 -0.9265961 ] [ 0.00694352 0.99997285 -0.00246898 0.13878091] [ 0.00919303 0.0024051 0.99995485 -0.30178732] [ 0. 0. 0. 1. ]] SLAMing on 165.213133365 meters Centerline goodness : 0.109727 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.13, Z:-0.30 [[ 0.9999526 0.001521 -0.00961656 -0.94627322] [-0.00155598 0.9999922 -0.00363135 0.1346312 ] [ 0.00961096 0.00364614 0.99994717 -0.30367266] [ 0. 0. 0. 1. ]] SLAMing on 165.24313336499998 meters Centerline goodness : 0.213186 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.13, Z:-0.30 [[ 0.99990587 0.00493033 -0.01280389 -0.98834019] [-0.00494969 0.99998665 -0.00148069 0.13484428] [ 0.01279642 0.00154392 0.99991693 -0.30463781] [ 0. 0. 0. 1. ]] SLAMing on 165.27313336499998 meters Centerline goodness : 0.123644 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.14, Z:-0.30 [[ 0.99990189 0.0050758 -0.01305533 -0.98759766] [-0.00509725 0.99998571 -0.00161058 0.13617542] [ 0.01304697 0.00167697 0.99991348 -0.30497575] [ 0. 0. 0. 1. ]] SLAMing on 165.30313336499998 meters Centerline goodness : 0.041168 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.14, Z:-0.31 [[ 0.99989979 0.00512696 -0.01319576 -0.98709742] [-0.00515095 0.99998514 -0.00178447 0.13726884] [ 0.01318641 0.00185227 0.99991134 -0.30535566] [ 0. 0. 0. 1. ]] SLAMing on 165.33313336499998 meters Centerline goodness : 0.116396 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99894654e-01 -2.80970985e-03 -1.42403084e-02 -1.00697120e+00] [ 2.79869753e-03 9.99995769e-01 -7.93189662e-04 1.41236458e-01] [ 1.42424768e-02 7.53251787e-04 9.99898287e-01 -3.06823493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36313336499998 meters Centerline goodness : 0.101047 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99902834e-01 -2.58193104e-03 -1.36988021e-02 -1.00829224e+00] [ 2.57293562e-03 9.99996463e-01 -6.74240735e-04 1.41594642e-01] [ 1.37004945e-02 6.38929085e-04 9.99905940e-01 -3.06872717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39313336499998 meters Centerline goodness : 0.099376 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99904610e-01 -2.55373520e-03 -1.35738807e-02 -1.00851226e+00] [ 2.54522832e-03 9.99996554e-01 -6.43947344e-04 1.41377285e-01] [ 1.35754783e-02 6.09337292e-04 9.99907663e-01 -3.07003446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42313336499998 meters Centerline goodness : 0.152653 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99904339e-01 -2.56566636e-03 -1.35915398e-02 -1.00818598e+00] [ 2.55760375e-03 9.99996543e-01 -6.10556337e-04 1.40786514e-01] [ 1.35930593e-02 5.75736157e-04 9.99907444e-01 -3.07475036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45313336499999 meters Centerline goodness : 0.111748 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99902743e-01 -2.59300045e-03 -1.37032947e-02 -1.00761004e+00] [ 2.58544771e-03 9.99996496e-01 -5.68849588e-04 1.39948993e-01] [ 1.37047217e-02 5.33365112e-04 9.99905944e-01 -3.07966425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.483133365 meters Centerline goodness : 0.335563 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99902258e-01 -2.61534520e-03 -1.37344434e-02 -1.00727591e+00] [ 2.60842549e-03 9.99996462e-01 -5.21710871e-04 1.39088533e-01] [ 1.37357593e-02 4.85834606e-04 9.99905542e-01 -3.08391795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.513133365 meters Centerline goodness : 0.113952 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99901565e-01 -2.60901570e-03 -1.37859558e-02 -1.00702859e+00] [ 2.60271339e-03 9.99996500e-01 -4.75076126e-04 1.38646371e-01] [ 1.37871470e-02 4.39148470e-04 9.99904856e-01 -3.08620057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.543133365 meters SLAMing on 165.573133365 meters Centerline goodness : 0.156441 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99904532e-01 -2.37856651e-03 -1.36113676e-02 -1.00728948e+00] [ 2.37479546e-03 9.99997137e-01 -2.93207945e-04 1.38641289e-01] [ 1.36120260e-02 2.60855740e-04 9.99907318e-01 -3.08912157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.603133365 meters Centerline goodness : 0.240804 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.13, Z:-0.31 [[ 0.99988684 0.00596056 -0.01381211 -1.02718241] [-0.00597954 0.99998123 -0.00133371 0.13375758] [ 0.0138039 0.00141615 0.99990372 -0.31040213] [ 0. 0. 0. 1. ]] SLAMing on 165.633133365 meters Centerline goodness : 0.296474 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.13, Z:-0.31 [[ 0.9998828 0.00607508 -0.01405278 -1.02614059] [-0.00609169 0.9999808 -0.00113958 0.13292868] [ 0.01404559 0.00122505 0.99990061 -0.31122174] [ 0. 0. 0. 1. ]] SLAMing on 165.663133365 meters Centerline goodness : 0.094088 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.13, Z:-0.31 [[ 9.99880417e-01 6.11421167e-03 -1.42045304e-02 -1.02545480e+00] [-6.12844940e-03 9.99980761e-01 -9.59025354e-04 1.31783738e-01] [ 1.41983934e-02 1.04596242e-03 9.99898651e-01 -3.11731657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.693133365 meters Centerline goodness : 0.346178 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.13, Z:-0.31 [[ 9.99877289e-01 6.17081521e-03 -1.43989179e-02 -1.02482105e+00] [-6.18119553e-03 9.99980667e-01 -6.76516559e-04 1.30058239e-01] [ 1.43944648e-02 7.65436070e-04 9.99896101e-01 -3.12010600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.723133365 meters Centerline goodness : 0.089547 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.13, Z:-0.31 [[ 9.99875713e-01 6.24337547e-03 -1.44768032e-02 -1.02465310e+00] [-6.24809932e-03 9.99980441e-01 -2.81098857e-04 1.27714057e-01] [ 1.44747650e-02 3.71516424e-04 9.99895166e-01 -3.11963801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.753133365 meters SLAMing on 165.783133365 meters SLAMing on 165.813133365 meters SLAMing on 165.843133365 meters Centerline goodness : 0.099217 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.11, Z:-0.31 [[ 0.99990093 0.00165605 -0.01397818 -1.02588714] [-0.00169559 0.99999459 -0.00281711 0.11281516] [ 0.01397344 0.00284053 0.99989833 -0.31174653] [ 0. 0. 0. 1. ]] SLAMing on 165.873133365 meters Centerline goodness : 0.209413 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.11, Z:-0.31 [[ 0.99990241 0.00179221 -0.01385514 -1.02590361] [-0.00182517 0.99999553 -0.00236676 0.11026046] [ 0.01385083 0.00239182 0.99990121 -0.31218177] [ 0. 0. 0. 1. ]] SLAMing on 165.903133365 meters SLAMing on 165.933133365 meters SLAMing on 165.963133365 meters Centerline goodness : 0.098669 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.10, Z:-0.31 [[ 0.99989703 0.0012126 -0.0142992 -1.02461043] [-0.00124134 0.99999723 -0.00200108 0.09946811] [ 0.01429673 0.00201863 0.99989576 -0.31251156] [ 0. 0. 0. 1. ]] SLAMing on 165.99313336499998 meters Centerline goodness : 0.097412 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.09, Z:-0.31 [[ 0.99984378 0.00958277 -0.01485203 -1.04454505] [-0.00962452 0.99994992 -0.00274255 0.09277157] [ 0.014825 0.00288507 0.99988594 -0.31378479] [ 0. 0. 0. 1. ]] SLAMing on 166.02313336499998 meters Centerline goodness : 0.127760 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:-0.31 [[ 9.99895673e-01 1.97789377e-03 -1.43084560e-02 -1.02619727e+00] [-1.99239704e-03 9.99997516e-01 -9.99431887e-04 9.43163194e-02] [ 1.43064437e-02 1.02783574e-03 9.99897129e-01 -3.12185091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05313336499998 meters Centerline goodness : 0.093123 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:-0.31 [[ 9.99898606e-01 2.08003511e-03 -1.40872378e-02 -1.02674382e+00] [-2.09175179e-03 9.99997479e-01 -8.17040023e-04 9.34151861e-02] [ 1.40855028e-02 8.46424185e-04 9.99900436e-01 -3.12174513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08313336499998 meters SLAMing on 166.11313336499998 meters Centerline goodness : 0.092058 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.09, Z:-0.31 [[ 0.99985348 0.01052168 -0.01350219 -1.04829726] [-0.010546 0.99994289 -0.00173089 0.08817983] [ 0.01348321 0.00187303 0.99990734 -0.3136105 ] [ 0. 0. 0. 1. ]] SLAMing on 166.14313336499998 meters SLAMing on 166.17313336499998 meters Centerline goodness : 0.097846 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.09, Z:-0.31 [[ 0.99985999 0.01112472 -0.01249992 -1.05148588] [-0.0111468 0.99993643 -0.00169822 0.09016644] [ 0.01248023 0.00183731 0.99992043 -0.31247938] [ 0. 0. 0. 1. ]] SLAMing on 166.20313336499999 meters Centerline goodness : 0.168902 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:-0.31 [[ 9.99916560e-01 3.71837736e-03 -1.23711691e-02 -1.03278697e+00] [-3.72387520e-03 9.99992978e-01 -4.21401425e-04 9.58486453e-02] [ 1.23695153e-02 4.67434953e-04 9.99923385e-01 -3.10981680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.233133365 meters SLAMing on 166.263133365 meters SLAMing on 166.293133365 meters Centerline goodness : 0.119262 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:-0.31 [[ 9.99906653e-01 3.88175937e-03 -1.31002881e-02 -1.03041784e+00] [-3.88913404e-03 9.99992293e-01 -5.37510598e-04 9.64722946e-02] [ 1.30981006e-02 5.88409199e-04 9.99914043e-01 -3.12142561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.323133365 meters Centerline goodness : 0.137742 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 9.99917574e-01 -3.84135986e-03 -1.22510747e-02 -1.01148978e+00] [ 3.85152013e-03 9.99992258e-01 8.05851360e-04 1.00383725e-01] [ 1.22478843e-02 -8.52970198e-04 9.99924628e-01 -3.10791552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.353133365 meters SLAMing on 166.383133365 meters Centerline goodness : 0.135753 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 0.99992159 -0.00377602 -0.01193942 -1.01218551] [ 0.00378852 0.9999923 0.00102511 0.09903284] [ 0.01193545 -0.00107027 0.9999282 -0.3108639 ] [ 0. 0. 0. 1. ]] SLAMing on 166.413133365 meters SLAMing on 166.443133365 meters Centerline goodness : 0.151667 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 0.99991963 -0.00361267 -0.01215253 -1.01120324] [ 0.00362713 0.99999274 0.00116847 0.09907659] [ 0.01214822 -0.00121245 0.99992547 -0.31165216] [ 0. 0. 0. 1. ]] SLAMing on 166.473133365 meters Centerline goodness : 0.151020 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 0.99991743 -0.00361017 -0.01233249 -1.0105901 ] [ 0.00362429 0.9999928 0.0011226 0.0994257 ] [ 0.01232835 -0.0011672 0.99992332 -0.31199129] [ 0. 0. 0. 1. ]] SLAMing on 166.503133365 meters Centerline goodness : 0.126351 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 0.99991466 -0.00360376 -0.01255743 -1.00976328] [ 0.00361823 0.99999282 0.00112935 0.09938222] [ 0.01255327 -0.00117469 0.99992051 -0.31244196] [ 0. 0. 0. 1. ]] SLAMing on 166.533133365 meters Centerline goodness : 0.123256 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 0.99991285 -0.00362835 -0.01269355 -1.0092214 ] [ 0.00364278 0.99999274 0.00111406 0.09922011] [ 0.01268941 -0.0011602 0.99991881 -0.31279008] [ 0. 0. 0. 1. ]] SLAMing on 166.563133365 meters Centerline goodness : 0.145950 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 0.99991114 -0.00363614 -0.01282541 -1.00872235] [ 0.00365112 0.99999268 0.00114451 0.09888538] [ 0.01282115 -0.00119124 0.9999171 -0.31306206] [ 0. 0. 0. 1. ]] SLAMing on 166.593133365 meters Centerline goodness : 0.133352 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 0.99990862 -0.00363031 -0.01302164 -1.00787102] [ 0.00364558 0.99999269 0.00114943 0.09897511] [ 0.01301737 -0.0011968 0.99991455 -0.31364455] [ 0. 0. 0. 1. ]] SLAMing on 166.623133365 meters Centerline goodness : 0.148077 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:-0.31 [[ 9.99892627e-01 4.54822587e-03 -1.39301276e-02 -1.02759392e+00] [-4.54720853e-03 9.99989656e-01 1.04704027e-04 9.42865177e-02] [ 1.39304598e-02 -4.13495898e-05 9.99902966e-01 -3.14620039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.653133365 meters Centerline goodness : 0.161928 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:-0.31 [[ 9.99890810e-01 4.51532876e-03 -1.40705419e-02 -1.02722714e+00] [-4.51647428e-03 9.99989799e-01 -4.96377268e-05 9.52718117e-02] [ 1.40701742e-02 1.13181547e-04 9.99901004e-01 -3.14715704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.683133365 meters Centerline goodness : 0.123298 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:-0.31 [[ 9.99885906e-01 4.44895946e-03 -1.44354558e-02 -1.02630509e+00] [-4.45577354e-03 9.99989976e-01 -4.39910128e-04 9.73478357e-02] [ 1.44333539e-02 5.04181058e-04 9.99895707e-01 -3.14892722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.713133365 meters Centerline goodness : 0.156704 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:-0.31 [[ 9.99885647e-01 4.39560992e-03 -1.44696885e-02 -1.02625150e+00] [-4.40531766e-03 9.99990092e-01 -6.39096677e-04 9.84079929e-02] [ 1.44667359e-02 7.02767168e-04 9.99895104e-01 -3.14908809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74313336499998 meters Centerline goodness : 0.190614 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:-0.31 [[ 9.99887171e-01 4.34024753e-03 -1.43808132e-02 -1.02649209e+00] [-4.35218100e-03 9.99990210e-01 -7.98627083e-04 9.92903208e-02] [ 1.43772062e-02 8.61124877e-04 9.99896272e-01 -3.14916804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77313336499998 meters Centerline goodness : 0.162090 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.32 [[ 9.99900289e-01 -3.77922689e-03 -1.36062090e-02 -1.04721839e+00] [ 3.78168688e-03 9.99992837e-01 1.55074447e-04 1.03503134e-01] [ 1.36055255e-02 -2.06513407e-04 9.99907419e-01 -3.16317441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80313336499998 meters Centerline goodness : 0.130601 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.32 [[ 9.99901965e-01 -3.83867368e-03 -1.34657278e-02 -1.04797974e+00] [ 3.83958766e-03 9.99992628e-01 4.20227426e-05 1.04039976e-01] [ 1.34654672e-02 -9.37214652e-05 9.99909332e-01 -3.15660757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83313336499998 meters Centerline goodness : 0.124918 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99901935e-01 -3.94317392e-03 -1.34377109e-02 -1.04849558e+00] [ 3.94238550e-03 9.99992225e-01 -8.51613347e-05 1.04411705e-01] [ 1.34379423e-02 3.21763466e-05 9.99909706e-01 -3.14902437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86313336499998 meters Centerline goodness : 0.124918 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99901935e-01 -3.94317392e-03 -1.34377109e-02 -1.04849558e+00] [ 3.94238550e-03 9.99992225e-01 -8.51613347e-05 1.04411705e-01] [ 1.34379423e-02 3.21763466e-05 9.99909706e-01 -3.14902437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89313336499998 meters Centerline goodness : 0.149188 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99901264e-01 -3.93271661e-03 -1.34906024e-02 -1.04835351e+00] [ 3.93250155e-03 9.99992267e-01 -4.24684770e-05 1.04149381e-01] [ 1.34906651e-02 -1.05875311e-05 9.99908997e-01 -3.14925937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92313336499998 meters Centerline goodness : 0.118105 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99900598e-01 -3.95826811e-03 -1.35324119e-02 -1.04823650e+00] [ 3.95787280e-03 9.99992166e-01 -5.59926132e-05 1.04057101e-01] [ 1.35325276e-02 2.42748227e-06 9.99908431e-01 -3.14920339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95313336499999 meters Centerline goodness : 0.148063 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99900512e-01 -3.96455115e-03 -1.35369407e-02 -1.04817034e+00] [ 3.96418523e-03 9.99992141e-01 -5.38645553e-05 1.03950476e-01] [ 1.35370478e-02 1.96256264e-07 9.99908370e-01 -3.14997140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.983133365 meters Centerline goodness : 0.136753 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99901671e-01 -3.90086651e-03 -1.34696170e-02 -1.04864108e+00] [ 3.90265541e-03 9.99992379e-01 1.06526967e-04 1.03228603e-01] [ 1.34690988e-02 -1.59083765e-04 9.99909275e-01 -3.14444670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.013133365 meters Centerline goodness : 0.158157 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99904629e-01 -3.87194538e-03 -1.32567211e-02 -1.04945374e+00] [ 3.87472054e-03 9.99992476e-01 1.83661834e-04 1.02789337e-01] [ 1.32559102e-02 -2.35010407e-04 9.99912109e-01 -3.13952152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.043133365 meters Centerline goodness : 0.142185 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99908172e-01 -3.84854350e-03 -1.29937364e-02 -1.05039200e+00] [ 3.85266148e-03 9.99992536e-01 2.91903432e-04 1.02101523e-01] [ 1.29925160e-02 -3.41937095e-04 9.99915535e-01 -3.13443282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.073133365 meters Centerline goodness : 0.140878 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99909652e-01 -3.84606161e-03 -1.28800367e-02 -1.05074754e+00] [ 3.85093606e-03 9.99992523e-01 3.53669995e-04 1.01582523e-01] [ 1.28785801e-02 -4.03238239e-04 9.99916986e-01 -3.13276203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.103133365 meters Centerline goodness : 0.149148 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99906342e-01 -3.88116789e-03 -1.31241467e-02 -1.04987199e+00] [ 3.88445949e-03 9.99992430e-01 2.25322753e-04 1.02024335e-01] [ 1.31231728e-02 -2.76281866e-04 9.99913849e-01 -3.13801852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.133133365 meters Centerline goodness : 0.159851 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99904272e-01 -3.87514229e-03 -1.32827297e-02 -1.04932368e+00] [ 3.87765971e-03 9.99992468e-01 1.63776928e-04 1.02463447e-01] [ 1.32819950e-02 -2.15267156e-04 9.99911767e-01 -3.14113735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.163133365 meters Centerline goodness : 0.122865 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99903249e-01 -3.82626484e-03 -1.33735342e-02 -1.04910387e+00] [ 3.82992131e-03 9.99992635e-01 2.47810551e-04 1.02175164e-01] [ 1.33724875e-02 -2.99006159e-04 9.99910540e-01 -3.14142531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.193133365 meters Centerline goodness : 0.146705 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99903162e-01 -3.74974069e-03 -1.34017469e-02 -1.04907910e+00] [ 3.75631090e-03 9.99992837e-01 4.65111818e-04 1.01121326e-01] [ 1.33999069e-02 -5.15407905e-04 9.99910084e-01 -3.14082455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.223133365 meters Centerline goodness : 0.128188 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99901976e-01 -3.69227156e-03 -1.35057880e-02 -1.04878157e+00] [ 3.70231979e-03 9.99992888e-01 7.19067430e-04 9.97043780e-02] [ 1.35030369e-02 -7.68999690e-04 9.99908534e-01 -3.14105726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.253133365 meters Centerline goodness : 0.151711 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99898878e-01 -3.65013999e-03 -1.37444288e-02 -1.04801315e+00] [ 3.66426249e-03 9.99992784e-01 1.00246454e-03 9.79602527e-02] [ 1.37406704e-02 -1.05272636e-03 9.99905038e-01 -3.14337969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.283133365 meters Centerline goodness : 0.171000 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.10, Z:-0.32 [[ 0.99988017 -0.00390734 -0.01497927 -1.0442807 ] [ 0.00392595 0.99999156 0.0012134 0.0952222 ] [ 0.0149744 -0.00127206 0.99988707 -0.31554931] [ 0. 0. 0. 1. ]] SLAMing on 167.313133365 meters Centerline goodness : 0.152001 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.09, Z:-0.32 [[ 0.99987533 -0.00386435 -0.01530976 -1.04321036] [ 0.00388705 0.99999139 0.0014531 0.0937807 ] [ 0.01530401 -0.00151243 0.99988174 -0.31594701] [ 0. 0. 0. 1. ]] SLAMing on 167.343133365 meters Centerline goodness : 0.173663 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.09, Z:-0.32 [[ 0.9998732 -0.00384838 -0.01545263 -1.04271971] [ 0.00387432 0.99999114 0.00164855 0.09250704] [ 0.01544615 -0.00170821 0.99987924 -0.31614425] [ 0. 0. 0. 1. ]] SLAMing on 167.373133365 meters Centerline goodness : 0.214992 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.32 [[ 9.99892929e-01 2.35080995e-03 -1.44431178e-02 -1.02140964e+00] [-2.36445512e-03 9.99996774e-01 -9.27748933e-04 8.97396925e-02] [ 1.44408902e-02 9.61799702e-04 9.99895262e-01 -3.15970941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.403133365 meters Centerline goodness : 0.165496 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.32 [[ 9.99893142e-01 2.44455792e-03 -1.44127702e-02 -1.02183102e+00] [-2.44889816e-03 9.99996961e-01 -2.83497705e-04 8.61591338e-02] [ 1.44120334e-02 3.18762818e-04 9.99896090e-01 -3.15245175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.433133365 meters Centerline goodness : 0.108099 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99893065e-01 2.57312920e-03 -1.43957320e-02 -1.02211413e+00] [-2.57184313e-03 9.99996687e-01 1.07849282e-04 8.43471629e-02] [ 1.43959618e-02 -7.08141848e-05 9.99896370e-01 -3.14801072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.463133365 meters Centerline goodness : 0.111906 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99892312e-01 2.65999870e-03 -1.44321874e-02 -1.02211640e+00] [-2.65422632e-03 9.99996390e-01 4.19105186e-04 8.26895370e-02] [ 1.44332501e-02 -3.80753762e-04 9.99895763e-01 -3.14604302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49313336499998 meters Centerline goodness : 0.163988 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99891823e-01 2.72310641e-03 -1.44542959e-02 -1.02202185e+00] [-2.71365866e-03 9.99996091e-01 6.73201776e-04 8.11497248e-02] [ 1.44560726e-02 -6.33904926e-04 9.99895305e-01 -3.14617647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52313336499998 meters Centerline goodness : 0.158757 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99891730e-01 2.76386316e-03 -1.44530138e-02 -1.02194578e+00] [-2.75166578e-03 9.99995841e-01 8.63751235e-04 7.98956825e-02] [ 1.44553410e-02 -8.23887853e-04 9.99895177e-01 -3.14685045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55313336499998 meters Centerline goodness : 0.165048 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99892543e-01 2.78877595e-03 -1.43918758e-02 -1.02209215e+00] [-2.77602815e-03 9.99995737e-01 9.05664946e-04 7.93800831e-02] [ 1.43943402e-02 -8.65615374e-04 9.99896021e-01 -3.14647988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58313336499998 meters Centerline goodness : 0.092944 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99891236e-01 2.78003831e-03 -1.44840123e-02 -1.02188117e+00] [-2.76954083e-03 9.99995887e-01 7.44770702e-04 8.01873504e-02] [ 1.44860232e-02 -7.04575635e-04 9.99894824e-01 -3.14658622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61313336499998 meters Centerline goodness : 0.102982 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99888758e-01 2.75834022e-03 -1.46582255e-02 -1.02147658e+00] [-2.75119975e-03 9.99996087e-01 5.07273797e-04 8.14807989e-02] [ 1.46595674e-02 -4.66889660e-04 9.99892434e-01 -3.14687765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64313336499998 meters Centerline goodness : 0.109499 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99885943e-01 2.78241834e-03 -1.48444739e-02 -1.02101570e+00] [-2.77922063e-03 9.99996110e-01 2.36039182e-04 8.32195961e-02] [ 1.48450729e-02 -1.94756192e-04 9.99889787e-01 -3.14823801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67313336499998 meters Centerline goodness : 0.092785 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99889688e-01 3.23396774e-03 -1.44966650e-02 -1.02197999e+00] [-3.23231823e-03 9.99994767e-01 1.37213558e-04 8.57131893e-02] [ 1.44970329e-02 -9.03405870e-05 9.99894908e-01 -3.14790862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70313336499999 meters Centerline goodness : 0.196895 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99893247e-01 3.16386166e-03 -1.42647969e-02 -1.02262843e+00] [-3.16626712e-03 9.99994977e-01 -1.46048158e-04 8.71654555e-02] [ 1.42642632e-02 1.91198725e-04 9.99898242e-01 -3.14733569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.733133365 meters Centerline goodness : 0.112716 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99898172e-01 3.11597240e-03 -1.39260763e-02 -1.02378429e+00] [-3.12071179e-03 9.99995080e-01 -3.18607126e-04 8.80181003e-02] [ 1.39250150e-02 3.62033953e-04 9.99902977e-01 -3.14247681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.763133365 meters Centerline goodness : 0.167416 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:-0.31 [[ 9.99903621e-01 3.05619200e-03 -1.35428142e-02 -1.02520919e+00] [-3.06235075e-03 9.99995217e-01 -4.34047565e-04 8.85411694e-02] [ 1.35414228e-02 4.75478579e-04 9.99908198e-01 -3.13425481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.793133365 meters Centerline goodness : 0.155038 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:-0.31 [[ 9.99908599e-01 3.04339436e-03 -1.31731693e-02 -1.02673803e+00] [-3.05044237e-03 9.99995215e-01 -5.14967844e-04 8.92284199e-02] [ 1.31715390e-02 5.55104769e-04 9.99913097e-01 -3.12382304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.823133365 meters Centerline goodness : 0.088426 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:-0.31 [[ 9.99906818e-01 2.97992559e-03 -1.33220097e-02 -1.02624247e+00] [-2.98834965e-03 9.99995347e-01 -6.12480508e-04 8.95092680e-02] [ 1.33201226e-02 6.52234258e-04 9.99911071e-01 -3.12596202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.853133365 meters Centerline goodness : 0.170216 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:-0.31 [[ 9.99904780e-01 2.92558849e-03 -1.34859697e-02 -1.02548256e+00] [-2.93565404e-03 9.99995427e-01 -7.26636704e-04 8.99076337e-02] [ 1.34837822e-02 7.66157655e-04 9.99908796e-01 -3.13169915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.883133365 meters Centerline goodness : 0.101619 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99902670e-01 2.90207326e-03 -1.36465665e-02 -1.02487042e+00] [-2.91302241e-03 9.99995451e-01 -7.82528362e-04 9.01110221e-02] [ 1.36442334e-02 8.22204952e-04 9.99906575e-01 -3.13568295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.913133365 meters Centerline goodness : 0.104849 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99900556e-01 2.96690692e-03 -1.37868258e-02 -1.02435714e+00] [-2.97807398e-03 9.99995254e-01 -7.89520974e-04 9.05686802e-02] [ 1.37844180e-02 8.30500648e-04 9.99904645e-01 -3.13882777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.943133365 meters Centerline goodness : 0.092108 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99897535e-01 2.99385361e-03 -1.39984300e-02 -1.02364444e+00] [-3.00539059e-03 9.99995161e-01 -8.03198200e-04 9.08320808e-02] [ 1.39959576e-02 8.45186650e-04 9.99901695e-01 -3.14248292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.973133365 meters Centerline goodness : 0.146726 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99894356e-01 2.99438331e-03 -1.42235979e-02 -1.02273678e+00] [-3.00640642e-03 9.99995141e-01 -8.23986292e-04 9.09547291e-02] [ 1.42210615e-02 8.66661159e-04 9.99898500e-01 -3.14853548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.003133365 meters Centerline goodness : 0.104445 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.32 [[ 9.99891142e-01 2.96834788e-03 -1.44531661e-02 -1.02199306e+00] [-2.98119287e-03 9.99995180e-01 -8.67268289e-04 9.10440237e-02] [ 1.44505220e-02 9.10261555e-04 9.99895171e-01 -3.15202211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.033133365 meters Centerline goodness : 0.152027 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.32 [[ 9.99891561e-01 2.96715947e-03 -1.44243853e-02 -1.02211337e+00] [-2.97948607e-03 9.99995214e-01 -8.33151747e-04 9.07743862e-02] [ 1.44218442e-02 8.76038656e-04 9.99895616e-01 -3.15101457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.063133365 meters Centerline goodness : 0.148852 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99900838e-01 2.91800227e-03 -1.37767536e-02 -1.02419155e+00] [-2.92684898e-03 9.99995523e-01 -6.22028611e-04 8.90847994e-02] [ 1.37748769e-02 6.62289407e-04 9.99904903e-01 -3.14165513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.093133365 meters Centerline goodness : 0.127921 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99902764e-01 2.96760788e-03 -1.36255601e-02 -1.02479374e+00] [-2.97283007e-03 9.99995515e-01 -3.63026240e-04 8.76007931e-02] [ 1.36244217e-02 4.03497416e-04 9.99907102e-01 -3.13721837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.123133365 meters Centerline goodness : 0.087949 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99901384e-01 3.04230312e-03 -1.37101097e-02 -1.02448988e+00] [-3.04369788e-03 9.99995365e-01 -8.08674795e-05 8.60863574e-02] [ 1.37098001e-02 1.22588937e-04 9.99906009e-01 -3.13855227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.153133365 meters Centerline goodness : 0.087669 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99897998e-01 3.12795722e-03 -1.39359246e-02 -1.02369902e+00] [-3.12551336e-03 9.99995096e-01 1.97139862e-04 8.46843292e-02] [ 1.39364729e-02 -1.53562835e-04 9.99902871e-01 -3.14233706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.183133365 meters Centerline goodness : 0.160517 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99892729e-01 3.23057729e-03 -1.42861723e-02 -1.02245031e+00] [-3.22251169e-03 9.99994635e-01 5.87557712e-04 8.23071806e-02] [ 1.42879939e-02 -5.41457326e-04 9.99897775e-01 -3.14800112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.213133365 meters Centerline goodness : 0.214962 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99893130e-01 3.26511525e-03 -1.42501562e-02 -1.02255269e+00] [-3.25442060e-03 9.99994405e-01 7.73617753e-04 8.10402553e-02] [ 1.42526024e-02 -7.27159075e-04 9.99898162e-01 -3.14747641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24313336499998 meters Centerline goodness : 0.169545 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99893439e-01 3.32146343e-03 -1.42154660e-02 -1.02288065e+00] [-3.30783139e-03 9.99994047e-01 9.82363604e-04 7.97650013e-02] [ 1.42186442e-02 -9.35236558e-04 9.99898473e-01 -3.14345833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27313336499998 meters Centerline goodness : 0.108959 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 0.99989396 0.0033852 -0.01416373 -1.02325605] [-0.0033679 0.99999355 0.00124507 0.07815216] [ 0.01416785 -0.00119723 0.99989891 -0.31391711] [ 0. 0. 0. 1. ]] SLAMing on 168.30313336499998 meters Centerline goodness : 0.165961 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.07, Z:-0.31 [[ 0.99988968 0.00359049 -0.01441334 -1.02273982] [-0.00356272 0.99999175 0.00195152 0.07439102] [ 0.01442022 -0.00189996 0.99989422 -0.31371193] [ 0. 0. 0. 1. ]] SLAMing on 168.33313336499998 meters Centerline goodness : 0.163163 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.07, Z:-0.31 [[ 0.99988848 0.00373509 -0.0144595 -1.02247593] [-0.0037008 0.99999028 0.00239719 0.07211148] [ 0.01446832 -0.00234341 0.99989258 -0.31389267] [ 0. 0. 0. 1. ]] SLAMing on 168.36313336499998 meters Centerline goodness : 0.174467 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.07, Z:-0.31 [[ 0.99988931 0.00384608 -0.01437293 -1.02257797] [-0.0038063 0.99998885 0.00279409 0.06999376] [ 0.01438351 -0.00273907 0.9998928 -0.31399312] [ 0. 0. 0. 1. ]] SLAMing on 168.39313336499998 meters Centerline goodness : 0.119485 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.07, Z:-0.31 [[ 9.99914972e-01 1.70350249e-03 -1.29285012e-02 -1.02782743e+00] [-1.69049124e-03 9.99998054e-01 1.01726166e-03 6.65148812e-02] [ 1.29302089e-02 -9.95319644e-04 9.99915906e-01 -3.11927752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42313336499998 meters Centerline goodness : 0.167241 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.06, Z:-0.31 [[ 9.99885367e-01 1.27230305e-03 -1.50875800e-02 -1.07377843e+00] [-1.25841946e-03 9.99998776e-01 9.29658094e-04 6.29537052e-02] [ 1.50887443e-02 -9.10565020e-04 9.99885744e-01 -3.11140007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45313336499999 meters Centerline goodness : 0.123917 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.06, Z:-0.31 [[ 9.99884290e-01 1.31676657e-03 -1.51549315e-02 -1.07365667e+00] [-1.30307914e-03 9.99998734e-01 9.13005686e-04 6.32478665e-02] [ 1.51561146e-02 -8.93151968e-04 9.99884741e-01 -3.11143294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.483133365 meters Centerline goodness : 0.160014 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.06, Z:-0.31 [[ 9.99881410e-01 1.39059349e-03 -1.53372881e-02 -1.07312372e+00] [-1.37824596e-03 9.99998718e-01 8.15606378e-04 6.42791861e-02] [ 1.53384026e-02 -7.94371100e-04 9.99882044e-01 -3.11356110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.513133365 meters Centerline goodness : 0.093663 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.06, Z:-0.31 [[ 0.99984341 0.00188422 -0.01759554 -1.11922864] [-0.00185777 0.99999712 0.00151963 0.06225091] [ 0.01759835 -0.0014867 0.99984403 -0.31068484] [ 0. 0. 0. 1. ]] SLAMing on 168.543133365 meters Centerline goodness : 0.119527 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.06, Z:-0.31 [[ 0.99984574 0.0018883 -0.01746227 -1.11966447] [-0.00186422 0.99999729 0.00139511 0.06319514] [ 0.01746486 -0.00136235 0.99984655 -0.31055505] [ 0. 0. 0. 1. ]] SLAMing on 168.573133365 meters Centerline goodness : 0.087373 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.06, Z:-0.31 [[ 0.99984777 0.00180632 -0.01735447 -1.11991561] [-0.00178531 0.99999766 0.00122577 0.06385316] [ 0.01735664 -0.0011946 0.99984865 -0.31060482] [ 0. 0. 0. 1. ]] SLAMing on 168.603133365 meters Centerline goodness : 0.118651 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.06, Z:-0.31 [[ 0.99984482 0.00169829 -0.01753417 -1.11924042] [-0.00167829 0.99999792 0.00115525 0.06360375] [ 0.01753609 -0.00112564 0.9998456 -0.31098725] [ 0. 0. 0. 1. ]] SLAMing on 168.633133365 meters Centerline goodness : 0.164095 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.06, Z:-0.31 [[ 0.99983997 0.00162358 -0.01781562 -1.11837139] [-0.00160275 0.99999802 0.00118363 0.06294773] [ 0.01781751 -0.00115488 0.99984059 -0.31129986] [ 0. 0. 0. 1. ]] SLAMing on 168.663133365 meters Centerline goodness : 0.165465 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.06, Z:-0.31 [[ 0.99983549 0.00161494 -0.01806595 -1.11774702] [-0.00159091 0.99999783 0.00134443 0.0618371 ] [ 0.01806808 -0.00131547 0.99983589 -0.31134498] [ 0. 0. 0. 1. ]] SLAMing on 168.693133365 meters Centerline goodness : 0.170349 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.07, Z:-0.31 [[ 0.99982394 -0.00653024 -0.01759119 -1.09763277] [ 0.00657284 0.9999756 0.00236501 0.06519731] [ 0.01757531 -0.00248022 0.99984247 -0.31020444] [ 0. 0. 0. 1. ]] SLAMing on 168.723133365 meters Centerline goodness : 0.169307 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.06, Z:-0.31 [[ 9.99882454e-01 -1.43268088e-04 -1.53315670e-02 -1.11708369e+00] [ 1.63545263e-04 9.99999114e-01 1.32133116e-03 5.69875903e-02] [ 1.53313641e-02 -1.32368324e-03 9.99881592e-01 -3.12184637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.753133365 meters Centerline goodness : 0.169624 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.31 [[ 9.99889596e-01 -9.58411538e-04 -1.48282486e-02 -1.11889172e+00] [ 9.79162074e-04 9.99998552e-01 1.39219547e-03 5.05819603e-02] [ 1.48268929e-02 -1.40656102e-03 9.99889086e-01 -3.11169993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.783133365 meters Centerline goodness : 0.169624 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.31 [[ 9.99889596e-01 -9.58411538e-04 -1.48282486e-02 -1.11889172e+00] [ 9.79162074e-04 9.99998552e-01 1.39219547e-03 5.05819603e-02] [ 1.48268929e-02 -1.40656102e-03 9.99889086e-01 -3.11169993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.813133365 meters Centerline goodness : 0.174954 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.31 [[ 9.99885326e-01 -9.82620272e-04 -1.51118711e-02 -1.11805535e+00] [ 1.01110258e-03 9.99997727e-01 1.87723925e-03 4.73093250e-02] [ 1.51099921e-02 -1.89230363e-03 9.99884047e-01 -3.11312076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.843133365 meters Centerline goodness : 0.175249 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.31 [[ 9.99879142e-01 -9.72190492e-04 -1.55163149e-02 -1.11672966e+00] [ 1.00901486e-03 9.99996693e-01 2.36561536e-03 4.40477524e-02] [ 1.55139638e-02 -2.38098565e-03 9.99876816e-01 -3.11817717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.873133365 meters Centerline goodness : 0.131650 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.31 [[ 9.99871615e-01 -7.23277326e-04 -1.60072266e-02 -1.11500837e+00] [ 7.76042676e-04 9.99994286e-01 3.29037950e-03 3.82563454e-02] [ 1.60047553e-02 -3.30237935e-03 9.99866462e-01 -3.12530568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.903133365 meters Centerline goodness : 0.136599 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.04, Z:-0.31 [[ 9.99869371e-01 -5.67748273e-04 -1.61529527e-02 -1.11453530e+00] [ 6.26438138e-04 9.99993221e-01 3.62855537e-03 3.66749668e-02] [ 1.61507831e-02 -3.63820020e-03 9.99862948e-01 -3.12695113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.933133365 meters Centerline goodness : 0.136144 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.04, Z:-0.31 [[ 9.99868382e-01 -3.74295660e-04 -1.62196735e-02 -1.11442180e+00] [ 4.37768791e-04 9.99992260e-01 3.90996837e-03 3.55961348e-02] [ 1.62180844e-02 -3.91655421e-03 9.99860807e-01 -3.12648661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96313336499998 meters Centerline goodness : 0.158716 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.03, Z:-0.31 [[ 9.99870177e-01 -2.74266912e-04 -1.61106887e-02 -1.11471631e+00] [ 3.39746798e-04 9.99991693e-01 4.06177898e-03 3.49235188e-02] [ 1.61094409e-02 -4.06672522e-03 9.99861964e-01 -3.12583760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99313336499998 meters Centerline goodness : 0.134971 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.03, Z:-0.31 [[ 9.99871356e-01 -1.63762873e-04 -1.60388767e-02 -1.11502815e+00] [ 2.31293829e-04 9.99991117e-01 4.20868975e-03 3.40970022e-02] [ 1.60380450e-02 -4.21185802e-03 9.99862511e-01 -3.12408646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02313336499998 meters Centerline goodness : 0.123537 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.03, Z:-0.31 [[ 9.99875044e-01 9.57029217e-05 -1.58078327e-02 -1.11563188e+00] [-2.28586143e-05 9.99989382e-01 4.60823119e-03 3.22110110e-02] [ 1.58081058e-02 -4.60729402e-03 9.99864429e-01 -3.12370805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05313336499998 meters Centerline goodness : 0.123537 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.03, Z:-0.31 [[ 9.99875044e-01 9.57029217e-05 -1.58078327e-02 -1.11563188e+00] [-2.28586143e-05 9.99989382e-01 4.60823119e-03 3.22110110e-02] [ 1.58081058e-02 -4.60729402e-03 9.99864429e-01 -3.12370805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08313336499998 meters Centerline goodness : 0.123071 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.03, Z:-0.31 [[ 9.99873375e-01 2.96304727e-04 -1.59105898e-02 -1.11526419e+00] [-2.15491977e-04 9.99987070e-01 5.08065423e-03 2.97653783e-02] [ 1.59118895e-02 -5.07658228e-03 9.99860510e-01 -3.12566974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11313336499998 meters Centerline goodness : 0.164736 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.02, Z:-0.31 [[ 9.99835335e-01 -4.25186799e-04 -1.81416984e-02 -1.16108531e+00] [ 5.20462864e-04 9.99986097e-01 5.24737389e-03 2.48825122e-02] [ 1.81392151e-02 -5.25595191e-03 9.99821656e-01 -3.11745637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14313336499998 meters Centerline goodness : 0.124385 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.02, Z:-0.31 [[ 0.99982769 0.00760814 -0.01693238 -1.14214782] [-0.00754123 0.99996352 0.00401159 0.02015538] [ 0.01696228 -0.00388321 0.99984859 -0.3100315 ] [ 0. 0. 0. 1. ]] SLAMing on 169.17313336499998 meters Centerline goodness : 0.160660 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.02, Z:-0.31 [[ 0.99983004 0.00771806 -0.01674282 -1.14295779] [-0.0076455 0.99996112 0.00439356 0.01803702] [ 0.01677608 -0.0042648 0.99985018 -0.30944119] [ 0. 0. 0. 1. ]] SLAMing on 169.20313336499999 meters Centerline goodness : 0.157908 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-0.31 [[ 0.99986181 0.00565091 -0.01563441 -1.14738319] [-0.00561024 0.99998077 0.00264414 0.01485845] [ 0.01564905 -0.00255606 0.99987428 -0.30750665] [ 0. 0. 0. 1. ]] SLAMing on 169.233133365 meters Centerline goodness : 0.147562 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-0.31 [[ 9.99889794e-01 3.47449086e-03 -1.44335653e-02 -1.15189373e+00] [-3.46232794e-03 9.99993630e-01 8.67586242e-04 1.12738302e-02] [ 1.44364878e-02 -8.17516893e-04 9.99895454e-01 -3.05629014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.263133365 meters Centerline goodness : 0.146969 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-0.31 [[ 0.99989169 0.00360021 -0.01427073 -1.1524502 ] [-0.00358028 0.99999258 0.00142214 0.00807533] [ 0.01427574 -0.00137089 0.99989716 -0.30532536] [ 0. 0. 0. 1. ]] SLAMing on 169.293133365 meters Centerline goodness : 0.143698 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.00, Z:-0.31 [[ 0.99988782 0.00387201 -0.01446914 -1.15181934] [-0.00383765 0.99998975 0.00240189 0.00254081] [ 0.0144783 -0.00234609 0.99989243 -0.30547278] [ 0. 0. 0. 1. ]] SLAMing on 169.323133365 meters Centerline goodness : 0.125645 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.00, Z:-0.31 [[ 0.99987131 -0.00479713 -0.01530871 -1.17216003] [ 0.00485446 0.99998133 0.00370999 0.00300403] [ 0.01529063 -0.00378383 0.99987593 -0.30672392] [ 0. 0. 0. 1. ]] SLAMing on 169.353133365 meters Centerline goodness : 0.145924 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.00, Z:-0.31 [[ 9.99873888e-01 -4.65159023e-03 -1.51845850e-02 -1.17241867e+00] [ 4.71406558e-03 9.99980561e-01 4.08119639e-03 1.07017179e-03] [ 1.51653058e-02 -4.15226283e-03 9.99876378e-01 -3.06739374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.383133365 meters Centerline goodness : 0.143155 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.00, Z:-0.30 [[ 0.9998895 0.00371661 -0.01439331 -1.15361678] [-0.0036764 0.99998927 0.00281887 -0.00341355] [ 0.01440363 -0.00276565 0.99989244 -0.30495836] [ 0. 0. 0. 1. ]] SLAMing on 169.413133365 meters Centerline goodness : 0.140864 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.00, Z:-0.30 [[ 0.99989177 0.00376404 -0.01422229 -1.15408748] [-0.00372302 0.99998884 0.00290908 -0.00402447] [ 0.01423308 -0.00285581 0.99989463 -0.30489179] [ 0. 0. 0. 1. ]] SLAMing on 169.443133365 meters Centerline goodness : 0.139417 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.00, Z:-0.30 [[ 0.99989135 0.00387282 -0.01422301 -1.15404734] [-0.00382992 0.99998804 0.00304175 -0.00454395] [ 0.01423462 -0.00298695 0.99989422 -0.30497851] [ 0. 0. 0. 1. ]] SLAMing on 169.473133365 meters Centerline goodness : 0.116646 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.31 [[ 0.99988593 0.00419145 -0.01451079 -1.15300485] [-0.00414112 0.99998531 0.00349669 -0.00613885] [ 0.01452524 -0.0034362 0.9998886 -0.30562444] [ 0. 0. 0. 1. ]] SLAMing on 169.503133365 meters Centerline goodness : 0.132250 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.00, Z:-0.30 [[ 0.99988567 -0.003305 -0.01475545 -1.13299149] [ 0.00337109 0.99998439 0.0044567 -0.00229335] [ 0.01474049 -0.00450593 0.9998812 -0.3047631 ] [ 0. 0. 0. 1. ]] SLAMing on 169.533133365 meters Centerline goodness : 0.130867 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.00, Z:-0.30 [[ 0.99988524 -0.0031832 -0.01481132 -1.13272938] [ 0.00325424 0.99998331 0.00477462 -0.00407122] [ 0.01479587 -0.00482227 0.99987891 -0.30492466] [ 0. 0. 0. 1. ]] SLAMing on 169.563133365 meters Centerline goodness : 0.131541 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.31 [[ 0.99988722 -0.00308696 -0.01469776 -1.13292412] [ 0.00316272 0.99998182 0.00513397 -0.00623914] [ 0.01468164 -0.00517988 0.9998788 -0.3050015 ] [ 0. 0. 0. 1. ]] SLAMing on 169.593133365 meters Centerline goodness : 0.134780 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.31 [[ 0.9998883 -0.00298963 -0.01464428 -1.13299451] [ 0.00307081 0.99998003 0.00552428 -0.00857283] [ 0.01462747 -0.00556863 0.99987751 -0.30501249] [ 0. 0. 0. 1. ]] SLAMing on 169.623133365 meters Centerline goodness : 0.130869 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.31 [[ 0.99988165 -0.00274988 -0.01513706 -1.13143483] [ 0.00284442 0.99997656 0.00622761 -0.01236086] [ 0.01511958 -0.00626993 0.99986603 -0.30554466] [ 0. 0. 0. 1. ]] SLAMing on 169.653133365 meters Centerline goodness : 0.117753 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.31 [[ 0.99987781 -0.00264788 -0.01540645 -1.13048264] [ 0.00274734 0.9999755 0.00643817 -0.01337994] [ 0.01538902 -0.00647971 0.99986059 -0.30601805] [ 0. 0. 0. 1. ]] SLAMing on 169.683133365 meters Centerline goodness : 0.117753 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.31 [[ 0.99987781 -0.00264788 -0.01540645 -1.13048264] [ 0.00274734 0.9999755 0.00643817 -0.01337994] [ 0.01538902 -0.00647971 0.99986059 -0.30601805] [ 0. 0. 0. 1. ]] SLAMing on 169.71313336499998 meters Centerline goodness : 0.163900 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.31 [[ 0.99987329 -0.00257173 -0.01570979 -1.12943783] [ 0.00267497 0.99997494 0.0065547 -0.01404909] [ 0.01569254 -0.00659589 0.99985511 -0.30651 ] [ 0. 0. 0. 1. ]] SLAMing on 169.74313336499998 meters Centerline goodness : 0.135087 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.99985798 0.00521837 -0.01602482 -1.14855291] [-0.00513017 0.99997149 0.00554037 -0.02072524] [ 0.01605327 -0.00545737 0.99985624 -0.30857285] [ 0. 0. 0. 1. ]] SLAMing on 169.77313336499998 meters Centerline goodness : 0.131871 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.99986129 0.00526774 -0.01580023 -1.14926672] [-0.00518012 0.99997101 0.00558111 -0.02078698] [ 0.01582918 -0.00549849 0.99985959 -0.30836511] [ 0. 0. 0. 1. ]] SLAMing on 169.80313336499998 meters Centerline goodness : 0.131400 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.02, Z:-0.31 [[ 0.99987516 -0.00350182 -0.01540775 -1.17058283] [ 0.00360187 0.99997258 0.00647029 -0.01735538] [ 0.01538467 -0.00652498 0.99986036 -0.30949919] [ 0. 0. 0. 1. ]] SLAMing on 169.83313336499998 meters Centerline goodness : 0.128436 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.99987413 0.0048906 -0.01509329 -1.15124302] [-0.00481524 0.99997578 0.00502522 -0.01993371] [ 0.0151175 -0.00495191 0.99987346 -0.30776941] [ 0. 0. 0. 1. ]] SLAMing on 169.86313336499998 meters SLAMing on 169.89313336499998 meters Centerline goodness : 0.130112 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.99987927 0.00487262 -0.01475476 -1.15207476] [-0.0048019 0.99997683 0.00482453 -0.01875517] [ 0.01477792 -0.00475309 0.9998795 -0.30780829] [ 0. 0. 0. 1. ]] SLAMing on 169.92313336499998 meters SLAMing on 169.95313336499999 meters Centerline goodness : 0.129468 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.99988788 0.00483813 -0.01417108 -1.1539787 ] [-0.0047742 0.99997829 0.00454183 -0.01690517] [ 0.01419274 -0.00447367 0.99988927 -0.30703891] [ 0. 0. 0. 1. ]] SLAMing on 169.983133365 meters Centerline goodness : 0.088137 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.99988909 0.00473455 -0.01412044 -1.15407919] [-0.00467428 0.99997984 0.00429877 -0.01584459] [ 0.01414051 -0.00423229 0.99989106 -0.30714933] [ 0. 0. 0. 1. ]] SLAMing on 170.013133365 meters Centerline goodness : 0.137912 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.99988931 0.00465823 -0.01413068 -1.15394943] [-0.00460048 0.99998094 0.00411718 -0.01500737] [ 0.01414958 -0.00405171 0.99989168 -0.30739198] [ 0. 0. 0. 1. ]] SLAMing on 170.043133365 meters Centerline goodness : 0.166923 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.01, Z:-0.31 [[ 0.99987314 -0.00417589 -0.01537116 -1.17409514] [ 0.00425433 0.99997808 0.00507392 -0.01169715] [ 0.01534964 -0.00513867 0.99986898 -0.30854151] [ 0. 0. 0. 1. ]] SLAMing on 170.073133365 meters Centerline goodness : 0.129126 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.01, Z:-0.31 [[ 0.99986971 -0.00427897 -0.01556478 -1.17360532] [ 0.00435891 0.99997747 0.00510546 -0.01234405] [ 0.01554258 -0.00517264 0.99986583 -0.30856046] [ 0. 0. 0. 1. ]] SLAMing on 170.103133365 meters Centerline goodness : 0.132892 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.9998828 0.00314518 -0.01498303 -1.15475565] [-0.00309961 0.9999905 0.00306417 -0.01615177] [ 0.01499253 -0.00301736 0.99988305 -0.30655818] [ 0. 0. 0. 1. ]] SLAMing on 170.133133365 meters Centerline goodness : 0.136390 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.31 [[ 0.99988447 0.00314556 -0.01487118 -1.15541629] [-0.00309675 0.99998975 0.00330406 -0.01783045] [ 0.01488142 -0.00325763 0.99988396 -0.3058709 ] [ 0. 0. 0. 1. ]] SLAMing on 170.163133365 meters Centerline goodness : 0.147717 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.31 [[ 0.99988656 0.00315417 -0.0147283 -1.15608553] [-0.00310243 0.99998894 0.00353479 -0.01925753] [ 0.01473929 -0.00348869 0.99988528 -0.30530973] [ 0. 0. 0. 1. ]] SLAMing on 170.193133365 meters Centerline goodness : 0.153093 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.31 [[ 0.99988814 0.00326019 -0.01459711 -1.15652249] [-0.00320474 0.99998757 0.00382047 -0.02050823] [ 0.01460938 -0.00377326 0.99988616 -0.30509531] [ 0. 0. 0. 1. ]] SLAMing on 170.223133365 meters Centerline goodness : 0.146881 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.31 [[ 0.9998893 0.00332313 -0.01450301 -1.15661318] [-0.00326507 0.99998657 0.00402482 -0.02152747] [ 0.01451619 -0.00397703 0.99988673 -0.30528514] [ 0. 0. 0. 1. ]] SLAMing on 170.253133365 meters Centerline goodness : 0.159262 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.31 [[ 0.99988924 0.00339707 -0.01448997 -1.15641735] [-0.00333611 0.99998549 0.00422916 -0.02260052] [ 0.01450412 -0.00418035 0.99988607 -0.30560271] [ 0. 0. 0. 1. ]] SLAMing on 170.283133365 meters Centerline goodness : 0.131153 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.31 [[ 0.99988721 0.00337977 -0.01463345 -1.15577379] [-0.00331495 0.99998459 0.00445208 -0.02457821] [ 0.01464827 -0.00440307 0.99988301 -0.30599499] [ 0. 0. 0. 1. ]] SLAMing on 170.313133365 meters Centerline goodness : 0.132704 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.03, Z:-0.31 [[ 0.99988623 0.00337338 -0.01470175 -1.1555136 ] [-0.00330735 0.99998434 0.00451347 -0.02518606] [ 0.01471675 -0.00446433 0.99988174 -0.30613768] [ 0. 0. 0. 1. ]] SLAMing on 170.343133365 meters Centerline goodness : 0.141314 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.99988185 0.00340349 -0.01498982 -1.15478617] [-0.00333482 0.99998384 0.00460356 -0.02570603] [ 0.01500524 -0.00455302 0.99987705 -0.30621753] [ 0. 0. 0. 1. ]] SLAMing on 170.373133365 meters Centerline goodness : 0.141651 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.99987671 0.0034121 -0.01532748 -1.15371682] [-0.00334154 0.99998371 0.00462688 -0.02589125] [ 0.01534302 -0.00457509 0.99987182 -0.30669503] [ 0. 0. 0. 1. ]] SLAMing on 170.403133365 meters Centerline goodness : 0.167938 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.99987033 0.00342934 -0.01573381 -1.15236596] [-0.00335654 0.99998355 0.00465126 -0.02606005] [ 0.01574951 -0.00459785 0.9998654 -0.30730866] [ 0. 0. 0. 1. ]] SLAMing on 170.433133365 meters Centerline goodness : 0.141446 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.99986743 0.00342243 -0.01591883 -1.15161737] [-0.00334905 0.99998365 0.00463404 -0.02610744] [ 0.01593443 -0.00458012 0.99986255 -0.30780987] [ 0. 0. 0. 1. ]] SLAMing on 170.46313336499998 meters SLAMing on 170.49313336499998 meters Centerline goodness : 0.058831 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.99988159 0.00360114 -0.01496153 -1.15454861] [-0.00352976 0.99998228 0.00479428 -0.02652548] [ 0.01497853 -0.0047409 0.99987658 -0.30674436] [ 0. 0. 0. 1. ]] SLAMing on 170.52313336499998 meters Centerline goodness : 0.137604 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.99988238 0.00357345 -0.01491523 -1.15490292] [-0.00350257 0.99998246 0.00477545 -0.02671079] [ 0.01493203 -0.00472265 0.99987736 -0.30644103] [ 0. 0. 0. 1. ]] SLAMing on 170.55313336499998 meters Centerline goodness : 0.141012 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.99987971 0.00355143 -0.01509783 -1.1544375 ] [-0.00347992 0.99998262 0.00476009 -0.02684294] [ 0.01511447 -0.00470698 0.99987469 -0.30652978] [ 0. 0. 0. 1. ]] SLAMing on 170.58313336499998 meters Centerline goodness : 0.156879 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.9998756 0.00351468 -0.01537641 -1.15347825] [-0.00344275 0.99998302 0.00470182 -0.02671597] [ 0.01539267 -0.0046483 0.99987072 -0.30701863] [ 0. 0. 0. 1. ]] SLAMing on 170.61313336499998 meters Centerline goodness : 0.158701 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.9998725 0.00348517 -0.01558292 -1.15263669] [-0.00341331 0.99998343 0.00463512 -0.02639695] [ 0.01559882 -0.00458134 0.99986784 -0.3075856 ] [ 0. 0. 0. 1. ]] SLAMing on 170.64313336499998 meters Centerline goodness : 0.217418 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.03, Z:-0.31 [[ 0.99984235 0.00264534 -0.01755796 -1.19958175] [-0.00256632 0.99998648 0.00452152 -0.02785836] [ 0.01756969 -0.00447575 0.99983562 -0.30634192] [ 0. 0. 0. 1. ]] SLAMing on 170.67313336499998 meters Centerline goodness : 0.217418 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.03, Z:-0.31 [[ 0.99984235 0.00264534 -0.01755796 -1.19958175] [-0.00256632 0.99998648 0.00452152 -0.02785836] [ 0.01756969 -0.00447575 0.99983562 -0.30634192] [ 0. 0. 0. 1. ]] SLAMing on 170.70313336499999 meters SLAMing on 170.733133365 meters Centerline goodness : 0.131783 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.02, Z:-0.31 [[ 0.99984891 0.00273224 -0.01716668 -1.20077114] [-0.00266286 0.9999882 0.00406289 -0.02417464] [ 0.01717758 -0.00401657 0.99984439 -0.3061196 ] [ 0. 0. 0. 1. ]] SLAMing on 170.763133365 meters Centerline goodness : 0.130025 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.31 [[ 0.99985941 0.0051151 -0.01596888 -1.15598575] [-0.00504201 0.99997664 0.00461412 -0.0174253 ] [ 0.0159921 -0.00453295 0.99986184 -0.3063217 ] [ 0. 0. 0. 1. ]] SLAMing on 170.793133365 meters Centerline goodness : 0.168018 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.01, Z:-0.31 [[ 0.99986308 -0.00295585 -0.01628135 -1.17535632] [ 0.0030532 0.99997759 0.00595784 -0.01061029] [ 0.01626337 -0.00600674 0.9998497 -0.30853864] [ 0. 0. 0. 1. ]] SLAMing on 170.823133365 meters Centerline goodness : 0.129565 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.00, Z:-0.31 [[ 0.99986186 -0.0030455 -0.01633967 -1.17496025] [ 0.00312577 0.99998316 0.00488923 -0.00364875] [ 0.0163245 -0.00493963 0.99985454 -0.30932151] [ 0. 0. 0. 1. ]] SLAMing on 170.853133365 meters Centerline goodness : 0.145136 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-0.31 [[ 9.99872176e-01 5.37026993e-03 -1.50595969e-02 -1.15545866e+00] [-5.32534213e-03 9.99981254e-01 3.02184971e-03 -1.15449090e-03] [ 1.50755427e-02 -2.94126594e-03 9.99882032e-01 -3.08065635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.883133365 meters Centerline goodness : 0.134363 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.01, Z:-0.31 [[ 0.99991458 -0.00226754 -0.01287196 -1.17670912] [ 0.00231888 0.99998941 0.00397494 0.00681581] [ 0.01286281 -0.00400445 0.99990925 -0.30988159] [ 0. 0. 0. 1. ]] SLAMing on 170.913133365 meters Centerline goodness : 0.144433 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.01, Z:-0.31 [[ 0.99992171 -0.00229539 -0.01230063 -1.1785731 ] [ 0.00233886 0.99999107 0.00352094 0.01019866] [ 0.01229243 -0.00354943 0.99991815 -0.30926565] [ 0. 0. 0. 1. ]] SLAMing on 170.943133365 meters Centerline goodness : 0.133485 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.01, Z:-0.31 [[ 0.99992649 -0.0024189 -0.01188094 -1.18003225] [ 0.00245515 0.99999237 0.00303741 0.01328236] [ 0.0118735 -0.00306636 0.99992481 -0.30865971] [ 0. 0. 0. 1. ]] SLAMing on 170.973133365 meters Centerline goodness : 0.144886 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 0.99992903 -0.00261287 -0.01162372 -1.18079426] [ 0.00264247 0.9999933 0.00253136 0.01595506] [ 0.01161703 -0.0025619 0.99992924 -0.30853311] [ 0. 0. 0. 1. ]] SLAMing on 171.003133365 meters Centerline goodness : 0.146469 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 0.99992877 -0.00304898 -0.01153954 -1.18088886] [ 0.00306872 0.99999386 0.00169377 0.01966475] [ 0.0115343 -0.00172906 0.99993198 -0.30877386] [ 0. 0. 0. 1. ]] SLAMing on 171.033133365 meters Centerline goodness : 0.145529 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.02, Z:-0.31 [[ 9.99915374e-01 4.40143467e-03 -1.22422544e-02 -1.19989737e+00] [-4.39941462e-03 9.99990304e-01 1.91932630e-04 1.56248227e-02] [ 1.22429805e-02 -1.38057634e-04 9.99925042e-01 -3.10176866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.063133365 meters Centerline goodness : 0.151960 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 9.99908974e-01 -3.07265017e-03 -1.31378541e-02 -1.18078251e+00] [ 3.08562961e-03 9.99994771e-01 9.67786087e-04 2.29873504e-02] [ 1.31348117e-02 -1.00823654e-03 9.99913226e-01 -3.08374248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.093133365 meters Centerline goodness : 0.154521 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 9.99905650e-01 -3.21108567e-03 -1.33559079e-02 -1.18007290e+00] [ 3.22058259e-03 9.99994576e-01 6.89618297e-04 2.43662997e-02] [ 1.33536210e-02 -7.32567036e-04 9.99910568e-01 -3.08700249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.123133365 meters Centerline goodness : 0.156825 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.31 [[ 9.99902528e-01 -3.28906413e-03 -1.35689820e-02 -1.17918426e+00] [ 3.29596876e-03 9.99994450e-01 4.86523078e-04 2.55267833e-02] [ 1.35673065e-02 -5.31198596e-04 9.99907819e-01 -3.09333730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.153133365 meters Centerline goodness : 0.159503 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.31 [[ 9.99900821e-01 -3.35822137e-03 -1.36773797e-02 -1.17877048e+00] [ 3.36311197e-03 9.99994289e-01 3.34583653e-04 2.63874592e-02] [ 1.36761780e-02 -3.80549028e-04 9.99906404e-01 -3.09605524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.183133365 meters Centerline goodness : 0.158373 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.31 [[ 9.99895943e-01 -3.60396734e-03 -1.39683487e-02 -1.17829711e+00] [ 3.60592506e-03 9.99993492e-01 1.14970508e-04 2.67852613e-02] [ 1.39678434e-02 -1.65327363e-04 9.99902431e-01 -3.09259564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21313336499998 meters Centerline goodness : 0.158373 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.31 [[ 9.99895943e-01 -3.60396734e-03 -1.39683487e-02 -1.17829711e+00] [ 3.60592506e-03 9.99993492e-01 1.14970508e-04 2.67852613e-02] [ 1.39678434e-02 -1.65327363e-04 9.99902431e-01 -3.09259564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24313336499998 meters Centerline goodness : 0.160030 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.31 [[ 9.99893928e-01 -3.64586384e-03 -1.41010471e-02 -1.17795840e+00] [ 3.64878461e-03 9.99993327e-01 1.81409706e-04 2.61164388e-02] [ 1.41002916e-02 -2.32842147e-04 9.99900559e-01 -3.09263879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27313336499998 meters Centerline goodness : 0.157192 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 9.99886800e-01 -3.93353125e-03 -1.45228768e-02 -1.17664527e+00] [ 3.93909791e-03 9.99992179e-01 3.54717389e-04 2.36864253e-02] [ 1.45213679e-02 -4.11884268e-04 9.99894475e-01 -3.09597339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30313336499998 meters Centerline goodness : 0.163234 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 9.99886922e-01 -3.91275237e-03 -1.45201026e-02 -1.17651556e+00] [ 3.92219902e-03 9.99992115e-01 6.22171456e-04 2.19084866e-02] [ 1.45175537e-02 -6.79051834e-04 9.99894384e-01 -3.09731703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33313336499998 meters Centerline goodness : 0.159135 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 9.99885249e-01 -3.87435689e-03 -1.46451010e-02 -1.17613348e+00] [ 3.88768389e-03 9.99992054e-01 8.81637130e-04 2.02049131e-02] [ 1.46415688e-02 -9.38471484e-04 9.99892366e-01 -3.09817271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36313336499998 meters Centerline goodness : 0.150445 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 9.99883530e-01 -3.80939960e-03 -1.47788959e-02 -1.17576471e+00] [ 3.82661497e-03 9.99992032e-01 1.13675866e-03 1.87432252e-02] [ 1.47744477e-02 -1.19317940e-03 9.99890140e-01 -3.09862692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39313336499998 meters Centerline goodness : 0.154944 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 0.99988176 -0.00366906 -0.01493306 -1.17548012] [ 0.0036913 0.99999212 0.00146236 0.01722799] [ 0.01492758 -0.00151731 0.99988743 -0.30969975] [ 0. 0. 0. 1. ]] SLAMing on 171.42313336499998 meters Centerline goodness : 0.161918 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 0.99988174 -0.00352986 -0.01496809 -1.17541678] [ 0.00355707 0.99999207 0.00179151 0.01568936] [ 0.01496164 -0.00184454 0.99988637 -0.30961316] [ 0. 0. 0. 1. ]] SLAMing on 171.45313336499999 meters Centerline goodness : 0.161609 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.01, Z:-0.31 [[ 0.9998827 -0.00341044 -0.01493175 -1.17566464] [ 0.00344338 0.99999169 0.00218131 0.01314998] [ 0.01492418 -0.00223247 0.99988614 -0.30929637] [ 0. 0. 0. 1. ]] SLAMing on 171.483133365 meters Centerline goodness : 0.155523 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.01, Z:-0.31 [[ 0.99988306 -0.00333998 -0.01492327 -1.17575895] [ 0.00337542 0.99999154 0.00234986 0.01208197] [ 0.01491529 -0.00239996 0.99988588 -0.30918031] [ 0. 0. 0. 1. ]] SLAMing on 171.513133365 meters Centerline goodness : 0.137389 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.01, Z:-0.31 [[ 0.9998898 0.00464393 -0.01410009 -1.19592841] [-0.00461847 0.99998765 0.00183746 0.00542522] [ 0.01410845 -0.00177214 0.9998989 -0.31065637] [ 0. 0. 0. 1. ]] SLAMing on 171.543133365 meters Centerline goodness : 0.142667 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.00, Z:-0.31 [[ 0.9998919 0.00478681 -0.01390255 -1.19663413] [-0.00475848 0.99998654 0.00207022 0.00463539] [ 0.01391227 -0.00200384 0.99990121 -0.31031184] [ 0. 0. 0. 1. ]] SLAMing on 171.573133365 meters Centerline goodness : 0.163325 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.00, Z:-0.31 [[ 0.99989405 0.00486368 -0.01371979 -1.19727558] [-0.00483317 0.99998577 0.00225636 0.00364386] [ 0.01373057 -0.00218981 0.99990333 -0.30996289] [ 0. 0. 0. 1. ]] SLAMing on 171.603133365 meters Centerline goodness : 0.135329 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.00, Z:-0.31 [[ 9.99897532e-01 4.92192233e-03 -1.34424563e-02 -1.19817912e+00] [-4.88731739e-03 9.99984661e-01 2.60594004e-03 1.03696057e-03] [ 1.34550764e-02 -2.53997546e-03 9.99906250e-01 -3.09603453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.633133365 meters Centerline goodness : 0.153317 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.00, Z:-0.31 [[ 9.99898304e-01 4.98680040e-03 -1.33608901e-02 -1.19849448e+00] [-4.94903644e-03 9.99983669e-01 2.85803024e-03 -3.84854730e-04] [ 1.33749244e-02 -2.79161606e-03 9.99906655e-01 -3.09403264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.663133365 meters Centerline goodness : 0.134664 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.00, Z:-0.31 [[ 0.9998992 0.00509793 -0.01325169 -1.1989703 ] [-0.00505558 0.99998201 0.00322745 -0.00223464] [ 0.01326791 -0.00316013 0.99990698 -0.30905581] [ 0. 0. 0. 1. ]] SLAMing on 171.693133365 meters Centerline goodness : 0.133858 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.00, Z:-0.31 [[ 0.99989776 -0.00415057 -0.01368372 -1.2211261 ] [ 0.00420636 0.99998295 0.00405064 -0.00172797] [ 0.01366668 -0.00410779 0.99989817 -0.30940086] [ 0. 0. 0. 1. ]] SLAMing on 171.723133365 meters Centerline goodness : 0.131438 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.00, Z:-0.31 [[ 0.99989565 -0.00420407 -0.01382053 -1.22095042] [ 0.00426468 0.99998141 0.00435859 -0.00412569] [ 0.01380195 -0.00441708 0.99989499 -0.30909889] [ 0. 0. 0. 1. ]] SLAMing on 171.753133365 meters Centerline goodness : 0.133188 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:-0.31 [[ 0.99989348 -0.00428102 -0.01395373 -1.22075943] [ 0.00434701 0.9999795 0.00470234 -0.00676547] [ 0.01393331 -0.0047625 0.99989158 -0.30883756] [ 0. 0. 0. 1. ]] SLAMing on 171.783133365 meters Centerline goodness : 0.135099 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:-0.31 [[ 0.99989101 -0.004563 -0.01404068 -1.22039609] [ 0.00463749 0.99997532 0.00527712 -0.01143067] [ 0.01401626 -0.00534166 0.9998875 -0.30889322] [ 0. 0. 0. 1. ]] SLAMing on 171.813133365 meters Centerline goodness : 0.135142 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:-0.31 [[ 0.99989235 -0.00448302 -0.01397074 -1.22063154] [ 0.00456388 0.99997299 0.00576093 -0.01397347] [ 0.01394454 -0.00582407 0.99988581 -0.30868802] [ 0. 0. 0. 1. ]] SLAMing on 171.843133365 meters Centerline goodness : 0.137335 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.02, Z:-0.31 [[ 0.999894 -0.00452244 -0.0138397 -1.22113185] [ 0.00460749 0.99997066 0.00611923 -0.01649396] [ 0.01381162 -0.00618235 0.9998855 -0.30830218] [ 0. 0. 0. 1. ]] SLAMing on 171.873133365 meters Centerline goodness : 0.134824 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.02, Z:-0.31 [[ 9.99901085e-01 8.97657718e-04 -1.40361912e-02 -1.20078189e+00] [-8.62796497e-04 9.99996529e-01 2.48952498e-03 -2.09113999e-02] [ 1.40383772e-02 -2.47716835e-03 9.99898389e-01 -3.06995646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.903133365 meters Centerline goodness : 0.119445 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-0.31 [[ 0.99985242 -0.00143824 -0.01711952 -1.24441769] [ 0.00146456 0.99999777 0.00152446 -0.02568439] [ 0.01711729 -0.0015493 0.99985229 -0.30666632] [ 0. 0. 0. 1. ]] SLAMing on 171.933133365 meters Centerline goodness : 0.137034 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-0.31 [[ 0.99984215 -0.00152144 -0.01770174 -1.24278054] [ 0.00155376 0.99999715 0.00181202 -0.02801272] [ 0.01769894 -0.00183924 0.99984167 -0.30704324] [ 0. 0. 0. 1. ]] SLAMing on 171.96313336499998 meters Centerline goodness : 0.140871 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-0.31 [[ 0.99983631 -0.00152163 -0.0180287 -1.24194439] [ 0.00156868 0.9999954 0.00259571 -0.03304077] [ 0.01802467 -0.00262356 0.9998341 -0.30706266] [ 0. 0. 0. 1. ]] SLAMing on 171.99313336499998 meters Centerline goodness : 0.124649 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-0.31 [[ 0.99983697 -0.00138683 -0.01800316 -1.24222357] [ 0.00144298 0.99999413 0.00310663 -0.03583235] [ 0.01799874 -0.0031321 0.9998331 -0.30665347] [ 0. 0. 0. 1. ]] SLAMing on 172.02313336499998 meters Centerline goodness : 0.141740 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-0.31 [[ 0.99983575 -0.00138585 -0.01807066 -1.24224593] [ 0.00144758 0.99999316 0.00340362 -0.03793218] [ 0.01806582 -0.00342922 0.99983092 -0.30640525] [ 0. 0. 0. 1. ]] SLAMing on 172.05313336499998 meters Centerline goodness : 0.127913 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-0.31 [[ 0.99982846 -0.00134508 -0.01847267 -1.24127305] [ 0.00141445 0.99999199 0.00374304 -0.04021564] [ 0.01846748 -0.00376853 0.99982236 -0.30639096] [ 0. 0. 0. 1. ]] SLAMing on 172.08313336499998 meters Centerline goodness : 0.135436 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-0.31 [[ 9.99819592e-01 -1.20303614e-03 -1.89561659e-02 -1.23985779e+00] [ 1.28143410e-03 9.99990675e-01 4.12414625e-03 -4.22044683e-02] [ 1.89510276e-02 -4.14769330e-03 9.99811810e-01 -3.06766804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11313336499998 meters Centerline goodness : 0.140178 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-0.31 [[ 9.99813071e-01 -1.09278650e-03 -1.93035834e-02 -1.23877436e+00] [ 1.17852004e-03 9.99989491e-01 4.43051033e-03 -4.37823117e-02] [ 1.92985389e-02 -4.45243180e-03 9.99803852e-01 -3.07168954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14313336499998 meters Centerline goodness : 0.133437 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99810366e-01 -7.59171066e-04 -1.94591009e-02 -1.23821810e+00] [ 8.57311666e-04 9.99986954e-01 5.03558355e-03 -4.59072458e-02] [ 1.94550242e-02 -5.05131114e-03 9.99797973e-01 -3.07389255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17313336499998 meters Centerline goodness : 0.110833 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99810730e-01 -7.80827218e-04 -1.94394925e-02 -1.23855615e+00] [ 8.78985193e-04 9.99986906e-01 5.04137821e-03 -4.61914320e-02] [ 1.94353015e-02 -5.05751105e-03 9.99798325e-01 -3.06911644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20313336499999 meters Centerline goodness : 0.132079 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99809901e-01 -7.75942383e-04 -1.94823052e-02 -1.23859779e+00] [ 8.76243562e-04 9.99986405e-01 5.14031340e-03 -4.70391681e-02] [ 1.94780517e-02 -5.15640747e-03 9.99796988e-01 -3.06665799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.233133365 meters Centerline goodness : 0.124541 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99808112e-01 -7.63227816e-04 -1.95744021e-02 -1.23839766e+00] [ 8.65270091e-04 9.99986079e-01 5.20510739e-03 -4.74490906e-02] [ 1.95701569e-02 -5.22104573e-03 9.99794854e-01 -3.06639758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.263133365 meters Centerline goodness : 0.133124 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99808321e-01 -6.95156177e-04 -1.95662434e-02 -1.23845491e+00] [ 7.99331596e-04 9.99985546e-01 5.31692516e-03 -4.77158130e-02] [ 1.95622645e-02 -5.33154594e-03 9.99794425e-01 -3.06581081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.293133365 meters Centerline goodness : 0.146123 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99810979e-01 -6.29438683e-04 -1.94321779e-02 -1.23898542e+00] [ 7.36289640e-04 9.99984648e-01 5.49199618e-03 -4.84192452e-02] [ 1.94284227e-02 -5.50526579e-03 9.99796093e-01 -3.06316308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.323133365 meters Centerline goodness : 0.144555 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99820859e-01 -6.48298153e-04 -1.89164050e-02 -1.24075283e+00] [ 7.58126326e-04 9.99982896e-01 5.79938152e-03 -5.05558352e-02] [ 1.89123218e-02 -5.81268363e-03 9.99804249e-01 -3.05409856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.353133365 meters Centerline goodness : 0.106575 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99826466e-01 -7.30559234e-04 -1.86146005e-02 -1.24183890e+00] [ 8.42066852e-04 9.99981746e-01 5.98319730e-03 -5.17845123e-02] [ 1.86098896e-02 -5.99783375e-03 9.99808831e-01 -3.05015339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.383133365 meters Centerline goodness : 0.147421 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.30 [[ 9.99825608e-01 -6.69091996e-04 -1.86629491e-02 -1.24185828e+00] [ 7.86744622e-04 9.99979861e-01 6.29744518e-03 -5.35175483e-02] [ 1.86583596e-02 -6.31102994e-03 9.99805999e-01 -3.04809283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.413133365 meters Centerline goodness : 0.140393 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.30 [[ 9.99821144e-01 -6.47443110e-04 -1.89013185e-02 -1.24118307e+00] [ 7.71476892e-04 9.99978214e-01 6.55562229e-03 -5.50444141e-02] [ 1.88966623e-02 -6.56903171e-03 9.99799862e-01 -3.04967434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.443133365 meters Centerline goodness : 0.134385 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 9.99818492e-01 -6.24723954e-04 -1.90418655e-02 -1.24075725e+00] [ 7.53524699e-04 9.99976883e-01 6.75765806e-03 -5.62471025e-02] [ 1.90372036e-02 -6.77078001e-03 9.99795850e-01 -3.05070367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.473133365 meters Centerline goodness : 0.142016 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 9.99818303e-01 -6.33798373e-04 -1.90514865e-02 -1.24074791e+00] [ 7.64703762e-04 9.99976146e-01 6.86463830e-03 -5.71145164e-02] [ 1.90466812e-02 -6.87795976e-03 9.99794938e-01 -3.05007269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.503133365 meters Centerline goodness : 0.107020 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.30 [[ 9.99819715e-01 -6.42243031e-04 -1.89769461e-02 -1.24123227e+00] [ 7.73469041e-04 9.99975837e-01 6.90849221e-03 -5.75915416e-02] [ 1.89720506e-02 -6.92192479e-03 9.99796053e-01 -3.04557233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.533133365 meters Centerline goodness : 0.111264 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.30 [[ 9.99819470e-01 -6.47557316e-04 -1.89897053e-02 -1.24138492e+00] [ 7.78765795e-04 9.99975872e-01 6.90287239e-03 -5.75934866e-02] [ 1.89847771e-02 -6.91641475e-03 9.99795850e-01 -3.04287101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.563133365 meters Centerline goodness : 0.150271 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.30 [[ 9.99815167e-01 -7.47515439e-04 -1.92112995e-02 -1.24058255e+00] [ 8.74353723e-04 9.99977872e-01 6.59472384e-03 -5.59800447e-02] [ 1.92059448e-02 -6.61030239e-03 9.99793697e-01 -3.04687256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.593133365 meters Centerline goodness : 0.150271 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.30 [[ 9.99815167e-01 -7.47515439e-04 -1.92112995e-02 -1.24058255e+00] [ 8.74353723e-04 9.99977872e-01 6.59472384e-03 -5.59800447e-02] [ 1.92059448e-02 -6.61030239e-03 9.99793697e-01 -3.04687256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.623133365 meters Centerline goodness : 0.142121 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99811041e-01 -8.80117275e-04 -1.94192700e-02 -1.23989124e+00] [ 1.00332697e-03 9.99979425e-01 6.33588246e-03 -5.49140395e-02] [ 1.94132941e-02 -6.35416912e-03 9.99791353e-01 -3.05013542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.653133365 meters Centerline goodness : 0.103904 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99807412e-01 -1.01538540e-03 -1.95986910e-02 -1.23931063e+00] [ 1.13432477e-03 9.99981003e-01 6.05857821e-03 -5.38260453e-02] [ 1.95921669e-02 -6.07964268e-03 9.99789570e-01 -3.05246895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.683133365 meters Centerline goodness : 0.148410 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99805175e-01 -1.15505122e-03 -1.97047606e-02 -1.23885690e+00] [ 1.26917803e-03 9.99982488e-01 5.78031754e-03 -5.25975859e-02] [ 1.96977390e-02 -5.80420024e-03 9.99789133e-01 -3.05580451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71313336499998 meters Centerline goodness : 0.149029 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99803694e-01 -1.22695094e-03 -1.97754412e-02 -1.23861460e+00] [ 1.33790744e-03 9.99983433e-01 5.59856944e-03 -5.16550999e-02] [ 1.97682445e-02 -5.62392812e-03 9.99788772e-01 -3.05739905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74313336499998 meters Centerline goodness : 0.150388 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.05, Z:-0.30 [[ 0.99979245 0.00705088 -0.01911388 -1.21907221] [-0.00697093 0.99996669 0.00424616 -0.05428045] [ 0.01914318 -0.00411204 0.9998083 -0.30473978] [ 0. 0. 0. 1. ]] SLAMing on 172.77313336499998 meters Centerline goodness : 0.120056 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 9.99815106e-01 -8.52955149e-04 -1.92100509e-02 -1.19988684e+00] [ 9.47069179e-04 9.99987592e-01 4.89064323e-03 -4.88315744e-02] [ 1.92056411e-02 -4.90793223e-03 9.99803508e-01 -3.02544297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80313336499998 meters Centerline goodness : 0.150272 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 9.99814439e-01 -8.81978828e-04 -1.92434220e-02 -1.19992529e+00] [ 9.76178728e-04 9.99987585e-01 4.88632991e-03 -4.87469933e-02] [ 1.92388734e-02 -4.90420821e-03 9.99802888e-01 -3.02407835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83313336499998 meters Centerline goodness : 0.153046 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 9.99811626e-01 -8.79127358e-04 -1.93891568e-02 -1.19965311e+00] [ 9.74757599e-04 9.99987406e-01 4.92325144e-03 -4.86727700e-02] [ 1.93845845e-02 -4.94122375e-03 9.99799891e-01 -3.02303086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86313336499998 meters Centerline goodness : 0.114783 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 9.99808053e-01 -8.76017758e-04 -1.95726877e-02 -1.19923080e+00] [ 9.73505647e-04 9.99987166e-01 4.97183990e-03 -4.87529535e-02] [ 1.95680811e-02 -4.98993970e-03 9.99796075e-01 -3.02320844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89313336499998 meters Centerline goodness : 0.149973 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.05, Z:-0.30 [[ 0.99980771 0.00574684 -0.01874886 -1.17775403] [-0.00570044 0.99998056 0.00252757 -0.05104635] [ 0.01876302 -0.00242021 0.99982103 -0.30221093] [ 0. 0. 0. 1. ]] SLAMing on 172.92313336499998 meters Centerline goodness : 0.158804 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.05, Z:-0.31 [[ 9.99891412e-01 -5.62220886e-04 -1.47257615e-02 -1.19452938e+00] [ 6.09393861e-04 9.99994697e-01 3.19914072e-03 -4.80489343e-02] [ 1.47238847e-02 -3.20776712e-03 9.99886452e-01 -3.05187437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95313336499999 meters Centerline goodness : 0.039432 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.05, Z:-0.30 [[ 0.99987026 0.00750645 -0.01425163 -1.1751641 ] [-0.00747859 0.99997002 0.0020076 -0.05234626] [ 0.01426628 -0.00190075 0.99989642 -0.30408785] [ 0. 0. 0. 1. ]] SLAMing on 172.983133365 meters Centerline goodness : 0.158067 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.05, Z:-0.30 [[ 0.99986915 0.00749164 -0.01433721 -1.17488117] [-0.00746232 0.99996996 0.00209727 -0.05290887] [ 0.01435249 -0.00199 0.99989502 -0.30425132] [ 0. 0. 0. 1. ]] SLAMing on 173.013133365 meters SLAMing on 173.043133365 meters Centerline goodness : 0.108693 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 0.99989221 -0.00148468 -0.01460725 -1.19546391] [ 0.00153101 0.99999383 0.00316122 -0.04990596] [ 0.01460247 -0.00318325 0.99988831 -0.30488473] [ 0. 0. 0. 1. ]] SLAMing on 173.073133365 meters Centerline goodness : 0.151339 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 0.99989475 -0.00147143 -0.01443367 -1.19619622] [ 0.00151868 0.99999352 0.00326346 -0.05025486] [ 0.01442878 -0.00328504 0.9998905 -0.30438332] [ 0. 0. 0. 1. ]] SLAMing on 173.103133365 meters Centerline goodness : 0.151102 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 0.9998963 -0.0014664 -0.01432604 -1.19667364] [ 0.00151282 0.99999364 0.00323014 -0.04960835] [ 0.01432121 -0.00325148 0.99989216 -0.30403779] [ 0. 0. 0. 1. ]] SLAMing on 173.133133365 meters Centerline goodness : 0.149643 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 0.9998945 -0.00154034 -0.01444362 -1.1962224 ] [ 0.00158388 0.99999423 0.00300383 -0.04827896] [ 0.01443891 -0.00302639 0.99989117 -0.30429616] [ 0. 0. 0. 1. ]] SLAMing on 173.163133365 meters Centerline goodness : 0.109701 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 0.99989414 -0.00163702 -0.01445786 -1.19593384] [ 0.00167636 0.99999492 0.00270955 -0.04676903] [ 0.01445335 -0.0027335 0.99989181 -0.30469819] [ 0. 0. 0. 1. ]] SLAMing on 173.193133365 meters Centerline goodness : 0.162986 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.05, Z:-0.30 [[ 0.99988795 0.00661119 -0.01343074 -1.1764533 ] [-0.00659395 0.99997738 0.00132804 -0.04847735] [ 0.01343921 -0.00123933 0.99990892 -0.30366578] [ 0. 0. 0. 1. ]] SLAMing on 173.223133365 meters Centerline goodness : 0.106722 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.05, Z:-0.30 [[ 9.99891197e-01 6.49820642e-03 -1.32426085e-02 -1.17728262e+00] [-6.48590014e-03 9.99978494e-01 9.72029744e-04 -4.65849151e-02] [ 1.32486401e-02 -8.86033748e-04 9.99911840e-01 -3.03053195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.253133365 meters Centerline goodness : 0.109746 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.04, Z:-0.31 [[ 9.99951165e-01 7.58645114e-04 -9.85357503e-03 -1.19327558e+00] [-7.41400640e-04 9.99998188e-01 1.75360776e-03 -3.88031342e-02] [ 9.85488754e-03 -1.74621668e-03 9.99949915e-01 -3.05872570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.283133365 meters Centerline goodness : 0.139847 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.04, Z:-0.31 [[ 9.99951688e-01 5.89925480e-04 -9.81187542e-03 -1.19303769e+00] [-5.77185962e-04 9.99998987e-01 1.30115852e-03 -3.64456223e-02] [ 9.81263306e-03 -1.29543238e-03 9.99951016e-01 -3.06406861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.313133365 meters Centerline goodness : 0.112098 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.04, Z:-0.31 [[ 9.99950250e-01 5.11867614e-04 -9.96169723e-03 -1.19264128e+00] [-5.00147152e-04 9.99999180e-01 1.17900842e-03 -3.58062990e-02] [ 9.96229256e-03 -1.17396745e-03 9.99949686e-01 -3.06479971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.343133365 meters Centerline goodness : 0.144653 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.04, Z:-0.31 [[ 9.99948458e-01 4.57355261e-04 -1.01425787e-02 -1.19225500e+00] [-4.46692324e-04 9.99999345e-01 1.05354473e-03 -3.51554920e-02] [ 1.01430539e-02 -1.04895981e-03 9.99948008e-01 -3.06455031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.373133365 meters Centerline goodness : 0.109990 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.03, Z:-0.31 [[ 9.99946190e-01 4.63759896e-04 -1.03634872e-02 -1.19166745e+00] [-4.53618492e-04 9.99999416e-01 9.80899766e-04 -3.43231125e-02] [ 1.03639360e-02 -9.76145914e-04 9.99945817e-01 -3.06575583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.403133365 meters Centerline goodness : 0.165498 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.03, Z:-0.31 [[ 9.99944257e-01 4.64656203e-04 -1.05483430e-02 -1.19109799e+00] [-4.56220246e-04 9.99999574e-01 8.02134470e-04 -3.28748239e-02] [ 1.05487112e-02 -7.97277389e-04 9.99944043e-01 -3.06793425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.433133365 meters Centerline goodness : 0.158370 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.03, Z:-0.31 [[ 9.99900872e-01 9.23290959e-03 -1.06301655e-02 -1.16927704e+00] [-9.23639163e-03 9.99957305e-01 -2.78513867e-04 -3.33702292e-02] [ 1.06271402e-02 3.76670630e-04 9.99943459e-01 -3.06521723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46313336499998 meters SLAMing on 173.49313336499998 meters Centerline goodness : 0.147146 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.03, Z:-0.31 [[ 9.99901025e-01 9.22329953e-03 -1.06241090e-02 -1.16922114e+00] [-9.23285925e-03 9.99957014e-01 -8.51117731e-04 -2.98291246e-02] [ 1.06158022e-02 9.49124395e-04 9.99943200e-01 -3.06556877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52313336499998 meters Centerline goodness : 0.157711 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.03, Z:-0.31 [[ 9.99903025e-01 9.23231324e-03 -1.04261742e-02 -1.16979219e+00] [-9.24432157e-03 9.99956661e-01 -1.10414274e-03 -2.80298519e-02] [ 1.04155285e-02 1.20041857e-03 9.99945036e-01 -3.06400622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55313336499998 meters Centerline goodness : 0.155955 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.02, Z:-0.31 [[ 0.99990578 0.00942341 -0.00998105 -1.17107988] [-0.00943901 0.9999543 -0.00151707 -0.02440793] [ 0.0099663 0.00161114 0.99994904 -0.30594962] [ 0. 0. 0. 1. ]] SLAMing on 173.58313336499998 meters Centerline goodness : 0.108077 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.30 [[ 9.99922787e-01 3.32068021e-03 -1.19746693e-02 -1.15364986e+00] [-3.32693219e-03 9.99994340e-01 -5.02217891e-04 -1.72553489e-02] [ 1.19729338e-02 5.42018027e-04 9.99928175e-01 -3.03428609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61313336499998 meters Centerline goodness : 0.145011 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.30 [[ 9.99920436e-01 3.21280568e-03 -1.21983575e-02 -1.15284551e+00] [-3.22418713e-03 9.99994385e-01 -9.13479877e-04 -1.50822258e-02] [ 1.21953542e-02 9.52736984e-04 9.99925180e-01 -3.03874497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64313336499998 meters Centerline goodness : 0.151569 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.9999187 0.00317093 -0.01235079 -1.15223592] [-0.00318544 0.99999426 -0.00115551 -0.01359759] [ 0.01234706 0.00119476 0.99992306 -0.30427405] [ 0. 0. 0. 1. ]] SLAMing on 173.67313336499998 meters Centerline goodness : 0.120664 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.99991837 0.00319167 -0.01237223 -1.15216367] [-0.00320693 0.99999412 -0.00121387 -0.01294098] [ 0.01236829 0.00125345 0.99992272 -0.30432551] [ 0. 0. 0. 1. ]] SLAMing on 173.70313336499999 meters Centerline goodness : 0.150843 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.99991947 0.00320895 -0.0122779 -1.15259308] [-0.00322439 0.99999404 -0.00123753 -0.01258442] [ 0.01227386 0.00127702 0.99992386 -0.30399955] [ 0. 0. 0. 1. ]] SLAMing on 173.733133365 meters Centerline goodness : 0.156700 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.99992129 0.00319724 -0.01213264 -1.15341102] [-0.00321184 0.99999414 -0.00118478 -0.01300447] [ 0.01212878 0.00122366 0.99992569 -0.30324346] [ 0. 0. 0. 1. ]] SLAMing on 173.763133365 meters Centerline goodness : 0.147718 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:-0.30 [[ 0.99994379 0.00355693 -0.00998826 -1.10998452] [-0.00357158 0.99999257 -0.00144953 -0.01263907] [ 0.00998303 0.00148512 0.99994907 -0.30317595] [ 0. 0. 0. 1. ]] SLAMing on 173.793133365 meters Centerline goodness : 0.124629 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:-0.30 [[ 0.99994416 0.00361011 -0.00993169 -1.11029845] [-0.00362295 0.99999262 -0.00127509 -0.01356479] [ 0.00992702 0.001311 0.99994987 -0.30289179] [ 0. 0. 0. 1. ]] SLAMing on 173.823133365 meters Centerline goodness : 0.150607 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:-0.30 [[ 0.99994419 0.00365621 -0.00991213 -1.11056341] [-0.00366747 0.99999265 -0.0011179 -0.01448162] [ 0.00990797 0.00115419 0.99995025 -0.30254279] [ 0. 0. 0. 1. ]] SLAMing on 173.853133365 meters Centerline goodness : 0.147169 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.02, Z:-0.30 [[ 9.99944423e-01 3.71772765e-03 -9.86559126e-03 -1.11091450e+00] [-3.72753781e-03 9.99992576e-01 -9.76180699e-04 -1.51978540e-02] [ 9.86188885e-03 1.01290081e-03 9.99950857e-01 -3.02160530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.883133365 meters Centerline goodness : 0.136972 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.02, Z:-0.30 [[ 9.99944810e-01 3.84312344e-03 -9.77791419e-03 -1.11144076e+00] [-3.85087191e-03 9.99992286e-01 -7.73742313e-04 -1.58652609e-02] [ 9.77486518e-03 8.11353106e-04 9.99951896e-01 -3.01662293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.913133365 meters Centerline goodness : 0.138598 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:-0.30 [[ 9.99957527e-01 -2.96754908e-03 -8.72570093e-03 -1.09348751e+00] [ 2.97658412e-03 9.99995047e-01 1.02264671e-03 -1.25925086e-02] [ 8.72262295e-03 -1.04857606e-03 9.99961407e-01 -2.99849459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.943133365 meters Centerline goodness : 0.137169 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:-0.30 [[ 9.99956218e-01 -2.87088168e-03 -8.90619752e-03 -1.09282380e+00] [ 2.88029394e-03 9.99995307e-01 1.04417506e-03 -1.24202331e-02] [ 8.90315802e-03 -1.06978181e-03 9.99959794e-01 -3.00062602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.973133365 meters Centerline goodness : 0.126881 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.02, Z:-0.30 [[ 9.99938542e-01 5.12072434e-03 -9.83314108e-03 -1.11314043e+00] [-5.12098938e-03 9.99986888e-01 -1.77539993e-06 -1.62156202e-02] [ 9.83300306e-03 5.21307019e-05 9.99951653e-01 -3.01442302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.003133365 meters Centerline goodness : 0.148901 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:-0.30 [[ 0.99994324 -0.00191325 -0.01048155 -1.09347337] [ 0.00192672 0.99999733 0.00127564 -0.00977103] [ 0.01047908 -0.00129576 0.99994425 -0.30037215] [ 0. 0. 0. 1. ]] SLAMing on 174.033133365 meters Centerline goodness : 0.108043 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:-0.30 [[ 9.99926172e-01 6.06742005e-03 -1.05278726e-02 -1.11358683e+00] [-6.06588478e-03 9.99981587e-01 1.77754712e-04 -1.33186652e-02] [ 1.05287572e-02 -1.13880727e-04 9.99944565e-01 -3.01841447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.063133365 meters Centerline goodness : 0.142761 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:-0.30 [[ 9.99925388e-01 5.95758358e-03 -1.06642645e-02 -1.11327336e+00] [-5.95993231e-03 9.99982222e-01 -1.88476375e-04 -1.16549761e-02] [ 1.06629521e-02 2.52020607e-04 9.99943117e-01 -3.01785142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.093133365 meters Centerline goodness : 0.107535 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:-0.30 [[ 9.99924365e-01 5.83387630e-03 -1.08273280e-02 -1.11274663e+00] [-5.84041471e-03 9.99982781e-01 -5.72360097e-04 -9.85396082e-03] [ 1.08238025e-02 6.35552892e-04 9.99941219e-01 -3.01956014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.123133365 meters Centerline goodness : 0.139241 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:-0.30 [[ 9.99921674e-01 5.77221989e-03 -1.11052720e-02 -1.11189581e+00] [-5.78291124e-03 9.99982846e-01 -9.30856573e-04 -7.65843423e-03] [ 1.10997084e-02 9.95004465e-04 9.99937901e-01 -3.02290315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.153133365 meters Centerline goodness : 0.138431 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.00, Z:-0.30 [[ 9.99910833e-01 6.38413680e-03 -1.17290015e-02 -1.10973086e+00] [-6.39636170e-03 9.99979038e-01 -1.00506250e-03 -3.86009097e-03] [ 1.17223392e-02 1.07999581e-03 9.99930708e-01 -3.03303515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.183133365 meters Centerline goodness : 0.115746 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.00, Z:-0.30 [[ 9.99911898e-01 6.22321707e-03 -1.17246444e-02 -1.10948313e+00] [-6.24194093e-03 9.99979300e-01 -1.56104923e-03 -1.08581723e-03] [ 1.17146869e-02 1.63409624e-03 9.99930045e-01 -3.03738334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21313336499998 meters Centerline goodness : 0.147293 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.00, Z:-0.30 [[ 0.99991204 0.00601918 -0.01181895 -1.10917688] [-0.00604462 0.99997949 -0.002118 0.00143703] [ 0.01180596 0.00218926 0.99992791 -0.3039207 ] [ 0. 0. 0. 1. ]] SLAMing on 174.24313336499998 meters Centerline goodness : 0.151237 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.00, Z:-0.30 [[ 0.9999129 0.00587984 -0.01181587 -1.10913624] [-0.00591033 0.99997929 -0.0025468 0.00354316] [ 0.01180065 0.00261641 0.99992695 -0.30403324] [ 0. 0. 0. 1. ]] SLAMing on 174.27313336499998 meters Centerline goodness : 0.141291 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.01, Z:-0.30 [[ 0.9999147 0.00580452 -0.0117004 -1.10942517] [-0.00583829 0.99997888 -0.00285411 0.00537242] [ 0.01168359 0.00292217 0.99992747 -0.30407007] [ 0. 0. 0. 1. ]] SLAMing on 174.30313336499998 meters Centerline goodness : 0.152414 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.01, Z:-0.30 [[ 0.99991579 0.00579726 -0.01161067 -1.10973298] [-0.00583241 0.9999785 -0.00299567 0.00652909] [ 0.01159306 0.00306314 0.99992811 -0.30394204] [ 0. 0. 0. 1. ]] SLAMing on 174.33313336499998 meters Centerline goodness : 0.147122 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.01, Z:-0.30 [[ 0.99991758 0.00565651 -0.01152593 -1.11010494] [-0.00569484 0.99997835 -0.00329601 0.00793371] [ 0.01150704 0.00336138 0.99992814 -0.30366911] [ 0. 0. 0. 1. ]] SLAMing on 174.36313336499998 meters Centerline goodness : 0.166746 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.01, Z:-0.30 [[ 0.99991822 0.00549036 -0.01155029 -1.11024744] [-0.00553248 0.99997815 -0.00361762 0.00917161] [ 0.01153017 0.00368122 0.99992675 -0.30337997] [ 0. 0. 0. 1. ]] SLAMing on 174.39313336499998 meters Centerline goodness : 0.141718 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-0.30 [[ 0.99993056 -0.00271557 -0.01146701 -1.12963731] [ 0.00268865 0.9999936 -0.00236234 0.01485003] [ 0.01147336 0.00233134 0.99993146 -0.30490573] [ 0. 0. 0. 1. ]] SLAMing on 174.42313336499998 meters Centerline goodness : 0.143991 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-0.30 [[ 0.99993343 -0.00261089 -0.01123897 -1.13037462] [ 0.00258407 0.99999378 -0.00240069 0.0160845 ] [ 0.01124516 0.00237149 0.99993396 -0.30464471] [ 0. 0. 0. 1. ]] SLAMing on 174.45313336499999 meters Centerline goodness : 0.140521 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-0.30 [[ 0.99993975 -0.00242296 -0.01070642 -1.13222431] [ 0.00239804 0.99999439 -0.00234033 0.01718682] [ 0.01071203 0.00231451 0.99993995 -0.3037274 ] [ 0. 0. 0. 1. ]] SLAMing on 174.483133365 meters Centerline goodness : 0.140521 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-0.30 [[ 0.99993975 -0.00242296 -0.01070642 -1.13222431] [ 0.00239804 0.99999439 -0.00234033 0.01718682] [ 0.01071203 0.00231451 0.99993995 -0.3037274 ] [ 0. 0. 0. 1. ]] SLAMing on 174.513133365 meters Centerline goodness : 0.136600 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-0.30 [[ 0.99993922 -0.00251286 -0.01073473 -1.1323985 ] [ 0.00248667 0.9999939 -0.00245199 0.01717967] [ 0.01074083 0.00242515 0.99993937 -0.30337113] [ 0. 0. 0. 1. ]] SLAMing on 174.543133365 meters Centerline goodness : 0.143261 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-0.30 [[ 0.99993753 -0.00261611 -0.01086713 -1.13223597] [ 0.0025888 0.99999346 -0.00252656 0.01674341] [ 0.01087367 0.00249827 0.99993776 -0.30315278] [ 0. 0. 0. 1. ]] SLAMing on 174.573133365 meters Centerline goodness : 0.147832 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-0.30 [[ 0.99993497 -0.00261909 -0.01109907 -1.13183186] [ 0.0025922 0.99999367 -0.0024367 0.0159116 ] [ 0.01110538 0.00240777 0.99993543 -0.30297469] [ 0. 0. 0. 1. ]] SLAMing on 174.603133365 meters Centerline goodness : 0.148994 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-0.30 [[ 0.99993489 -0.00253937 -0.01112488 -1.13192444] [ 0.00251423 0.99999426 -0.00227317 0.01526188] [ 0.01113059 0.00224505 0.99993553 -0.30274268] [ 0. 0. 0. 1. ]] SLAMing on 174.633133365 meters Centerline goodness : 0.142269 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-0.30 [[ 0.99992816 0.00552699 -0.0106362 -1.15265576] [-0.00555667 0.99998074 -0.00276366 0.00956135] [ 0.01062072 0.00282257 0.99993961 -0.30379192] [ 0. 0. 0. 1. ]] SLAMing on 174.663133365 meters Centerline goodness : 0.145677 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-0.30 [[ 0.99996097 -0.00191077 -0.00862644 -1.13502678] [ 0.00189781 0.99999706 -0.00150997 0.01324646] [ 0.0086293 0.00149354 0.99996165 -0.30209484] [ 0. 0. 0. 1. ]] SLAMing on 174.693133365 meters Centerline goodness : 0.145067 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.01, Z:-0.30 [[ 0.99994428 0.00594338 -0.00872464 -1.15556546] [-0.00596588 0.99997894 -0.0025542 0.00812743] [ 0.00870927 0.0026061 0.99995868 -0.30282155] [ 0. 0. 0. 1. ]] SLAMing on 174.723133365 meters Centerline goodness : 0.141406 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.01, Z:-0.30 [[ 0.99994308 0.00597269 -0.00884062 -1.15516542] [-0.00599599 0.99997861 -0.00261158 0.00853063] [ 0.00882483 0.00266444 0.99995751 -0.30308523] [ 0. 0. 0. 1. ]] SLAMing on 174.753133365 meters Centerline goodness : 0.143907 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-0.30 [[ 0.99994267 0.00598559 -0.00887911 -1.15491311] [-0.00600897 0.99997854 -0.00260834 0.00854485] [ 0.0088633 0.00266155 0.99995718 -0.30337165] [ 0. 0. 0. 1. ]] SLAMing on 174.783133365 meters Centerline goodness : 0.142022 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-0.30 [[ 0.99994309 0.00597415 -0.00883879 -1.15479652] [-0.00599722 0.99997867 -0.00258559 0.00814555] [ 0.00882315 0.00263845 0.99995759 -0.30368936] [ 0. 0. 0. 1. ]] SLAMing on 174.813133365 meters Centerline goodness : 0.143284 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.01, Z:-0.31 [[ 0.99995895 -0.00252199 -0.00870303 -1.17465909] [ 0.00250963 0.99999583 -0.00143067 0.01113785] [ 0.0087066 0.00140877 0.9999611 -0.30518872] [ 0. 0. 0. 1. ]] SLAMing on 174.843133365 meters Centerline goodness : 0.141862 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.01, Z:-0.30 [[ 0.99996011 -0.00244644 -0.00859086 -1.17509768] [ 0.00243557 0.99999622 -0.0012765 0.01048238] [ 0.00859395 0.00125552 0.99996228 -0.3049405 ] [ 0. 0. 0. 1. ]] SLAMing on 174.873133365 meters Centerline goodness : 0.139340 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.01, Z:-0.30 [[ 9.99960759e-01 -2.33339287e-03 -8.54607755e-03 -1.17527292e+00] [ 2.32432166e-03 9.99996725e-01 -1.07122607e-03 9.72516100e-03] [ 8.54854915e-03 1.05132020e-03 9.99962908e-01 -3.04838294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.903133365 meters Centerline goodness : 0.144437 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.01, Z:-0.31 [[ 9.99959039e-01 -2.19751871e-03 -8.78015547e-03 -1.17444076e+00] [ 2.19004669e-03 9.99997232e-01 -8.60536238e-04 8.96859874e-03] [ 8.78202221e-03 8.41272039e-04 9.99961083e-01 -3.05317854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.933133365 meters Centerline goodness : 0.117312 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.00, Z:-0.31 [[ 0.99991354 0.00520638 -0.01207461 -1.19172789] [-0.00523174 0.99998417 -0.00206988 0.00288991] [ 0.01206364 0.00213287 0.99992496 -0.30772044] [ 0. 0. 0. 1. ]] SLAMing on 174.96313336499998 meters Centerline goodness : 0.150163 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.00, Z:-0.31 [[ 0.9999085 0.00517146 -0.01249968 -1.19020077] [-0.00519715 0.99998445 -0.00202351 0.00203036] [ 0.01248902 0.00208829 0.99991983 -0.30856572] [ 0. 0. 0. 1. ]] SLAMing on 174.99313336499998 meters Centerline goodness : 0.138797 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.00, Z:-0.31 [[ 0.99990616 0.0051278 -0.01270343 -1.18951892] [-0.00515428 0.99998461 -0.00205216 0.00152534] [ 0.01269271 0.00211745 0.9999172 -0.30886884] [ 0. 0. 0. 1. ]] SLAMing on 175.02313336499998 meters Centerline goodness : 0.140346 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.00, Z:-0.31 [[ 0.99990494 0.00515047 -0.01279002 -1.1894886 ] [-0.00517738 0.99998445 -0.00207158 0.00151823] [ 0.01277915 0.0021376 0.99991606 -0.30865244] [ 0. 0. 0. 1. ]] SLAMing on 175.05313336499998 meters Centerline goodness : 0.138985 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.00, Z:-0.31 [[ 0.99990643 0.00581707 -0.01238076 -1.1909648 ] [-0.00584037 0.99998124 -0.00184692 0.00304384] [ 0.01236978 0.00191906 0.99992165 -0.30801688] [ 0. 0. 0. 1. ]] SLAMing on 175.08313336499998 meters Centerline goodness : 0.143809 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.00, Z:-0.31 [[ 0.99990883 0.00594208 -0.01212559 -1.1914275 ] [-0.00596728 0.99998011 -0.00204341 0.0048156 ] [ 0.0121132 0.00211558 0.99992439 -0.30832307] [ 0. 0. 0. 1. ]] SLAMing on 175.11313336499998 meters Centerline goodness : 0.137899 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.01, Z:-0.31 [[ 0.99991131 0.00594686 -0.01191708 -1.19184093] [-0.00597473 0.9999795 -0.00230446 0.00640085] [ 0.01190313 0.00237546 0.99992633 -0.30854688] [ 0. 0. 0. 1. ]] SLAMing on 175.14313336499998 meters Centerline goodness : 0.143384 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-0.31 [[ 9.99931456e-01 -2.27577384e-03 -1.14849620e-02 -1.21145085e+00] [ 2.26326918e-03 9.99996832e-01 -1.10166570e-03 1.13137242e-02] [ 1.14874328e-02 1.07559663e-03 9.99933439e-01 -3.10601015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17313336499998 meters Centerline goodness : 0.150458 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-0.31 [[ 9.99932982e-01 -2.28237994e-03 -1.13500014e-02 -1.21183825e+00] [ 2.26879972e-03 9.99996695e-01 -1.20922712e-03 1.21031205e-02] [ 1.13527238e-02 1.18339520e-03 9.99934855e-01 -3.10556258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20313336499999 meters Centerline goodness : 0.152907 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-0.31 [[ 9.99934627e-01 -2.24550667e-03 -1.12116056e-02 -1.21257755e+00] [ 2.23292873e-03 9.99996864e-01 -1.13426018e-03 1.19255980e-02] [ 1.12141174e-02 1.10915131e-03 9.99936505e-01 -3.09938265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.233133365 meters Centerline goodness : 0.143998 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-0.31 [[ 9.99933204e-01 -2.27069026e-03 -1.13327399e-02 -1.21240122e+00] [ 2.25851190e-03 9.99996858e-01 -1.08729982e-03 1.14050929e-02] [ 1.13351732e-02 1.06163206e-03 9.99935191e-01 -3.09765660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.263133365 meters Centerline goodness : 0.142002 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.00, Z:-0.31 [[ 0.99992324 0.00491749 -0.01137203 -1.23068688] [-0.00494492 0.99998493 -0.00238496 0.00467471] [ 0.01136013 0.00244102 0.99993249 -0.31132247] [ 0. 0. 0. 1. ]] SLAMing on 175.293133365 meters Centerline goodness : 0.153884 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-0.31 [[ 0.99993134 -0.00289179 -0.01135598 -1.21040925] [ 0.0028735 0.99999455 -0.00162706 0.00939066] [ 0.01136062 0.00159432 0.9999342 -0.31041828] [ 0. 0. 0. 1. ]] SLAMing on 175.323133365 meters Centerline goodness : 0.171681 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.00, Z:-0.31 [[ 0.99990063 -0.0038936 -0.01354862 -1.25588613] [ 0.00387584 0.9999916 -0.00133697 0.00488793] [ 0.01355371 0.00128433 0.99990732 -0.30960798] [ 0. 0. 0. 1. ]] SLAMing on 175.353133365 meters Centerline goodness : 0.152301 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.01, Z:-0.31 [[ 9.99939273e-01 -2.97533146e-03 -1.06111895e-02 -1.21514831e+00] [ 2.96556926e-03 9.99995165e-01 -9.35607280e-04 6.45512604e-03] [ 1.06139219e-02 9.04082246e-04 9.99943262e-01 -3.08751331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.383133365 meters Centerline goodness : 0.140690 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.01, Z:-0.31 [[ 9.99941763e-01 -2.89968248e-03 -1.03953308e-02 -1.21593957e+00] [ 2.89117638e-03 9.99995473e-01 -8.33195869e-04 6.31803467e-03] [ 1.03976997e-02 8.03092611e-04 9.99945620e-01 -3.08344673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.413133365 meters Centerline goodness : 0.139590 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.00, Z:-0.31 [[ 9.99942006e-01 4.66683924e-03 -9.70590813e-03 -1.23503271e+00] [-4.68288210e-03 9.99987705e-01 -1.63082738e-03 3.04715998e-05] [ 9.69817799e-03 1.67618443e-03 9.99951567e-01 -3.09940940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.443133365 meters Centerline goodness : 0.115334 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.00, Z:-0.31 [[ 9.99945633e-01 -2.93418096e-03 -1.00060576e-02 -1.21482244e+00] [ 2.92504506e-03 9.99995292e-01 -9.27549173e-04 4.95249727e-03] [ 1.00087321e-02 8.98230576e-04 9.99949508e-01 -3.09299696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.473133365 meters Centerline goodness : 0.143310 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.00, Z:-0.31 [[ 9.99905660e-01 -4.14621505e-03 -1.30950249e-02 -1.25804644e+00] [ 4.13092870e-03 9.99990755e-01 -1.19417378e-03 5.81574298e-04] [ 1.30998551e-02 1.13996651e-03 9.99913543e-01 -3.09271007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.503133365 meters Centerline goodness : 0.150373 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.00, Z:-0.31 [[ 0.99990911 0.00299313 -0.01314572 -1.23697977] [-0.00303828 0.99998955 -0.00341545 -0.00241093] [ 0.01313536 0.00345508 0.99990776 -0.30867978] [ 0. 0. 0. 1. ]] SLAMing on 175.533133365 meters Centerline goodness : 0.140859 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.00, Z:-0.31 [[ 0.99989626 -0.00546433 -0.01332724 -1.25712477] [ 0.00544204 0.99998373 -0.00170828 -0.00178978] [ 0.01333636 0.00163558 0.99990973 -0.31007165] [ 0. 0. 0. 1. ]] SLAMing on 175.563133365 meters Centerline goodness : 0.143753 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.00, Z:-0.31 [[ 0.99989751 -0.00534911 -0.01328025 -1.25722477] [ 0.00533012 0.99998472 -0.00146489 -0.00280653] [ 0.01328788 0.00139395 0.99991074 -0.31007763] [ 0. 0. 0. 1. ]] SLAMing on 175.593133365 meters Centerline goodness : 0.154188 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.00, Z:-0.31 [[ 9.99897796e-01 -5.25105432e-03 -1.32975269e-02 -1.25708700e+00] [ 5.23588889e-03 9.99985602e-01 -1.17502711e-03 -4.27666441e-03] [ 1.33035056e-02 1.10528265e-03 9.99910894e-01 -3.10184937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.623133365 meters Centerline goodness : 0.134845 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.01, Z:-0.31 [[ 9.99897177e-01 -5.14777581e-03 -1.33841347e-02 -1.25685202e+00] [ 5.13692697e-03 9.99986449e-01 -8.44827327e-04 -6.16129090e-03] [ 1.33883023e-02 7.75987137e-04 9.99910072e-01 -3.10197183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.653133365 meters Centerline goodness : 0.137609 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.01, Z:-0.31 [[ 9.99895221e-01 -5.03917142e-03 -1.35703316e-02 -1.25648338e+00] [ 5.03304028e-03 9.99987216e-01 -4.85919150e-04 -8.26278209e-03] [ 1.35726068e-02 4.17568210e-04 9.99907801e-01 -3.10044156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.683133365 meters Centerline goodness : 0.155766 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.01, Z:-0.31 [[ 9.99893765e-01 -4.95838199e-03 -1.37066734e-02 -1.25623578e+00] [ 4.95651946e-03 9.99987702e-01 -1.69851710e-04 -1.02199916e-02] [ 1.37073471e-02 1.01896272e-04 9.99906045e-01 -3.09883480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71313336499998 meters Centerline goodness : 0.137267 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.01, Z:-0.31 [[ 9.99894876e-01 -4.82630117e-03 -1.36727036e-02 -1.25639041e+00] [ 4.83033682e-03 9.99988299e-01 2.62153284e-04 -1.28698129e-02] [ 1.36712784e-02 -3.28169490e-04 9.99906490e-01 -3.09715355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74313336499998 meters Centerline goodness : 0.069100 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.01, Z:-0.31 [[ 9.99895334e-01 -4.73292408e-03 -1.36718873e-02 -1.25646328e+00] [ 4.74003896e-03 9.99988647e-01 4.88044961e-04 -1.40662100e-02] [ 1.36694222e-02 -5.52799158e-04 9.99906416e-01 -3.09632059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77313336499998 meters Centerline goodness : 0.167647 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99901718e-01 3.62030122e-03 -1.35442717e-02 -1.23753558e+00] [-3.63105438e-03 9.99993112e-01 -7.69419621e-04 -1.83507135e-02] [ 1.35413928e-02 8.18523988e-04 9.99907976e-01 -3.07617183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80313336499998 meters Centerline goodness : 0.062077 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99901991e-01 3.71991121e-03 -1.34970466e-02 -1.23767550e+00] [-3.72768164e-03 9.99992901e-01 -5.50602044e-04 -1.94228762e-02] [ 1.34949026e-02 6.00860773e-04 9.99908759e-01 -3.07615680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83313336499998 meters Centerline goodness : 0.060291 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99901844e-01 3.77640384e-03 -1.34922889e-02 -1.23767877e+00] [-3.78241403e-03 9.99992758e-01 -4.19963678e-04 -2.01054855e-02] [ 1.34906052e-02 4.70955879e-04 9.99908887e-01 -3.07633554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86313336499998 meters Centerline goodness : 0.162965 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.02, Z:-0.31 [[ 9.99903628e-01 -3.33770388e-03 -1.34757111e-02 -1.21909901e+00] [ 3.34842429e-03 9.99994095e-01 7.73052113e-04 -1.56341499e-02] [ 1.34730513e-02 -8.18100011e-04 9.99908900e-01 -3.06200870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89313336499998 meters Centerline goodness : 0.144374 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99919531e-01 3.42280332e-03 -1.22154352e-02 -1.23777225e+00] [-3.42828273e-03 9.99994032e-01 -4.27652286e-04 -2.33573197e-02] [ 1.22138985e-02 4.69495839e-04 9.99925297e-01 -3.08366676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92313336499998 meters Centerline goodness : 0.144477 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99921404e-01 3.45757848e-03 -1.20511675e-02 -1.23858983e+00] [-3.46121666e-03 9.99993970e-01 -2.81050952e-04 -2.41579121e-02] [ 1.20501230e-02 3.22740564e-04 9.99927343e-01 -3.07727996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95313336499999 meters Centerline goodness : 0.150296 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99924480e-01 3.50152261e-03 -1.17802216e-02 -1.23962515e+00] [-3.50389470e-03 9.99993845e-01 -1.80728804e-04 -2.44538536e-02] [ 1.17795162e-02 2.21991812e-04 9.99930594e-01 -3.07136157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.983133365 meters Centerline goodness : 0.060379 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.02, Z:-0.31 [[ 0.99991874 -0.00432113 -0.01199334 -1.2629926 ] [ 0.00434369 0.99998884 0.00185568 -0.02334424] [ 0.01198519 -0.00190762 0.99992636 -0.30632925] [ 0. 0. 0. 1. ]] SLAMing on 176.013133365 meters Centerline goodness : 0.162843 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.02, Z:-0.31 [[ 0.99992267 -0.0044836 -0.01159957 -1.26460612] [ 0.00450508 0.99998818 0.00182665 -0.02401159] [ 0.01159125 -0.00187876 0.99993105 -0.30517416] [ 0. 0. 0. 1. ]] SLAMing on 176.043133365 meters Centerline goodness : 0.150493 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 0.99994389 0.00177016 -0.01044458 -1.24295655] [-0.00178401 0.99999754 -0.00131662 -0.02467867] [ 0.01044222 0.00133518 0.99994459 -0.30504576] [ 0. 0. 0. 1. ]] SLAMing on 176.073133365 meters Centerline goodness : 0.080169 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-0.30 [[ 0.99994346 0.00173764 -0.01049096 -1.24296421] [-0.00175087 0.99999768 -0.00125225 -0.02545123] [ 0.01048876 0.00127054 0.99994418 -0.30485343] [ 0. 0. 0. 1. ]] SLAMing on 176.103133365 meters Centerline goodness : 0.139610 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-0.30 [[ 9.99941282e-01 1.70393505e-03 -1.07018406e-02 -1.24244848e+00] [-1.71610977e-03 9.99997891e-01 -1.12854835e-03 -2.64547413e-02] [ 1.06998951e-02 1.14684762e-03 9.99942097e-01 -3.04843341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.133133365 meters Centerline goodness : 0.153173 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-0.31 [[ 9.99939945e-01 1.69579164e-03 -1.08273090e-02 -1.24196503e+00] [-1.70824783e-03 9.99997890e-01 -1.14129676e-03 -2.65137893e-02] [ 1.08253507e-02 1.15972395e-03 9.99940732e-01 -3.05144403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.163133365 meters Centerline goodness : 0.162302 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-0.31 [[ 9.99938260e-01 1.66452506e-03 -1.09866238e-02 -1.24132615e+00] [-1.67778133e-03 9.99997876e-01 -1.19747637e-03 -2.64087718e-02] [ 1.09846072e-02 1.21583559e-03 9.99938928e-01 -3.05552828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.193133365 meters SLAMing on 176.223133365 meters SLAMing on 176.253133365 meters Centerline goodness : 0.165627 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99927338e-01 2.40932186e-03 -1.18115632e-02 -1.23955428e+00] [-2.42111883e-03 9.99996584e-01 -9.84567884e-04 -2.42611961e-02] [ 1.18091508e-02 1.01309354e-03 9.99929756e-01 -3.05588450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.283133365 meters Centerline goodness : 0.058853 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99926887e-01 3.21005296e-03 -1.16583221e-02 -1.24003525e+00] [-3.22017472e-03 9.99994454e-01 -8.49531956e-04 -2.10381605e-02] [ 1.16555304e-02 8.87011678e-04 9.99931679e-01 -3.05637620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.313133365 meters Centerline goodness : 0.060347 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99928692e-01 3.20002669e-03 -1.15052264e-02 -1.24036826e+00] [-3.21425241e-03 9.99994092e-01 -1.21817842e-03 -1.88184161e-02] [ 1.15012603e-02 1.25507226e-03 9.99933071e-01 -3.05793107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.343133365 meters Centerline goodness : 0.061947 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 0.9999308 0.00317976 -0.01132643 -1.2408779 ] [-0.00319802 0.99999361 -0.00159468 -0.01648601] [ 0.01132129 0.00163079 0.99993458 -0.30572506] [ 0. 0. 0. 1. ]] SLAMing on 176.373133365 meters SLAMing on 176.403133365 meters SLAMing on 176.433133365 meters Centerline goodness : 0.069093 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.01, Z:-0.30 [[ 9.99924074e-01 5.55064966e-03 -1.10017034e-02 -1.24344941e+00] [-5.55343283e-03 9.99984555e-01 -2.22442627e-04 -8.96101632e-03] [ 1.10002988e-02 2.83522959e-04 9.99939455e-01 -3.03881058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46313336499998 meters Centerline goodness : 0.141591 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.01, Z:-0.30 [[ 9.99925194e-01 5.37734204e-03 -1.09859580e-02 -1.24355722e+00] [-5.38450545e-03 9.99985310e-01 -6.22577234e-04 -7.11265043e-03] [ 1.09824488e-02 6.81684612e-04 9.99939459e-01 -3.03865222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49313336499998 meters Centerline goodness : 0.186245 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.01, Z:-0.30 [[ 9.99924569e-01 5.24658164e-03 -1.11054107e-02 -1.24320859e+00] [-5.25686717e-03 9.99985780e-01 -8.97185047e-04 -5.86984096e-03] [ 1.11005456e-02 9.55497040e-04 9.99937931e-01 -3.04026760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52313336499998 meters Centerline goodness : 0.166264 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.00, Z:-0.30 [[ 9.99923421e-01 5.09954236e-03 -1.12759667e-02 -1.24273821e+00] [-5.11318930e-03 9.99986229e-01 -1.18177003e-03 -4.61085480e-03] [ 1.12697849e-02 1.23933568e-03 9.99935726e-01 -3.04158905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55313336499998 meters Centerline goodness : 0.136834 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.00, Z:-0.30 [[ 0.9999229 0.00502047 -0.01135708 -1.24253255] [-0.00503617 0.9999864 -0.00135433 -0.00364476] [ 0.01135012 0.00141142 0.99993459 -0.30422343] [ 0. 0. 0. 1. ]] SLAMing on 176.58313336499998 meters Centerline goodness : 0.135527 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.00, Z:-0.30 [[ 0.99992558 0.0049525 -0.01114967 -1.24317941] [-0.00496924 0.99998657 -0.00147414 -0.00295386] [ 0.01114222 0.00152944 0.99993675 -0.30400479] [ 0. 0. 0. 1. ]] SLAMing on 176.61313336499998 meters Centerline goodness : 0.140363 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.00, Z:-0.30 [[ 9.99950083e-01 3.34544243e-03 -9.41487463e-03 -1.24906403e+00] [-3.37456831e-03 9.99989565e-01 -3.07941899e-03 -5.61662333e-04] [ 9.40447437e-03 3.11103641e-03 9.99950937e-01 -3.01517842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64313336499998 meters Centerline goodness : 0.136407 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.00, Z:-0.30 [[ 9.99950874e-01 3.26029354e-03 -9.36056608e-03 -1.24957370e+00] [-3.28999749e-03 9.99989596e-01 -3.15966384e-03 -4.78666934e-04] [ 9.35016726e-03 3.19030486e-03 9.99951197e-01 -3.00938677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67313336499998 meters Centerline goodness : 0.137126 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.01, Z:-0.30 [[ 0.99994885 -0.00412803 -0.00923355 -1.23101488] [ 0.00410942 0.99998949 -0.00203383 0.00555903] [ 0.00924185 0.00199578 0.9999553 -0.29904266] [ 0. 0. 0. 1. ]] SLAMing on 176.70313336499999 meters Centerline goodness : 0.143763 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.01, Z:-0.30 [[ 0.99994831 -0.00415313 -0.00928036 -1.23089973] [ 0.00413345 0.99998917 -0.00213895 0.00637128] [ 0.00928914 0.00210048 0.99995465 -0.29908883] [ 0. 0. 0. 1. ]] SLAMing on 176.733133365 meters Centerline goodness : 0.144372 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.00, Z:-0.30 [[ 0.99994559 0.00373621 -0.00973972 -1.25059609] [-0.00376677 0.99998804 -0.00312081 0.00204147] [ 0.00972794 0.00315733 0.9999477 -0.30042432] [ 0. 0. 0. 1. ]] SLAMing on 176.763133365 meters Centerline goodness : 0.142111 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.00, Z:-0.30 [[ 0.99994519 0.00353723 -0.0098537 -1.25008309] [-0.00357108 0.99998777 -0.00342038 0.00282072] [ 0.00984148 0.00345538 0.9999456 -0.30083049] [ 0. 0. 0. 1. ]] SLAMing on 176.793133365 meters Centerline goodness : 0.136807 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.00, Z:-0.30 [[ 0.99994407 0.00348094 -0.00998727 -1.24972032] [-0.00351553 0.99998788 -0.00344812 0.00264925] [ 0.00997515 0.00348304 0.99994418 -0.30089591] [ 0. 0. 0. 1. ]] SLAMing on 176.823133365 meters Centerline goodness : 0.141315 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.00, Z:-0.30 [[ 0.99994196 0.00348794 -0.01019322 -1.24914981] [-0.00352244 0.99998812 -0.00336819 0.00210081] [ 0.01018135 0.0034039 0.99994238 -0.30106723] [ 0. 0. 0. 1. ]] SLAMing on 176.853133365 meters Centerline goodness : 0.138248 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.00, Z:-0.30 [[ 0.99993825 0.00350931 -0.01054464 -1.24813808] [-0.00354368 0.99998846 -0.00324313 0.00138172] [ 0.01053314 0.0032803 0.99993914 -0.30134632] [ 0. 0. 0. 1. ]] SLAMing on 176.883133365 meters Centerline goodness : 0.117236 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.00, Z:-0.30 [[ 9.99935885e-01 3.53978225e-03 -1.07562361e-02 -1.24748647e+00] [-3.57315780e-03 9.99988857e-01 -3.08527033e-03 4.27986700e-04] [ 1.07451950e-02 3.12350625e-03 9.99937390e-01 -3.01596307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.913133365 meters Centerline goodness : 0.132220 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.00, Z:-0.30 [[ 0.99993708 0.00354842 -0.01064134 -1.24802244] [-0.00357717 0.99999 -0.00268403 -0.00262936] [ 0.01063171 0.00272193 0.99993978 -0.30112416] [ 0. 0. 0. 1. ]] SLAMing on 176.943133365 meters Centerline goodness : 0.140447 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.00, Z:-0.30 [[ 0.99993863 0.00361546 -0.01047245 -1.24852931] [-0.00364081 0.99999049 -0.00240193 -0.00443994] [ 0.01046367 0.00243991 0.99994228 -0.30094006] [ 0. 0. 0. 1. ]] SLAMing on 176.973133365 meters Centerline goodness : 0.140805 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.01, Z:-0.30 [[ 0.999939 0.00368686 -0.01041136 -1.24868945] [-0.00370977 0.99999074 -0.00218112 -0.00573758] [ 0.01040322 0.00221961 0.99994342 -0.3009013 ] [ 0. 0. 0. 1. ]] SLAMing on 177.003133365 meters Centerline goodness : 0.164932 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.01, Z:-0.30 [[ 0.9999386 0.00374033 -0.01043077 -1.24836456] [-0.00376223 0.99999076 -0.0020814 -0.00637299] [ 0.01042289 0.00212051 0.99994343 -0.30134631] [ 0. 0. 0. 1. ]] SLAMing on 177.033133365 meters Centerline goodness : 0.145556 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.00, Z:-0.30 [[ 9.99921754e-01 -4.63963353e-03 -1.16172550e-02 -1.26771904e+00] [ 4.63216721e-03 9.99989047e-01 -6.69517460e-04 -4.18735197e-03] [ 1.16202341e-02 6.15652005e-04 9.99932293e-01 -3.02745007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.063133365 meters Centerline goodness : 0.062794 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.01, Z:-0.30 [[ 9.99922891e-01 -4.43347869e-03 -1.15998102e-02 -1.26763904e+00] [ 4.43026569e-03 9.99990141e-01 -3.02668851e-04 -5.54426959e-03] [ 1.16010377e-02 2.51255271e-04 9.99932674e-01 -3.02949621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.093133365 meters Centerline goodness : 0.138647 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.01, Z:-0.30 [[ 9.99923466e-01 -4.32024300e-03 -1.15930275e-02 -1.26763549e+00] [ 4.32007286e-03 9.99990668e-01 -3.97187181e-05 -6.78703956e-03] [ 1.15930909e-02 -1.03670451e-05 9.99932798e-01 -3.02954238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.123133365 meters Centerline goodness : 0.168752 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.01, Z:-0.30 [[ 9.99923377e-01 -4.24837277e-03 -1.16272258e-02 -1.26757412e+00] [ 4.25164672e-03 9.99990929e-01 2.56872703e-04 -8.61004763e-03] [ 1.16260290e-02 -3.06287877e-04 9.99932369e-01 -3.02900383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.153133365 meters Centerline goodness : 0.140891 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.01, Z:-0.30 [[ 9.99923262e-01 -4.20607131e-03 -1.16524283e-02 -1.26766401e+00] [ 4.21337076e-03 9.99990943e-01 6.01953131e-04 -1.09080710e-02] [ 1.16497909e-02 -6.51002939e-04 9.99931927e-01 -3.02646848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.183133365 meters Centerline goodness : 0.134308 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.30 [[ 0.99994532 0.00158994 -0.01033591 -1.29027068] [-0.00160449 0.99999773 -0.00139996 -0.01834127] [ 0.01033367 0.00141647 0.9999456 -0.30303051] [ 0. 0. 0. 1. ]] SLAMing on 177.21313336499998 meters Centerline goodness : 0.137122 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.30 [[ 9.99945353e-01 1.70824729e-03 -1.03136892e-02 -1.29041448e+00] [-1.71715482e-03 9.99998160e-01 -8.54867824e-04 -2.12797075e-02] [ 1.03122099e-02 8.72531309e-04 9.99946447e-01 -3.02845193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24313336499998 meters Centerline goodness : 0.154922 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.02, Z:-0.30 [[ 9.99931306e-01 -6.50835943e-03 -9.74808899e-03 -1.26939680e+00] [ 6.51151226e-03 9.99978757e-01 2.91726418e-04 -2.30521945e-02] [ 9.74598325e-03 -3.55181179e-04 9.99952444e-01 -3.02588872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27313336499998 meters Centerline goodness : 0.146945 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.31 [[ 9.99960936e-01 1.94280659e-04 -8.83673699e-03 -1.28648547e+00] [-2.01585804e-04 9.99999639e-01 -8.25795810e-04 -3.18065347e-02] [ 8.83657336e-03 8.27544912e-04 9.99960614e-01 -3.05373160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30313336499998 meters Centerline goodness : 0.168134 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.31 [[ 9.99959008e-01 3.06117779e-04 -9.04919188e-03 -1.28577451e+00] [-3.09720471e-04 9.99999873e-01 -3.96724325e-04 -3.44385677e-02] [ 9.04906929e-03 3.99510782e-04 9.99958977e-01 -3.05673758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33313336499998 meters Centerline goodness : 0.169733 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99956888e-01 4.33459665e-04 -9.27546299e-03 -1.28512166e+00] [-4.33315546e-04 9.99999906e-01 1.75473492e-05 -3.67652170e-02] [ 9.27546972e-03 -1.35273904e-05 9.99956982e-01 -3.05835718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36313336499998 meters Centerline goodness : 0.152626 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99958077e-01 6.89762106e-04 -9.13068644e-03 -1.28580427e+00] [-6.82603385e-04 9.99999457e-01 7.87122030e-04 -4.11623815e-02] [ 9.13122441e-03 -7.80856393e-04 9.99958005e-01 -3.05204992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39313336499998 meters Centerline goodness : 0.148280 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.30 [[ 9.99979704e-01 8.52364850e-04 -6.31390462e-03 -1.24527025e+00] [-8.53737719e-04 9.99999613e-01 -2.14743754e-04 -4.11851247e-02] [ 6.31371913e-03 2.20129814e-04 9.99980044e-01 -3.04016671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42313336499998 meters SLAMing on 177.45313336499999 meters Centerline goodness : 0.151633 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.30 [[ 9.99985151e-01 1.17005292e-03 -5.32250986e-03 -1.24870265e+00] [-1.16623778e-03 9.99999061e-01 7.19841579e-04 -4.73048050e-02] [ 5.32334711e-03 -7.13623578e-04 9.99985576e-01 -3.02334352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.483133365 meters Centerline goodness : 0.146097 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.30 [[ 9.99986139e-01 1.33248063e-03 -5.09373218e-03 -1.24935479e+00] [-1.32731064e-03 9.99998601e-01 1.01821584e-03 -4.84555327e-02] [ 5.09508180e-03 -1.01144076e-03 9.99986508e-01 -3.02150945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.513133365 meters Centerline goodness : 0.153514 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.30 [[ 9.99986281e-01 1.42772841e-03 -5.03986124e-03 -1.24945038e+00] [-1.42186318e-03 9.99998308e-01 1.16715918e-03 -4.91842146e-02] [ 5.04151910e-03 -1.15997717e-03 9.99986619e-01 -3.02145741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.543133365 meters Centerline goodness : 0.119049 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.30 [[ 9.99986107e-01 1.38729817e-03 -5.08540096e-03 -1.24912930e+00] [-1.38189210e-03 9.99998477e-01 1.06641606e-03 -4.91625980e-02] [ 5.08687265e-03 -1.05937377e-03 9.99986501e-01 -3.02516868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.573133365 meters Centerline goodness : 0.053104 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.30 [[ 9.99985550e-01 1.34079173e-03 -5.20605183e-03 -1.24857526e+00] [-1.33616904e-03 9.99998710e-01 8.91322101e-04 -4.86092614e-02] [ 5.20724019e-03 -8.84353055e-04 9.99986051e-01 -3.03006623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.603133365 meters Centerline goodness : 0.174336 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.30 [[ 9.99982608e-01 1.97713325e-03 -5.55640591e-03 -1.24717229e+00] [-1.97134115e-03 9.99997508e-01 1.04770218e-03 -4.68734952e-02] [ 5.55846351e-03 -1.03673039e-03 9.99984014e-01 -3.04136924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.633133365 meters Centerline goodness : 0.177520 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.30 [[ 9.99982659e-01 2.07562848e-03 -5.51120949e-03 -1.24710212e+00] [-2.07083409e-03 9.99997473e-01 8.75498251e-04 -4.51805063e-02] [ 5.51301277e-03 -8.64070268e-04 9.99984430e-01 -3.04524266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.663133365 meters Centerline goodness : 0.138535 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.30 [[ 9.99982419e-01 2.08325466e-03 -5.55173938e-03 -1.24688749e+00] [-2.07985383e-03 9.99997646e-01 6.18272155e-04 -4.34452300e-02] [ 5.55301433e-03 -6.06714479e-04 9.99984398e-01 -3.04798105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.693133365 meters Centerline goodness : 0.174142 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.31 [[ 9.99982349e-01 1.98285617e-03 -5.60091350e-03 -1.24661301e+00] [-1.98141662e-03 9.99998003e-01 2.62557582e-04 -4.18076253e-02] [ 5.60142293e-03 -2.51455204e-04 9.99984280e-01 -3.05131801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.723133365 meters Centerline goodness : 0.108904 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.31 [[ 9.99981497e-01 1.83012260e-03 -5.80145317e-03 -1.24589315e+00] [-1.83188384e-03 9.99998278e-01 -2.98286750e-04 -3.90342746e-02] [ 5.80089728e-03 3.08908819e-04 9.99983127e-01 -3.05690085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.753133365 meters Centerline goodness : 0.180090 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.31 [[ 9.99981593e-01 1.79735848e-03 -5.79515873e-03 -1.24585636e+00] [-1.79974361e-03 9.99998298e-01 -4.06385085e-04 -3.84159800e-02] [ 5.79441845e-03 4.16807405e-04 9.99983125e-01 -3.05853520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.783133365 meters Centerline goodness : 0.093353 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.31 [[ 9.99981889e-01 1.79894990e-03 -5.74336505e-03 -1.24591398e+00] [-1.80132962e-03 9.99998294e-01 -4.09196712e-04 -3.82667413e-02] [ 5.74261913e-03 4.19534994e-04 9.99983423e-01 -3.05997345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.813133365 meters Centerline goodness : 0.148378 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.31 [[ 9.99982227e-01 1.84014971e-03 -5.67089334e-03 -1.24601640e+00] [-1.84159027e-03 9.99998273e-01 -2.48815890e-04 -3.90532594e-02] [ 5.67042569e-03 2.59254930e-04 9.99983889e-01 -3.06102957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.843133365 meters Centerline goodness : 0.171159 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.31 [[ 9.99982971e-01 1.36529213e-03 -5.67386223e-03 -1.24579205e+00] [-1.36628791e-03 9.99999052e-01 -1.71630953e-04 -4.17997028e-02] [ 5.67362252e-03 1.79380160e-04 9.99983889e-01 -3.06256305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.873133365 meters Centerline goodness : 0.170282 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-0.31 [[ 9.99980929e-01 1.09760274e-03 -6.07751637e-03 -1.24475635e+00] [-1.09827711e-03 9.99999391e-01 -1.07624854e-04 -4.37304737e-02] [ 6.07739454e-03 1.14297599e-04 9.99981526e-01 -3.06327982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.903133365 meters Centerline goodness : 0.129503 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99977915e-01 1.00316729e-03 -6.56981816e-03 -1.24372351e+00] [-1.00190389e-03 9.99999479e-01 1.95592133e-04 -4.64001774e-02] [ 6.57001095e-03 -1.89005487e-04 9.99978399e-01 -3.06114413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.933133365 meters Centerline goodness : 0.176862 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99975711e-01 9.58894519e-04 -6.90349575e-03 -1.24285187e+00] [-9.54770082e-04 9.99999364e-01 6.00712672e-04 -4.93130979e-02] [ 6.90406738e-03 -5.94106830e-04 9.99975990e-01 -3.06200349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96313336499998 meters Centerline goodness : 0.150811 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99973164e-01 9.34760559e-04 -7.26616996e-03 -1.24199874e+00] [-9.27163745e-04 9.99999020e-01 1.04880269e-03 -5.22807828e-02] [ 7.26714322e-03 -1.04203762e-03 9.99973051e-01 -3.06127423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99313336499998 meters Centerline goodness : 0.152885 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 9.99972017e-01 7.09987835e-04 -7.44720961e-03 -1.24151447e+00] [-6.97808604e-04 9.99998415e-01 1.63787949e-03 -5.74542371e-02] [ 7.44836068e-03 -1.63263693e-03 9.99970928e-01 -3.06044917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02313336499998 meters Centerline goodness : 0.058214 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 9.99971696e-01 7.65274655e-04 -7.48475292e-03 -1.24131483e+00] [-7.50498666e-04 9.99997765e-01 1.97675468e-03 -5.97361545e-02] [ 7.48624895e-03 -1.97108143e-03 9.99970035e-01 -3.06170785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05313336499998 meters Centerline goodness : 0.147371 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 9.99970839e-01 7.91342247e-04 -7.59567898e-03 -1.24089894e+00] [-7.74903978e-04 9.99997352e-01 2.16685978e-03 -6.11415024e-02] [ 7.59737360e-03 -2.16091067e-03 9.99968805e-01 -3.06405420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08313336499998 meters Centerline goodness : 0.153361 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-0.31 [[ 9.99933748e-01 8.34712917e-03 -7.92618710e-03 -1.26060593e+00] [-8.33822341e-03 9.99964568e-01 1.15596966e-03 -6.67530112e-02] [ 7.93555529e-03 -1.08980275e-03 9.99967919e-01 -3.07960115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11313336499998 meters Centerline goodness : 0.091036 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 0.99997397 0.00282539 -0.00663973 -1.24042771] [-0.00279912 0.99998823 0.0039625 -0.06110923] [ 0.00665085 -0.00394382 0.99997011 -0.30783873] [ 0. 0. 0. 1. ]] SLAMing on 178.14313336499998 meters Centerline goodness : 0.153291 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 0.99997576 0.00285281 -0.00635137 -1.24106786] [-0.00282827 0.99998852 0.00386905 -0.0603767 ] [ 0.00636234 -0.00385099 0.99997234 -0.30791475] [ 0. 0. 0. 1. ]] SLAMing on 178.17313336499998 meters Centerline goodness : 0.153787 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 0.99997746 0.00275767 -0.00612167 -1.24170855] [-0.00273542 0.99998963 0.00364 -0.05951542] [ 0.00613165 -0.00362317 0.99997464 -0.30779165] [ 0. 0. 0. 1. ]] SLAMing on 178.20313336499999 meters Centerline goodness : 0.151718 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 0.99997768 0.00266764 -0.00612492 -1.24163308] [-0.00264699 0.99999079 0.00337736 -0.05842671] [ 0.00613387 -0.00336108 0.99997554 -0.30798055] [ 0. 0. 0. 1. ]] SLAMing on 178.233133365 meters Centerline goodness : 0.111504 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 0.99996147 0.00161069 -0.00862924 -1.28637278] [-0.00157951 0.9999922 0.0036196 -0.06042103] [ 0.00863501 -0.00360583 0.99995622 -0.3077199 ] [ 0. 0. 0. 1. ]] SLAMing on 178.263133365 meters Centerline goodness : 0.121000 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 0.99996143 0.00162299 -0.00863198 -1.28606693] [-0.00159253 0.99999249 0.00353402 -0.0596743 ] [ 0.00863765 -0.00352014 0.9999565 -0.3082439 ] [ 0. 0. 0. 1. ]] SLAMing on 178.293133365 meters Centerline goodness : 0.121000 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 0.99996143 0.00162299 -0.00863198 -1.28606693] [-0.00159253 0.99999249 0.00353402 -0.0596743 ] [ 0.00863765 -0.00352014 0.9999565 -0.3082439 ] [ 0. 0. 0. 1. ]] SLAMing on 178.323133365 meters Centerline goodness : 0.121539 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 0.99996345 0.00159823 -0.00839944 -1.28634982] [-0.00156907 0.99999272 0.00347728 -0.05926808] [ 0.00840493 -0.00346397 0.99995868 -0.30868623] [ 0. 0. 0. 1. ]] SLAMing on 178.353133365 meters Centerline goodness : 0.121711 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 0.99996557 0.00153221 -0.00815567 -1.28717379] [-0.0015042 0.99999295 0.00343965 -0.05947852] [ 0.00816088 -0.00342727 0.99996083 -0.30830835] [ 0. 0. 0. 1. ]] SLAMing on 178.383133365 meters SLAMing on 178.413133365 meters Centerline goodness : 0.148889 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 0.99996616 0.00134613 -0.00811617 -1.2875029 ] [-0.00131919 0.9999936 0.00332427 -0.0596694 ] [ 0.00812059 -0.00331345 0.99996154 -0.30798605] [ 0. 0. 0. 1. ]] SLAMing on 178.443133365 meters Centerline goodness : 0.139786 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 9.99966083e-01 1.29612468e-03 -8.13343942e-03 -1.28714021e+00] [-1.26996167e-03 9.99994006e-01 3.22106215e-03 -5.92573526e-02] [ 8.13756556e-03 -3.21062375e-03 9.99961735e-01 -3.08512674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.473133365 meters Centerline goodness : 0.157249 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 9.99966748e-01 1.26333200e-03 -8.05648934e-03 -1.28732189e+00] [-1.23793230e-03 9.99994251e-01 3.15690797e-03 -5.89828222e-02] [ 8.06043125e-03 -3.14682960e-03 9.99962563e-01 -3.08524455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.503133365 meters Centerline goodness : 0.138398 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 9.99967965e-01 1.24078231e-03 -7.90760156e-03 -1.28780127e+00] [-1.21630153e-03 9.99994456e-01 3.09991182e-03 -5.87719109e-02] [ 7.91140403e-03 -3.09019449e-03 9.99963930e-01 -3.08374340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.533133365 meters Centerline goodness : 0.104098 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 9.99969521e-01 1.16385638e-03 -7.72026191e-03 -1.28829917e+00] [-1.14105749e-03 9.99994977e-01 2.95687082e-03 -5.81828584e-02] [ 7.72366451e-03 -2.94797143e-03 9.99965827e-01 -3.08265630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.563133365 meters Centerline goodness : 0.135594 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 9.99969593e-01 1.08492942e-03 -7.72246307e-03 -1.28817413e+00] [-1.06530995e-03 9.99996196e-01 2.54423179e-03 -5.57727977e-02] [ 7.72519400e-03 -2.53592761e-03 9.99966945e-01 -3.08587117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.593133365 meters Centerline goodness : 0.131573 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-0.31 [[ 0.99992348 0.00892841 -0.00856307 -1.30834313] [-0.00891603 0.99995915 0.00148229 -0.05863661] [ 0.00857596 -0.00140582 0.99996224 -0.30985748] [ 0. 0. 0. 1. ]] SLAMing on 178.623133365 meters Centerline goodness : 0.145730 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.05, Z:-0.31 [[ 0.99994596 0.00235194 -0.01012692 -1.28969588] [-0.00233253 0.99999542 0.00192768 -0.0503091 ] [ 0.01013141 -0.00190396 0.99994686 -0.30856193] [ 0. 0. 0. 1. ]] SLAMing on 178.653133365 meters Centerline goodness : 0.136195 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.05, Z:-0.31 [[ 0.99994513 0.00224717 -0.01023192 -1.28915808] [-0.00223223 0.99999643 0.0014713 -0.04776016] [ 0.01023519 -0.00144838 0.99994657 -0.30911878] [ 0. 0. 0. 1. ]] SLAMing on 178.683133365 meters Centerline goodness : 0.136598 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.05, Z:-0.31 [[ 9.99944628e-01 2.11042591e-03 -1.03096069e-02 -1.28874043e+00] [-2.10015741e-03 9.99997288e-01 1.00673757e-03 -4.52663771e-02] [ 1.03117036e-02 -9.85030024e-04 9.99946348e-01 -3.09567762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71313336499998 meters Centerline goodness : 0.136542 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99946311e-01 1.94413456e-03 -1.01782290e-02 -1.28932853e+00] [-1.93980796e-03 9.99998024e-01 4.34938108e-04 -4.21355254e-02] [ 1.01790544e-02 -4.15170947e-04 9.99948106e-01 -3.09289319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74313336499998 meters Centerline goodness : 0.150199 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99946906e-01 1.89905115e-03 -1.01280756e-02 -1.28978038e+00] [-1.89650651e-03 9.99998168e-01 2.60844654e-04 -4.09964140e-02] [ 1.01285524e-02 -2.41622843e-04 9.99948676e-01 -3.08832891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77313336499998 meters Centerline goodness : 0.118861 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99946859e-01 1.86618044e-03 -1.01388849e-02 -1.28984285e+00] [-1.86491952e-03 9.99998252e-01 1.33817234e-04 -4.00919694e-02] [ 1.01391169e-02 -1.14901918e-04 9.99948591e-01 -3.08741287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80313336499998 meters Centerline goodness : 0.138130 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99946550e-01 1.80307476e-03 -1.01807081e-02 -1.28977421e+00] [-1.80271114e-03 9.99998374e-01 4.48929051e-05 -3.95928956e-02] [ 1.01807725e-02 -2.65376298e-05 9.99948174e-01 -3.08741302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83313336499998 meters Centerline goodness : 0.124698 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99947840e-01 1.75127099e-03 -1.00623258e-02 -1.29017636e+00] [-1.75095010e-03 9.99998466e-01 4.07001053e-05 -3.99863035e-02] [ 1.00623816e-02 -2.30793520e-05 9.99949373e-01 -3.08533782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86313336499998 meters Centerline goodness : 0.149661 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99949995e-01 1.69289997e-03 -9.85600883e-03 -1.29087067e+00] [-1.69247648e-03 9.99998566e-01 5.13085622e-05 -4.04793462e-02] [ 9.85608156e-03 -3.46249334e-05 9.99951427e-01 -3.08210057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89313336499998 meters Centerline goodness : 0.052946 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99950688e-01 1.67667802e-03 -9.78825759e-03 -1.29109166e+00] [-1.67585297e-03 9.99998591e-01 9.24910473e-05 -4.09169668e-02] [ 9.78839888e-03 -7.60828058e-05 9.99952090e-01 -3.08117436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92313336499998 meters SLAMing on 178.95313336499999 meters Centerline goodness : 0.058380 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99947380e-01 1.68471557e-03 -1.01192810e-02 -1.29000501e+00] [-1.67991898e-03 9.99998473e-01 4.82486014e-04 -4.33244473e-02] [ 1.01200784e-02 -4.65461053e-04 9.99948682e-01 -3.08564158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.983133365 meters Centerline goodness : 0.054766 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99946485e-01 1.67627983e-03 -1.02086390e-02 -1.28984453e+00] [-1.67033479e-03 9.99998430e-01 5.90852407e-04 -4.43065088e-02] [ 1.02096134e-02 -5.73768943e-04 9.99947716e-01 -3.08480926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.013133365 meters SLAMing on 179.043133365 meters Centerline goodness : 0.132835 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99948286e-01 1.72640886e-03 -1.00222029e-02 -1.29026015e+00] [-1.71966189e-03 9.99998289e-01 6.81780755e-04 -4.49806363e-02] [ 1.00233628e-02 -6.64510697e-04 9.99949544e-01 -3.08479490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.073133365 meters Centerline goodness : 0.053868 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99949205e-01 1.71051902e-03 -9.93286778e-03 -1.29037939e+00] [-1.70538714e-03 9.99998408e-01 5.25102503e-04 -4.41019488e-02] [ 9.93375016e-03 -5.08136445e-04 9.99950530e-01 -3.08612814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.103133365 meters Centerline goodness : 0.135157 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99950901e-01 1.75105296e-03 -9.75341959e-03 -1.29062883e+00] [-1.74769759e-03 9.99998411e-01 3.52532482e-04 -4.27842623e-02] [ 9.75402139e-03 -3.35469145e-04 9.99952372e-01 -3.08957378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.133133365 meters SLAMing on 179.163133365 meters Centerline goodness : 0.145793 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99954558e-01 2.15024448e-03 -9.28755944e-03 -1.29169287e+00] [-2.14712155e-03 9.99997635e-01 3.46206872e-04 -4.10910203e-02] [ 9.28828191e-03 -3.26249621e-04 9.99956810e-01 -3.09150423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.193133365 meters Centerline goodness : 0.129563 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99954965e-01 2.10579359e-03 -9.25388796e-03 -1.29171952e+00] [-2.10423971e-03 9.99997770e-01 1.77649432e-04 -4.04910874e-02] [ 9.25424142e-03 -1.58169033e-04 9.99957166e-01 -3.09265760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.223133365 meters Centerline goodness : 0.133615 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99951786e-01 1.91842106e-03 -9.63048881e-03 -1.29055416e+00] [-1.91841265e-03 9.99998160e-01 1.01114344e-05 -4.11509016e-02] [ 9.63049048e-03 8.36430466e-06 9.99953626e-01 -3.09723758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.253133365 meters Centerline goodness : 0.135816 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.31 [[ 9.99920757e-01 4.03722218e-04 -1.25824326e-02 -1.33498874e+00] [-4.04627301e-04 9.99999916e-01 -6.93866916e-05 -4.62113163e-02] [ 1.25824036e-02 7.44723889e-05 9.99920836e-01 -3.09054618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.283133365 meters Centerline goodness : 0.156057 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.31 [[ 9.99919706e-01 5.30002587e-04 -1.26609910e-02 -1.33490118e+00] [-5.25807455e-04 9.99999806e-01 3.34669581e-04 -4.83201740e-02] [ 1.26611659e-02 -3.27985466e-04 9.99919790e-01 -3.08847460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.313133365 meters Centerline goodness : 0.133894 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.31 [[ 9.99919852e-01 5.28837724e-04 -1.26495331e-02 -1.33490461e+00] [-5.23751038e-04 9.99999781e-01 4.05433722e-04 -4.89104930e-02] [ 1.26497448e-02 -3.98776021e-04 9.99919909e-01 -3.08846756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.343133365 meters Centerline goodness : 0.135480 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.31 [[ 9.99919996e-01 5.22133945e-04 -1.26383997e-02 -1.33497752e+00] [-5.17242198e-04 9.99999790e-01 3.90319899e-04 -4.89291265e-02] [ 1.26386009e-02 -3.83751558e-04 9.99920056e-01 -3.08807706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.373133365 meters Centerline goodness : 0.133336 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.05, Z:-0.31 [[ 9.99920131e-01 5.42379045e-04 -1.26268730e-02 -1.33502853e+00] [-5.37768323e-04 9.99999787e-01 3.68543947e-04 -4.86669551e-02] [ 1.26270702e-02 -3.61724180e-04 9.99920210e-01 -3.08825246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.403133365 meters Centerline goodness : 0.123094 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.31 [[ 9.99919655e-01 5.44634844e-04 -1.26644290e-02 -1.33488779e+00] [-5.41988311e-04 9.99999831e-01 2.12404937e-04 -4.73694273e-02] [ 1.26645425e-02 -2.05523898e-04 9.99919780e-01 -3.08975399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.433133365 meters Centerline goodness : 0.122799 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.31 [[ 9.99917721e-01 5.84994482e-04 -1.28143914e-02 -1.33410599e+00] [-5.84643657e-04 9.99999829e-01 3.11234209e-05 -4.57000512e-02] [ 1.28144074e-02 -2.36290074e-05 9.99917892e-01 -3.09716211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46313336499998 meters Centerline goodness : 0.132334 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 9.99913954e-01 5.64534354e-04 -1.31059443e-02 -1.33297792e+00] [-5.68776802e-04 9.99999787e-01 -3.19979013e-04 -4.32501795e-02] [ 1.31057608e-02 3.27405837e-04 9.99914062e-01 -3.10499683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49313336499998 meters Centerline goodness : 0.136394 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 9.99914238e-01 4.28982642e-04 -1.30893793e-02 -1.33285885e+00] [-4.44534760e-04 9.99999199e-01 -1.18526148e-03 -3.80831047e-02] [ 1.30888604e-02 1.19097851e-03 9.99913628e-01 -3.10932957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52313336499998 meters Centerline goodness : 0.133687 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 9.99918051e-01 2.81002032e-04 -1.27989041e-02 -1.33395433e+00] [-3.03271847e-04 9.99998444e-01 -1.73807067e-03 -3.50383301e-02] [ 1.27983958e-02 1.74180979e-03 9.99916580e-01 -3.10422275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55313336499998 meters Centerline goodness : 0.132031 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99923588e-01 2.31231540e-04 -1.23598249e-02 -1.33559611e+00] [-2.57562780e-04 9.99997701e-01 -2.12884002e-03 -3.22862432e-02] [ 1.23593043e-02 2.13186078e-03 9.99921348e-01 -3.09600302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58313336499998 meters Centerline goodness : 0.132418 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99928484e-01 1.90869363e-04 -1.19578956e-02 -1.33705045e+00] [-2.20889951e-04 9.99996827e-01 -2.50925393e-03 -2.94242387e-02] [ 1.19573787e-02 2.51171586e-03 9.99925353e-01 -3.08939790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61313336499998 meters Centerline goodness : 0.135373 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99931611e-01 8.14966942e-05 -1.16947549e-02 -1.33811098e+00] [-1.15912233e-04 9.99995665e-01 -2.94217068e-03 -2.66338131e-02] [ 1.16944645e-02 2.94332503e-03 9.99927286e-01 -3.08357023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64313336499998 meters Centerline goodness : 0.096174 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99934724e-01 -3.03647928e-04 -1.14217418e-02 -1.33932134e+00] [ 2.60566733e-04 9.99992848e-01 -3.77315764e-03 -2.23061161e-02] [ 1.14228058e-02 3.76993521e-03 9.99927651e-01 -3.07604077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67313336499998 meters Centerline goodness : 0.246183 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99933734e-01 -4.96007228e-04 -1.15014083e-02 -1.33940367e+00] [ 4.48464545e-04 9.99991347e-01 -4.13585088e-03 -2.06531958e-02] [ 1.15033602e-02 4.13041884e-03 9.99925303e-01 -3.07220822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70313336499999 meters Centerline goodness : 0.135690 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99932053e-01 -6.37017737e-04 -1.16397489e-02 -1.33911680e+00] [ 5.85561271e-04 9.99990044e-01 -4.42362732e-03 -1.91926939e-02] [ 1.16424509e-02 4.41651096e-03 9.99922471e-01 -3.07170922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.733133365 meters Centerline goodness : 0.123766 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99931280e-01 -8.97776675e-04 -1.16888151e-02 -1.33930927e+00] [ 8.41253875e-04 9.99987935e-01 -4.83965042e-03 -1.71299587e-02] [ 1.16930190e-02 4.82948458e-03 9.99919971e-01 -3.06667744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.763133365 meters Centerline goodness : 0.147114 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99931362e-01 -9.87358583e-04 -1.16746449e-02 -1.33953908e+00] [ 9.29613797e-04 9.99987314e-01 -4.95056317e-03 -1.66444645e-02] [ 1.16793848e-02 4.93937046e-03 9.99919594e-01 -3.06330323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.793133365 meters Centerline goodness : 0.128330 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99929138e-01 -1.06309891e-03 -1.18570148e-02 -1.33921050e+00] [ 1.00346932e-03 9.99986827e-01 -5.03387183e-03 -1.63967613e-02] [ 1.18622101e-02 5.02161697e-03 9.99917032e-01 -3.06166718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.823133365 meters Centerline goodness : 0.124870 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99926053e-01 -1.11810070e-03 -1.21094375e-02 -1.33851806e+00] [ 1.05665808e-03 9.99986543e-01 -5.07915540e-03 -1.63764610e-02] [ 1.21149535e-02 5.06598427e-03 9.99913778e-01 -3.06290052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.853133365 meters Centerline goodness : 0.129674 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99921850e-01 -1.18413913e-03 -1.24455211e-02 -1.33751660e+00] [ 1.12010643e-03 9.99986107e-01 -5.15075135e-03 -1.61975367e-02] [ 1.24514474e-02 5.13640851e-03 9.99909285e-01 -3.06634328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.883133365 meters Centerline goodness : 0.130121 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99919564e-01 -1.19135006e-03 -1.26271669e-02 -1.33696596e+00] [ 1.12640360e-03 9.99986108e-01 -5.14925554e-03 -1.62161673e-02] [ 1.26331261e-02 5.13461807e-03 9.99907016e-01 -3.06822047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.913133365 meters Centerline goodness : 0.133221 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99922080e-01 -1.13776790e-03 -1.24313545e-02 -1.33761874e+00] [ 1.07614260e-03 9.99987106e-01 -4.96281209e-03 -1.72189350e-02] [ 1.24368407e-02 4.94904748e-03 9.99910412e-01 -3.06466731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.943133365 meters Centerline goodness : 0.111711 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99923554e-01 -1.09249023e-03 -1.23163380e-02 -1.33791573e+00] [ 1.03404363e-03 9.99988180e-01 -4.75082283e-03 -1.86621517e-02] [ 1.23213826e-02 4.73772402e-03 9.99912865e-01 -3.06387925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.973133365 meters SLAMing on 180.003133365 meters Centerline goodness : 0.123651 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99922754e-01 -1.09176610e-03 -1.23811762e-02 -1.33768235e+00] [ 1.03792150e-03 9.99989980e-01 -4.35450033e-03 -2.19478295e-02] [ 1.23858063e-02 4.34131327e-03 9.99913869e-01 -3.06431794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.033133365 meters Centerline goodness : 0.127279 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99914976e-01 -9.58141640e-04 -1.30047504e-02 -1.33542275e+00] [ 9.06771399e-04 9.99991766e-01 -3.95543538e-03 -2.41538829e-02] [ 1.30084332e-02 3.94330674e-03 9.99907611e-01 -3.07590176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.063133365 meters Centerline goodness : 0.126810 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99911556e-01 -8.89879030e-04 -1.32698215e-02 -1.33440033e+00] [ 8.38961620e-04 9.99992267e-01 -3.84215645e-03 -2.47140756e-02] [ 1.32731379e-02 3.83068377e-03 9.99904570e-01 -3.08193349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.093133365 meters Centerline goodness : 0.126196 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99909371e-01 -8.81917501e-04 -1.34339704e-02 -1.33373000e+00] [ 8.30182492e-04 9.99992220e-01 -3.85614859e-03 -2.47081768e-02] [ 1.34372667e-02 3.84464646e-03 9.99902325e-01 -3.08643933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.123133365 meters Centerline goodness : 0.127706 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99908032e-01 -8.61911099e-04 -1.35345947e-02 -1.33337557e+00] [ 8.09626256e-04 9.99992191e-01 -3.86805620e-03 -2.46844355e-02] [ 1.35378229e-02 3.85674249e-03 9.99900922e-01 -3.08870021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.153133365 meters SLAMing on 180.183133365 meters Centerline goodness : 0.132680 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99912556e-01 -6.16876882e-04 -1.32098479e-02 -1.33424452e+00] [ 5.69302676e-04 9.99993340e-01 -3.60487720e-03 -2.47692978e-02] [ 1.32119837e-02 3.59704157e-03 9.99906248e-01 -3.08691902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21313336499998 meters Centerline goodness : 0.132680 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99912556e-01 -6.16876882e-04 -1.32098479e-02 -1.33424452e+00] [ 5.69302676e-04 9.99993340e-01 -3.60487720e-03 -2.47692978e-02] [ 1.32119837e-02 3.59704157e-03 9.99906248e-01 -3.08691902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24313336499998 meters Centerline goodness : 0.128216 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.03, Z:-0.31 [[ 9.99912118e-01 -5.58386818e-04 -1.32455266e-02 -1.33420268e+00] [ 5.12606507e-04 9.99993885e-01 -3.45942801e-03 -2.53838878e-02] [ 1.32473773e-02 3.45233425e-03 9.99906290e-01 -3.08605802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27313336499998 meters Centerline goodness : 0.129127 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.03, Z:-0.31 [[ 9.99907677e-01 -6.91132948e-04 -1.35705395e-02 -1.33365703e+00] [ 6.45353085e-04 9.99994088e-01 -3.37756337e-03 -2.69323871e-02] [ 1.35727936e-02 3.36849375e-03 9.99902211e-01 -3.08250032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30313336499998 meters Centerline goodness : 0.128864 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.03, Z:-0.31 [[ 9.99907252e-01 -6.43650077e-04 -1.36041733e-02 -1.33366038e+00] [ 6.00086548e-04 9.99994681e-01 -3.20605751e-03 -2.78929501e-02] [ 1.36061646e-02 3.19759647e-03 9.99902319e-01 -3.08116176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33313336499998 meters Centerline goodness : 0.128866 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.03, Z:-0.31 [[ 9.99910140e-01 -5.56130654e-04 -1.33941094e-02 -1.33425366e+00] [ 5.16557508e-04 9.99995492e-01 -2.95779701e-03 -2.90431898e-02] [ 1.33956939e-02 2.95061239e-03 9.99905920e-01 -3.07966809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36313336499998 meters Centerline goodness : 0.130231 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.03, Z:-0.31 [[ 9.99913045e-01 -4.90854619e-04 -1.31780757e-02 -1.33489167e+00] [ 4.54532680e-04 9.99996090e-01 -2.75909359e-03 -3.00019492e-02] [ 1.31793785e-02 2.75286381e-03 9.99909359e-01 -3.07765420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39313336499998 meters Centerline goodness : 0.127861 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99915490e-01 -4.55175233e-04 -1.29925268e-02 -1.33555065e+00] [ 4.21577412e-04 9.99996561e-01 -2.58855595e-03 -3.09362157e-02] [ 1.29936604e-02 2.58285983e-03 9.99912243e-01 -3.07413138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42313336499998 meters Centerline goodness : 0.127821 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99915877e-01 -4.55843914e-04 -1.29626528e-02 -1.33586443e+00] [ 4.23531733e-04 9.99996797e-01 -2.49534954e-03 -3.16411157e-02] [ 1.29637487e-02 2.48964953e-03 9.99912868e-01 -3.07068969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45313336499999 meters Centerline goodness : 0.127948 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99911411e-01 -4.11511421e-04 -1.33041956e-02 -1.33518971e+00] [ 3.83043346e-04 9.99997632e-01 -2.14225909e-03 -3.39017441e-02] [ 1.33050456e-02 2.13697322e-03 9.99909200e-01 -3.06837566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.483133365 meters Centerline goodness : 0.129833 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 9.99909302e-01 -3.19990522e-04 -1.34642126e-02 -1.33477595e+00] [ 2.95128051e-04 9.99998248e-01 -1.84850606e-03 -3.55659628e-02] [ 1.34647805e-02 1.84436474e-03 9.99907645e-01 -3.06876724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.513133365 meters Centerline goodness : 0.125442 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 9.99907927e-01 -2.42780690e-04 -1.35675792e-02 -1.33459067e+00] [ 2.21868677e-04 9.99998785e-01 -1.54280626e-03 -3.75371628e-02] [ 1.35679372e-02 1.53965399e-03 9.99906766e-01 -3.06752367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.543133365 meters Centerline goodness : 0.131300 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 9.99908457e-01 -1.61564801e-04 -1.35296661e-02 -1.33489614e+00] [ 1.44725257e-04 9.99999214e-01 -1.24560840e-03 -3.94365281e-02] [ 1.35298567e-02 1.24353629e-03 9.99907694e-01 -3.06383681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.573133365 meters Centerline goodness : 0.155246 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.04, Z:-0.31 [[ 9.99911349e-01 -5.15227676e-05 -1.33150641e-02 -1.33579553e+00] [ 3.84985161e-05 9.99999521e-01 -9.78413590e-04 -4.09156397e-02] [ 1.33151081e-02 9.77814242e-04 9.99910872e-01 -3.05773378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.603133365 meters Centerline goodness : 0.129686 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.04, Z:-0.31 [[ 9.99915001e-01 9.51214015e-05 -1.30376886e-02 -1.33671473e+00] [-1.05569662e-04 9.99999674e-01 -8.00703111e-04 -4.14609692e-02] [ 1.30376082e-02 8.02011437e-04 9.99914685e-01 -3.05342977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.633133365 meters Centerline goodness : 0.122127 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.04, Z:-0.31 [[ 0.99990557 0.00402936 -0.01313817 -1.33621062] [-0.00399204 0.99998792 0.00286616 -0.04084681] [ 0.01314956 -0.00281344 0.99990958 -0.3057051 ] [ 0. 0. 0. 1. ]] SLAMing on 180.663133365 meters Centerline goodness : 0.093877 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 0.9999003 0.0041813 -0.01348753 -1.33495601] [-0.00414633 0.99998797 0.00261969 -0.03884953] [ 0.01349832 -0.0025635 0.99990561 -0.30649592] [ 0. 0. 0. 1. ]] SLAMing on 180.693133365 meters Centerline goodness : 0.056503 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 0.9998969 0.00428891 -0.01370346 -1.33403314] [-0.0042579 0.99998831 0.00229173 -0.03654772] [ 0.01371313 -0.00223314 0.99990348 -0.30727073] [ 0. 0. 0. 1. ]] SLAMing on 180.723133365 meters SLAMing on 180.753133365 meters Centerline goodness : 0.056778 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.03, Z:-0.31 [[ 0.99986764 0.0077021 -0.01433115 -1.33170392] [-0.00763356 0.99995919 0.00483114 -0.03139943] [ 0.01436777 -0.0047211 0.99988563 -0.30860929] [ 0. 0. 0. 1. ]] SLAMing on 180.783133365 meters Centerline goodness : 0.134003 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.03, Z:-0.31 [[ 0.99986482 0.0077702 -0.01449004 -1.3310554 ] [-0.00770672 0.99996048 0.00443194 -0.02849765] [ 0.0145239 -0.00431967 0.99988519 -0.30922839] [ 0. 0. 0. 1. ]] SLAMing on 180.813133365 meters Centerline goodness : 0.147590 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 0.99985549 0.00778295 -0.01511373 -1.32883827] [-0.0077284 0.99996342 0.00366451 -0.02358241] [ 0.0151417 -0.00354718 0.99987907 -0.31068708] [ 0. 0. 0. 1. ]] SLAMing on 180.843133365 meters Centerline goodness : 0.140194 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.02, Z:-0.31 [[ 9.99880511e-01 2.71047608e-04 -1.54561011e-02 -1.30951205e+00] [-2.10820071e-04 9.99992380e-01 3.89817992e-03 -1.59177437e-02] [ 1.54570399e-02 -3.89445567e-03 9.99872948e-01 -3.09855364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.873133365 meters Centerline goodness : 0.075410 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.31 [[ 9.99881991e-01 1.61295573e-04 -1.53616057e-02 -1.30997797e+00] [-1.04722286e-04 9.99993210e-01 3.68350493e-03 -1.49742513e-02] [ 1.53620955e-02 -3.68146154e-03 9.99875219e-01 -3.09547564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.903133365 meters Centerline goodness : 0.144745 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.31 [[ 9.99884443e-01 1.35501161e-04 -1.52014170e-02 -1.31081022e+00] [-8.02797542e-05 9.99993397e-01 3.63320003e-03 -1.45573281e-02] [ 1.52018090e-02 -3.63155982e-03 9.99877851e-01 -3.08876637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.933133365 meters SLAMing on 180.96313336499998 meters Centerline goodness : 0.108275 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.31 [[ 9.99883903e-01 4.40461233e-05 -1.52374035e-02 -1.31143390e+00] [ 9.06451927e-06 9.99993926e-01 3.48545751e-03 -1.31894156e-02] [ 1.52374645e-02 -3.48519098e-03 9.99877829e-01 -3.07830609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99313336499998 meters SLAMing on 181.02313336499998 meters Centerline goodness : 0.127219 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.31 [[ 9.99868505e-01 -3.50487659e-04 -1.62126177e-02 -1.30836693e+00] [ 3.95392811e-04 9.99996095e-01 2.76664321e-03 -9.76848586e-03] [ 1.62115847e-02 -2.77268976e-03 9.99864739e-01 -3.09035086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05313336499998 meters Centerline goodness : 0.129889 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.31 [[ 9.99869979e-01 -4.31900475e-04 -1.61195023e-02 -1.30856471e+00] [ 4.71972741e-04 9.99996808e-01 2.48222786e-03 -7.83341382e-03] [ 1.61183787e-02 -2.48951309e-03 9.99866991e-01 -3.09122203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08313336499998 meters Centerline goodness : 0.121792 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.31 [[ 9.99873440e-01 -5.12268330e-04 -1.59010079e-02 -1.30934085e+00] [ 5.47157064e-04 9.99997453e-01 2.18984801e-03 -5.89382186e-03] [ 1.58998456e-02 -2.19827121e-03 9.99871173e-01 -3.08795025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11313336499998 meters SLAMing on 181.14313336499998 meters Centerline goodness : 0.128615 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.00, Z:-0.31 [[ 9.99851654e-01 7.25758639e-03 -1.56204477e-02 -1.33125761e+00] [-7.24711902e-03 9.99973475e-01 7.26608832e-04 -4.61765431e-03] [ 1.56253068e-02 -6.13297798e-04 9.99877729e-01 -3.08794235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17313336499998 meters Centerline goodness : 0.125692 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.00, Z:-0.31 [[ 9.99869803e-01 -2.80362193e-04 -1.61337968e-02 -1.31204415e+00] [ 2.99581716e-04 9.99999248e-01 1.18885395e-03 3.26698462e-03] [ 1.61334514e-02 -1.19353255e-03 9.99869135e-01 -3.07535680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20313336499999 meters Centerline goodness : 0.127387 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.00, Z:-0.31 [[ 9.99869582e-01 -4.04982793e-04 -1.61448255e-02 -1.31187276e+00] [ 4.19546890e-04 9.99999508e-01 8.98713921e-04 4.75726672e-03] [ 1.61444536e-02 -9.05370224e-04 9.99869260e-01 -3.07800686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.233133365 meters Centerline goodness : 0.129949 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.31 [[ 9.99869978e-01 -4.94324132e-04 -1.61177738e-02 -1.31196983e+00] [ 5.05583352e-04 9.99999631e-01 6.94492073e-04 5.97163745e-03] [ 1.61174245e-02 -7.02550652e-04 9.99869859e-01 -3.07779172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.263133365 meters Centerline goodness : 0.132624 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.31 [[ 9.99871606e-01 -5.36733622e-04 -1.60150726e-02 -1.31231074e+00] [ 5.45906946e-04 9.99999689e-01 5.68426981e-04 6.90039194e-03] [ 1.60147626e-02 -5.77096738e-04 9.99871589e-01 -3.07672424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.293133365 meters Centerline goodness : 0.132165 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.31 [[ 9.99873093e-01 -5.80131026e-04 -1.59204948e-02 -1.31278833e+00] [ 5.87630006e-04 9.99999719e-01 4.66352893e-04 7.65593055e-03] [ 1.59202197e-02 -4.75649070e-04 9.99873152e-01 -3.07289269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.323133365 meters Centerline goodness : 0.130385 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.00, Z:-0.31 [[ 0.99988962 0.0050914 -0.01395802 -1.33720845] [-0.00512011 0.99998485 -0.00202198 0.00448023] [ 0.01394751 0.00209323 0.99990054 -0.30725275] [ 0. 0. 0. 1. ]] SLAMing on 181.353133365 meters Centerline goodness : 0.135018 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.31 [[ 9.99906697e-01 -2.65633784e-03 -1.33992845e-02 -1.31746130e+00] [ 2.64118975e-03 9.99995853e-01 -1.14808428e-03 9.76057365e-03] [ 1.34022786e-02 1.11258710e-03 9.99909566e-01 -3.06149011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.383133365 meters Centerline goodness : 0.130286 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.31 [[ 9.99904693e-01 -2.65115758e-03 -1.35490407e-02 -1.31695111e+00] [ 2.63664269e-03 9.99995931e-01 -1.08903652e-03 9.33415818e-03] [ 1.35518728e-02 1.05320875e-03 9.99907614e-01 -3.06404062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.413133365 meters Centerline goodness : 0.138628 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.31 [[ 9.99902151e-01 -2.68498131e-03 -1.37287675e-02 -1.31622937e+00] [ 2.67020949e-03 9.99995836e-01 -1.09419209e-03 9.18322616e-03] [ 1.37316483e-02 1.05742634e-03 9.99905157e-01 -3.06860303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.443133365 meters Centerline goodness : 0.137773 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.31 [[ 9.99897858e-01 -2.77344531e-03 -1.40207600e-02 -1.31519579e+00] [ 2.75707641e-03 9.99995495e-01 -1.18667001e-03 9.19274026e-03] [ 1.40239880e-02 1.14789249e-03 9.99901000e-01 -3.07406895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.473133365 meters Centerline goodness : 0.110510 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.31 [[ 9.99895613e-01 -2.78531525e-03 -1.41776379e-02 -1.31467737e+00] [ 2.76941251e-03 9.99995514e-01 -1.14118697e-03 8.71986219e-03] [ 1.41807529e-02 1.10180412e-03 9.99898841e-01 -3.07625898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.503133365 meters Centerline goodness : 0.125432 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.31 [[ 9.99893038e-01 -2.77460976e-03 -1.43601592e-02 -1.31444569e+00] [ 2.76072010e-03 9.99995702e-01 -9.86968856e-04 7.81241775e-03] [ 1.43628360e-02 9.47218907e-04 9.99896400e-01 -3.07329232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.533133365 meters Centerline goodness : 0.135665 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.31 [[ 9.99890976e-01 -2.74376883e-03 -1.45089145e-02 -1.31407392e+00] [ 2.73192795e-03 9.99995919e-01 -8.35867758e-04 6.87753056e-03] [ 1.45111487e-02 7.96139319e-04 9.99894391e-01 -3.07330382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.563133365 meters Centerline goodness : 0.151971 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.31 [[ 9.99889295e-01 -2.71945006e-03 -1.46288401e-02 -1.31379074e+00] [ 2.71030448e-03 9.99996119e-01 -6.44963704e-04 5.49593650e-03] [ 1.46305373e-02 6.05243692e-04 9.99892785e-01 -3.07291024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.593133365 meters Centerline goodness : 0.107872 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.00, Z:-0.31 [[ 9.99895543e-01 3.01689115e-03 -1.41350968e-02 -1.33659071e+00] [-3.06262101e-03 9.99990143e-01 -3.21467105e-03 -2.40443458e-04] [ 1.41252592e-02 3.25762570e-03 9.99894927e-01 -3.07651317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.623133365 meters Centerline goodness : 0.133083 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.00, Z:-0.31 [[ 0.99990433 -0.00511132 -0.01285324 -1.31647318] [ 0.00508029 0.9999841 -0.00244587 0.00211901] [ 0.01286554 0.00238034 0.9999144 -0.30702489] [ 0. 0. 0. 1. ]] SLAMing on 181.653133365 meters Centerline goodness : 0.132546 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.00, Z:-0.31 [[ 0.9999156 -0.00507585 -0.01195919 -1.31921388] [ 0.00505603 0.9999858 -0.00168661 -0.00268009] [ 0.01196758 0.001626 0.99992706 -0.30589892] [ 0. 0. 0. 1. ]] SLAMing on 181.683133365 meters Centerline goodness : 0.130165 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.01, Z:-0.31 [[ 0.99994499 0.00189564 -0.01031635 -1.33786719] [-0.00191869 0.99999569 -0.00222447 -0.01157304] [ 0.01031209 0.00224414 0.99994431 -0.30804351] [ 0. 0. 0. 1. ]] SLAMing on 181.71313336499998 meters Centerline goodness : 0.129056 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.02, Z:-0.31 [[ 9.99915549e-01 4.39199882e-04 -1.29884997e-02 -1.38103956e+00] [-4.71546340e-04 9.99996795e-01 -2.48743457e-03 -1.66447396e-02] [ 1.29873656e-02 2.49334919e-03 9.99912552e-01 -3.08487151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74313336499998 meters Centerline goodness : 0.132806 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99919752e-01 9.70621137e-05 -1.26680816e-02 -1.33487826e+00] [-1.41802785e-04 9.99993756e-01 -3.53091335e-03 -1.66161980e-02] [ 1.26676598e-02 3.53242637e-03 9.99913522e-01 -3.09185427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77313336499998 meters Centerline goodness : 0.131536 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99916057e-01 1.95867414e-04 -1.29553155e-02 -1.33395781e+00] [-2.37424830e-04 9.99994832e-01 -3.20628998e-03 -1.85874192e-02] [ 1.29546206e-02 3.20909675e-03 9.99910936e-01 -3.09539481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80313336499998 meters Centerline goodness : 0.133669 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99916112e-01 3.44154910e-04 -1.29480217e-02 -1.33390444e+00] [-3.81867468e-04 9.99995692e-01 -2.91025196e-03 -1.98900789e-02] [ 1.29469644e-02 2.91495225e-03 9.99911936e-01 -3.09704031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83313336499998 meters Centerline goodness : 0.124555 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99922980e-01 7.11650616e-04 -1.23906381e-02 -1.33548479e+00] [-7.41658125e-04 9.99996803e-01 -2.41736226e-03 -2.11991347e-02] [ 1.23888782e-02 2.42636569e-03 9.99920311e-01 -3.09277308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86313336499998 meters Centerline goodness : 0.129883 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99925201e-01 7.65309575e-04 -1.22068588e-02 -1.33604853e+00] [-7.94385116e-04 9.99996859e-01 -2.37723116e-03 -2.14420399e-02] [ 1.22050011e-02 2.38675029e-03 9.99922668e-01 -3.09065667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89313336499998 meters Centerline goodness : 0.132227 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99926067e-01 8.43697976e-04 -1.21304685e-02 -1.33630636e+00] [-8.71217610e-04 9.99997059e-01 -2.26353206e-03 -2.18588705e-02] [ 1.21285230e-02 2.27393299e-03 9.99923861e-01 -3.08976446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92313336499998 meters Centerline goodness : 0.130955 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99926721e-01 9.47045607e-04 -1.20688038e-02 -1.33646173e+00] [-9.72112261e-04 9.99997382e-01 -2.07128208e-03 -2.27227045e-02] [ 1.20668106e-02 2.08286253e-03 9.99925024e-01 -3.09014545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95313336499999 meters Centerline goodness : 0.115397 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99927791e-01 1.03941599e-03 -1.19721673e-02 -1.33676359e+00] [-1.06148160e-03 9.99997750e-01 -1.83686897e-03 -2.38934916e-02] [ 1.19702311e-02 1.84944457e-03 9.99926644e-01 -3.08915050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.983133365 meters Centerline goodness : 0.128531 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99930447e-01 1.10393813e-03 -1.17423132e-02 -1.33748725e+00] [-1.12240742e-03 9.99998143e-01 -1.56640958e-03 -2.55902058e-02] [ 1.17405622e-02 1.57948029e-03 9.99929830e-01 -3.08656909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.013133365 meters Centerline goodness : 0.117488 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99931836e-01 1.17267576e-03 -1.16167001e-02 -1.33807213e+00] [-1.18730609e-03 9.99998511e-01 -1.25260577e-03 -2.75288660e-02] [ 1.16152139e-02 1.26631296e-03 9.99931739e-01 -3.08173010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.043133365 meters Centerline goodness : 0.132197 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99932186e-01 1.21670616e-03 -1.15820206e-02 -1.33842736e+00] [-1.22858055e-03 9.99998727e-01 -1.01818353e-03 -2.91134567e-02] [ 1.15807670e-02 1.03234393e-03 9.99932408e-01 -3.07732632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.073133365 meters Centerline goodness : 0.113648 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99931420e-01 1.23854240e-03 -1.16456804e-02 -1.33831612e+00] [-1.24885636e-03 9.99998834e-01 -8.78416072e-04 -3.01306037e-02] [ 1.16445789e-02 8.92899612e-04 9.99931801e-01 -3.07654566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.103133365 meters Centerline goodness : 0.113648 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99931420e-01 1.23854240e-03 -1.16456804e-02 -1.33831612e+00] [-1.24885636e-03 9.99998834e-01 -8.78416072e-04 -3.01306037e-02] [ 1.16445789e-02 8.92899612e-04 9.99931801e-01 -3.07654566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.133133365 meters Centerline goodness : 0.127573 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99931155e-01 1.31731516e-03 -1.16597966e-02 -1.33839883e+00] [-1.32616112e-03 9.99998839e-01 -7.50973345e-04 -3.08616645e-02] [ 1.16587938e-02 7.66384413e-04 9.99931740e-01 -3.07481608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.163133365 meters Centerline goodness : 0.131877 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.03, Z:-0.31 [[ 9.99900023e-01 -6.99329536e-03 -1.22897047e-02 -1.35818009e+00] [ 7.00140989e-03 9.99975299e-01 6.17369567e-04 -2.73865835e-02] [ 1.22850836e-02 -7.03353104e-04 9.99924288e-01 -3.08631608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.193133365 meters Centerline goodness : 0.112445 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99929230e-01 1.51322581e-03 -1.18001879e-02 -1.33835806e+00] [-1.52152835e-03 9.99998601e-01 -6.94648158e-04 -2.95753928e-02] [ 1.17991203e-02 7.12553318e-04 9.99930134e-01 -3.07414451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.223133365 meters Centerline goodness : 0.116063 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99929523e-01 1.51098164e-03 -1.17756686e-02 -1.33831630e+00] [-1.52041417e-03 9.99998530e-01 -7.92107988e-04 -2.90615648e-02] [ 1.17744544e-02 8.09956055e-04 9.99930351e-01 -3.07604933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.253133365 meters Centerline goodness : 0.139180 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99929272e-01 1.49933668e-03 -1.17983966e-02 -1.33826303e+00] [-1.50960028e-03 9.99998490e-01 -8.61057145e-04 -2.88227957e-02] [ 1.17970878e-02 8.78807107e-04 9.99930026e-01 -3.07647747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.283133365 meters Centerline goodness : 0.091971 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99927438e-01 1.43550499e-03 -1.19607112e-02 -1.33782061e+00] [-1.44793409e-03 9.99998421e-01 -1.03056623e-03 -2.82185566e-02] [ 1.19592129e-02 1.04780978e-03 9.99927937e-01 -3.07759772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.313133365 meters Centerline goodness : 0.126488 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99924894e-01 1.40050693e-03 -1.21755646e-02 -1.33725718e+00] [-1.41606253e-03 9.99998192e-01 -1.26908091e-03 -2.67549996e-02] [ 1.21737652e-02 1.28622696e-03 9.99925070e-01 -3.07914040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.343133365 meters Centerline goodness : 0.173658 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 0.99992577 0.00141765 -0.01210182 -1.33746781] [-0.00143481 0.99999798 -0.00140884 -0.02554456] [ 0.0120998 0.0014261 0.99992578 -0.30791811] [ 0. 0. 0. 1. ]] SLAMing on 182.373133365 meters Centerline goodness : 0.107505 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 0.99992767 0.00143257 -0.01194125 -1.33784381] [-0.00145157 0.99999769 -0.00158261 -0.02405235] [ 0.01193896 0.00159983 0.99992745 -0.30794423] [ 0. 0. 0. 1. ]] SLAMing on 182.403133365 meters Centerline goodness : 0.117983 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 0.99993038 0.00138551 -0.01171852 -1.33833922] [-0.00140732 0.99999729 -0.00185336 -0.02244721] [ 0.01171592 0.00186972 0.99992962 -0.30803732] [ 0. 0. 0. 1. ]] SLAMing on 182.433133365 meters Centerline goodness : 0.127020 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99933063e-01 1.27826544e-03 -1.14993543e-02 -1.33883504e+00] [-1.30298502e-03 9.99996856e-01 -2.14241489e-03 -2.12654510e-02] [ 1.14965796e-02 2.15725497e-03 9.99931585e-01 -3.08096565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46313336499998 meters Centerline goodness : 0.218453 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99932026e-01 1.11785908e-03 -1.16057682e-02 -1.33831541e+00] [-1.14856229e-03 9.99995858e-01 -2.63918458e-03 -1.87502958e-02] [ 1.16027699e-02 2.65233513e-03 9.99929168e-01 -3.08635036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49313336499998 meters Centerline goodness : 0.125273 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99928455e-01 1.11271339e-03 -1.19099294e-02 -1.33715092e+00] [-1.14624425e-03 9.99995398e-01 -2.80891428e-03 -1.72536737e-02] [ 1.19067491e-02 2.82236501e-03 9.99925129e-01 -3.09395488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52313336499998 meters Centerline goodness : 0.123173 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99926339e-01 1.11905499e-03 -1.20856787e-02 -1.33641637e+00] [-1.15452392e-03 9.99995046e-01 -2.92821161e-03 -1.60538289e-02] [ 1.20823420e-02 2.94194913e-03 9.99922678e-01 -3.09914998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55313336499998 meters Centerline goodness : 0.129450 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99925735e-01 1.05642955e-03 -1.21411987e-02 -1.33619398e+00] [-1.09323840e-03 9.99994826e-01 -3.02549425e-03 -1.56277860e-02] [ 1.21379396e-02 3.03854279e-03 9.99921716e-01 -3.10088703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58313336499998 meters Centerline goodness : 0.124819 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99923901e-01 8.65753546e-04 -1.23061911e-02 -1.33589832e+00] [-9.05193145e-04 9.99994471e-01 -3.19964979e-03 -1.56722264e-02] [ 1.23033529e-02 3.21054578e-03 9.99919157e-01 -3.09915735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61313336499998 meters Centerline goodness : 0.129496 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99923952e-01 7.40764442e-04 -1.23101919e-02 -1.33607370e+00] [-7.80883950e-04 9.99994399e-01 -3.25456115e-03 -1.61786475e-02] [ 1.23077121e-02 3.26392648e-03 9.99918930e-01 -3.09613332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64313336499998 meters Centerline goodness : 0.135069 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99928782e-01 9.95205705e-04 -1.18928813e-02 -1.33754042e+00] [-1.02719800e-03 9.99995870e-01 -2.68423213e-03 -1.78336857e-02] [ 1.18901608e-02 2.69625730e-03 9.99925674e-01 -3.08834997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67313336499998 meters Centerline goodness : 0.133150 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99930701e-01 1.15804782e-03 -1.17154261e-02 -1.33804584e+00] [-1.18625679e-03 9.99996414e-01 -2.40118628e-03 -1.85601459e-02] [ 1.17126033e-02 2.41491739e-03 9.99928489e-01 -3.08664749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70313336499999 meters Centerline goodness : 0.115773 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99932554e-01 1.18938178e-03 -1.15530006e-02 -1.33862419e+00] [-1.21548386e-03 9.99996724e-01 -2.25257480e-03 -1.94814785e-02] [ 1.15502836e-02 2.26646536e-03 9.99930725e-01 -3.08303837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.733133365 meters Centerline goodness : 0.132938 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99932105e-01 1.06168492e-03 -1.16042329e-02 -1.33849989e+00] [-1.08792174e-03 9.99996866e-01 -2.25489126e-03 -2.05709706e-02] [ 1.16018026e-02 2.26736266e-03 9.99930126e-01 -3.08268776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.763133365 meters Centerline goodness : 0.152849 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99930091e-01 9.80689574e-04 -1.17834978e-02 -1.33799896e+00] [-1.00667735e-03 9.99997074e-01 -2.19970919e-03 -2.16850137e-02] [ 1.17813061e-02 2.21141759e-03 9.99928153e-01 -3.08381026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.793133365 meters Centerline goodness : 0.131815 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99928221e-01 1.03213883e-03 -1.19367886e-02 -1.33735176e+00] [-1.05647395e-03 9.99997376e-01 -2.03253985e-03 -2.26196121e-02] [ 1.19346594e-02 2.04500486e-03 9.99926688e-01 -3.08840776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.823133365 meters Centerline goodness : 0.133589 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99927623e-01 1.24766938e-03 -1.19662948e-02 -1.33688684e+00] [-1.26591299e-03 9.99998048e-01 -1.51712989e-03 -2.48616682e-02] [ 1.19643786e-02 1.53216837e-03 9.99927250e-01 -3.09418757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.853133365 meters Centerline goodness : 0.132689 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99927256e-01 1.30523111e-03 -1.19907782e-02 -1.33698907e+00] [-1.32031629e-03 9.99998347e-01 -1.25023476e-03 -2.66318835e-02] [ 1.19891265e-02 1.26597544e-03 9.99927326e-01 -3.09159283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.883133365 meters Centerline goodness : 0.136006 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99927245e-01 1.31056233e-03 -1.19911140e-02 -1.33721907e+00] [-1.32341568e-03 9.99998558e-01 -1.06403430e-03 -2.81106345e-02] [ 1.19897023e-02 1.07982612e-03 9.99927538e-01 -3.08790746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.913133365 meters Centerline goodness : 0.134860 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99928108e-01 1.37005212e-03 -1.19122273e-02 -1.33768766e+00] [-1.37959781e-03 9.99998734e-01 -7.93155378e-04 -2.97449900e-02] [ 1.19111255e-02 8.09532440e-04 9.99928732e-01 -3.08329133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.943133365 meters Centerline goodness : 0.128528 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99929800e-01 1.46687718e-03 -1.17577240e-02 -1.33831367e+00] [-1.47278009e-03 9.99998794e-01 -4.93402481e-04 -3.13304241e-02] [ 1.17569860e-02 5.10684386e-04 9.99930754e-01 -3.07907305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.973133365 meters SLAMing on 183.003133365 meters Centerline goodness : 0.120742 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.04, Z:-0.31 [[ 9.99930116e-01 1.39830959e-03 -1.17391239e-02 -1.33799734e+00] [-1.40000249e-03 9.99999011e-01 -1.35993116e-04 -3.52652173e-02] [ 1.17389221e-02 1.52418415e-04 9.99931085e-01 -3.08327468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.033133365 meters Centerline goodness : 0.130844 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.04, Z:-0.31 [[ 9.99927982e-01 1.33631519e-03 -1.19266739e-02 -1.33744610e+00] [-1.33840473e-03 9.99999090e-01 -1.67219175e-04 -3.57421540e-02] [ 1.19264396e-02 1.83169849e-04 9.99928861e-01 -3.08518502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.063133365 meters Centerline goodness : 0.230998 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.04, Z:-0.31 [[ 9.99892243e-01 6.62158321e-04 -1.46650646e-02 -1.38134489e+00] [-6.60801349e-04 9.99999777e-01 9.73763303e-05 -3.81726834e-02] [ 1.46651258e-02 -8.76751429e-05 9.99892457e-01 -3.08354387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.093133365 meters Centerline goodness : 0.136093 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.04, Z:-0.31 [[ 9.99891474e-01 7.14756016e-04 -1.47149579e-02 -1.38107055e+00] [-7.13670167e-04 9.99999742e-01 7.90431622e-05 -3.75788962e-02] [ 1.47150106e-02 -6.85329575e-05 9.99891726e-01 -3.08660135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.123133365 meters SLAMing on 183.153133365 meters Centerline goodness : 0.129328 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.04, Z:-0.31 [[ 9.99895862e-01 7.90302707e-04 -1.44097047e-02 -1.38180873e+00] [-7.90949710e-04 9.99999686e-01 -3.92016143e-05 -3.63842684e-02] [ 1.44096692e-02 5.05948837e-05 9.99896174e-01 -3.08674508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.183133365 meters Centerline goodness : 0.262735 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.04, Z:-0.31 [[ 9.99859101e-01 -7.16566229e-04 -1.67709315e-02 -1.42624384e+00] [ 7.07891879e-04 9.99999613e-01 -5.23156052e-04 -4.00835534e-02] [ 1.67712998e-02 5.11210333e-04 9.99859221e-01 -3.08241352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21313336499998 meters Centerline goodness : 0.127364 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.04, Z:-0.31 [[ 9.99880221e-01 -3.08287492e-04 -1.54741212e-02 -1.38222628e+00] [ 2.90106391e-04 9.99999265e-01 -1.17716692e-03 -3.86689460e-02] [ 1.54744727e-02 1.17253678e-03 9.99879576e-01 -3.07764038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24313336499998 meters Centerline goodness : 0.109527 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.05, Z:-0.31 [[ 0.99984732 0.00710257 -0.01596501 -1.40118656] [-0.00714119 0.99997171 -0.00236341 -0.04529332] [ 0.01594777 0.00247706 0.99986976 -0.3094992 ] [ 0. 0. 0. 1. ]] SLAMing on 183.27313336499998 meters SLAMing on 183.30313336499998 meters Centerline goodness : 0.106469 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.04, Z:-0.31 [[ 9.99888988e-01 9.36647019e-05 -1.48997479e-02 -1.38364768e+00] [-1.03712518e-04 9.99999768e-01 -6.73590227e-04 -4.19481691e-02] [ 1.48996813e-02 6.75060740e-04 9.99888766e-01 -3.07623638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33313336499998 meters Centerline goodness : 0.125465 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.04, Z:-0.31 [[ 9.99894163e-01 2.27647855e-04 -1.45468755e-02 -1.38451394e+00] [-2.36981391e-04 9.99999767e-01 -6.39897427e-04 -4.13590073e-02] [ 1.45467265e-02 6.43277041e-04 9.99893984e-01 -3.07595514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36313336499998 meters Centerline goodness : 0.071362 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.04, Z:-0.31 [[ 9.99896036e-01 9.14979385e-04 -1.43902790e-02 -1.38478859e+00] [-9.21394181e-04 9.99999479e-01 -4.39149262e-04 -3.94091145e-02] [ 1.43898697e-02 4.52362725e-04 9.99896358e-01 -3.07896033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39313336499998 meters Centerline goodness : 0.166854 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.04, Z:-0.31 [[ 9.99852847e-01 8.28850168e-04 -1.71346821e-02 -1.42828811e+00] [-8.27700873e-04 9.99999655e-01 7.41657964e-05 -4.01926359e-02] [ 1.71347376e-02 -5.99724913e-05 9.99853188e-01 -3.08215193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42313336499998 meters Centerline goodness : 0.126456 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.04, Z:-0.31 [[ 9.99843123e-01 8.64227039e-04 -1.76913273e-02 -1.42681550e+00] [-8.69980671e-04 9.99999571e-01 -3.17529723e-04 -3.75961017e-02] [ 1.76910453e-02 3.32871023e-04 9.99843446e-01 -3.08653638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45313336499999 meters Centerline goodness : 0.083664 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.03, Z:-0.31 [[ 9.99838772e-01 8.70576375e-04 -1.79351928e-02 -1.42602118e+00] [-8.83869058e-04 9.99999341e-01 -7.33237328e-04 -3.48694403e-02] [ 1.79345426e-02 7.48971472e-04 9.99838883e-01 -3.09170394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.483133365 meters Centerline goodness : 0.110429 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.03, Z:-0.31 [[ 9.99836874e-01 8.98106881e-04 -1.80393825e-02 -1.42566629e+00] [-9.17711277e-04 9.99998997e-01 -1.07850665e-03 -3.23164746e-02] [ 1.80383958e-02 1.09488566e-03 9.99836695e-01 -3.09492245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.513133365 meters Centerline goodness : 0.119765 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.03, Z:-0.31 [[ 9.99842036e-01 9.14842905e-04 -1.77501085e-02 -1.42636815e+00] [-9.39060256e-04 9.99998640e-01 -1.35606255e-03 -2.99477315e-02] [ 1.77488437e-02 1.37251676e-03 9.99841535e-01 -3.09600689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.543133365 meters Centerline goodness : 0.131542 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.03, Z:-0.31 [[ 9.99856760e-01 8.73454684e-04 -1.69025504e-02 -1.42887769e+00] [-9.04486721e-04 9.99997919e-01 -1.82838062e-03 -2.65075336e-02] [ 1.69009183e-02 1.84340686e-03 9.99855470e-01 -3.08916207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.573133365 meters Centerline goodness : 0.126175 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.02, Z:-0.31 [[ 9.99860846e-01 7.04651187e-04 -1.66671169e-02 -1.42973566e+00] [-7.41618676e-04 9.99997279e-01 -2.21191263e-03 -2.47487578e-02] [ 1.66655129e-02 2.22396548e-03 9.99858647e-01 -3.08518316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.603133365 meters Centerline goodness : 0.127526 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.02, Z:-0.31 [[ 9.99862198e-01 5.73711742e-04 -1.65908170e-02 -1.42999944e+00] [-6.16768643e-04 9.99996455e-01 -2.59022464e-03 -2.26507803e-02] [ 1.65892721e-02 2.60010040e-03 9.99859008e-01 -3.08471763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.633133365 meters Centerline goodness : 0.117222 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.02, Z:-0.31 [[ 9.99860487e-01 4.66826391e-04 -1.66969540e-02 -1.42973791e+00] [-5.15906236e-04 9.99995559e-01 -2.93526248e-03 -2.04762034e-02] [ 1.66955096e-02 2.94346704e-03 9.99856288e-01 -3.08561752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.663133365 meters Centerline goodness : 0.127549 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.02, Z:-0.31 [[ 9.99859484e-01 3.60823147e-04 -1.67595178e-02 -1.42932013e+00] [-4.16564929e-04 9.99994393e-01 -3.32260580e-03 -1.80248074e-02] [ 1.67582249e-02 3.32912035e-03 9.99854029e-01 -3.09056149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.693133365 meters Centerline goodness : 0.131672 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.02, Z:-0.31 [[ 9.99859669e-01 1.97881637e-04 -1.67512039e-02 -1.42919629e+00] [-2.61425695e-04 9.99992779e-01 -3.79129770e-03 -1.54707617e-02] [ 1.67503327e-02 3.79514486e-03 9.99852501e-01 -3.09330927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.723133365 meters Centerline goodness : 0.110656 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.01, Z:-0.31 [[ 9.99864464e-01 -1.86512597e-04 -1.64626589e-02 -1.43009700e+00] [ 1.07394311e-04 9.99988442e-01 -4.80667716e-03 -1.00729580e-02] [ 1.64633651e-02 4.80425769e-03 9.99852928e-01 -3.09131166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.753133365 meters Centerline goodness : 0.136179 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.01, Z:-0.31 [[ 9.99867940e-01 -2.86548738e-04 -1.62487361e-02 -1.43094253e+00] [ 2.02941058e-04 9.99986734e-01 -5.14690360e-03 -7.87336389e-03] [ 1.62499954e-02 5.14292637e-03 9.99854733e-01 -3.08708144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.783133365 meters Centerline goodness : 0.135055 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.01, Z:-0.31 [[ 9.99869020e-01 -3.99066360e-04 -1.61797322e-02 -1.43126757e+00] [ 3.11245047e-04 9.99985209e-01 -5.43001435e-03 -6.18572149e-03] [ 1.61816598e-02 5.42426727e-03 9.99854355e-01 -3.08497328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.813133365 meters Centerline goodness : 0.139046 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.01, Z:-0.31 [[ 9.99867784e-01 -5.22487974e-04 -1.62524246e-02 -1.43092576e+00] [ 4.30320859e-04 9.99983810e-01 -5.67395655e-03 -5.02324239e-03] [ 1.62551261e-02 5.66621260e-03 9.99851821e-01 -3.08743857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.843133365 meters Centerline goodness : 0.130399 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.00, Z:-0.31 [[ 9.99865145e-01 -6.78002566e-04 -1.64083166e-02 -1.43031867e+00] [ 5.81094475e-04 9.99982366e-01 -5.91008217e-03 -4.23606178e-03] [ 1.64120343e-02 5.89975038e-03 9.99847907e-01 -3.09107171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.873133365 meters Centerline goodness : 0.131975 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.00, Z:-0.31 [[ 9.99859855e-01 -9.00044651e-04 -1.67170577e-02 -1.42946175e+00] [ 7.94974841e-04 9.99979897e-01 -6.29076781e-03 -2.69830047e-03] [ 1.67223836e-02 6.27659655e-03 9.99840470e-01 -3.09345704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.903133365 meters Centerline goodness : 0.127631 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.00, Z:-0.31 [[ 0.99983205 -0.00818017 -0.01639972 -1.41063086] [ 0.00809798 0.99995435 -0.00507205 0.00401535] [ 0.01644046 0.00493839 0.99985265 -0.30779301] [ 0. 0. 0. 1. ]] SLAMing on 183.933133365 meters Centerline goodness : 0.119622 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.00, Z:-0.31 [[ 9.99868828e-01 -5.67486636e-05 -1.61964092e-02 -1.43144830e+00] [-3.66535171e-05 9.99983373e-01 -5.76648985e-03 -3.40208400e-04] [ 1.61964671e-02 5.76632710e-03 9.99852201e-01 -3.08772763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96313336499998 meters Centerline goodness : 0.136160 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.00, Z:-0.31 [[ 9.99871077e-01 -1.27906505e-04 -1.60565358e-02 -1.43179856e+00] [ 3.18010846e-05 9.99982086e-01 -5.98555193e-03 8.85994394e-04] [ 1.60570138e-02 5.98426964e-03 9.99853170e-01 -3.08762538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99313336499998 meters Centerline goodness : 0.133826 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.00, Z:-0.31 [[ 9.99871575e-01 -2.12264687e-04 -1.60246044e-02 -1.43186528e+00] [ 1.12075781e-04 9.99980445e-01 -6.25283130e-03 2.32920121e-03] [ 1.60256183e-02 6.25023232e-03 9.99852046e-01 -3.08803077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02313336499998 meters Centerline goodness : 0.133826 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.00, Z:-0.31 [[ 9.99871575e-01 -2.12264687e-04 -1.60246044e-02 -1.43186528e+00] [ 1.12075781e-04 9.99980445e-01 -6.25283130e-03 2.32920121e-03] [ 1.60256183e-02 6.25023232e-03 9.99852046e-01 -3.08803077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05313336499998 meters Centerline goodness : 0.134637 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.00, Z:-0.31 [[ 9.99870171e-01 -2.97428821e-04 -1.61106290e-02 -1.43137478e+00] [ 1.92149566e-04 9.99978622e-01 -6.53592377e-03 3.95913617e-03] [ 1.61122285e-02 6.53197957e-03 9.99848853e-01 -3.09323452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08313336499998 meters Centerline goodness : 0.135751 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.01, Z:-0.31 [[ 9.99861047e-01 -3.69341651e-04 -1.66658211e-02 -1.42966273e+00] [ 2.53697890e-04 9.99975882e-01 -6.94055842e-03 6.47490040e-03] [ 1.66679826e-02 6.93536593e-03 9.99837026e-01 -3.10020454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11313336499998 meters Centerline goodness : 0.139411 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.01, Z:-0.31 [[ 9.99859935e-01 -3.73684026e-04 -1.67323084e-02 -1.42944446e+00] [ 2.56623592e-04 9.99975483e-01 -6.99767261e-03 6.97311821e-03] [ 1.67345130e-02 6.99239858e-03 9.99835518e-01 -3.10154344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14313336499998 meters Centerline goodness : 0.139110 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.01, Z:-0.31 [[ 9.99858814e-01 -3.75317855e-04 -1.67991398e-02 -1.42924572e+00] [ 2.57483458e-04 9.99975355e-01 -7.01592474e-03 7.33717525e-03] [ 1.68013590e-02 7.01060869e-03 9.99834269e-01 -3.10247707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17313336499998 meters Centerline goodness : 0.117429 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.01, Z:-0.31 [[ 0.9998347 -0.00795968 -0.01634656 -1.40998597] [ 0.00786567 0.9999522 -0.00580701 0.01262959] [ 0.016392 0.00567747 0.99984952 -0.30886781] [ 0. 0. 0. 1. ]] SLAMing on 184.20313336499999 meters Centerline goodness : 0.151984 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.01, Z:-0.31 [[ 9.99878486e-01 -1.90108774e-04 -1.55877540e-02 -1.42967018e+00] [ 9.09685541e-05 9.99979767e-01 -6.36059737e-03 6.22984527e-03] [ 1.55886478e-02 6.35840647e-03 9.99858272e-01 -3.10340358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.233133365 meters Centerline goodness : 0.141649 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.01, Z:-0.31 [[ 9.99878020e-01 -2.02422771e-04 -1.56174383e-02 -1.42972222e+00] [ 1.04773453e-04 9.99980443e-01 -6.25314714e-03 5.33439012e-03] [ 1.56183987e-02 6.25074809e-03 9.99858487e-01 -3.10140402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.263133365 meters Centerline goodness : 0.160255 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.00, Z:-0.31 [[ 9.99877851e-01 -1.96877368e-04 -1.56283037e-02 -1.42986887e+00] [ 1.02980709e-04 9.99981942e-01 -6.00869324e-03 3.70956521e-03] [ 1.56292044e-02 6.00634987e-03 9.99859816e-01 -3.09807409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.293133365 meters Centerline goodness : 0.136311 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.00, Z:-0.31 [[ 9.99879121e-01 -6.99401702e-05 -1.55479413e-02 -1.43007329e+00] [-1.98251206e-05 9.99983335e-01 -5.77322278e-03 2.86715810e-03] [ 1.55480860e-02 5.77283316e-03 9.99862456e-01 -3.09824719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.323133365 meters Centerline goodness : 0.140685 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.00, Z:-0.31 [[ 9.99880477e-01 4.50712953e-05 -1.54605600e-02 -1.43029675e+00] [-1.30170313e-04 9.99984848e-01 -5.50330276e-03 1.55595968e-03] [ 1.54600777e-02 5.50465750e-03 9.99865333e-01 -3.09739635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.353133365 meters Centerline goodness : 0.139070 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.00, Z:-0.31 [[ 9.99883148e-01 1.58845981e-04 -1.52860965e-02 -1.43085558e+00] [-2.37994356e-04 9.99986575e-01 -5.17612181e-03 -2.47474096e-04] [ 1.52850691e-02 5.17915498e-03 9.99869763e-01 -3.09482765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.383133365 meters Centerline goodness : 0.134453 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.01, Z:-0.31 [[ 9.99856114e-01 -1.09968681e-03 -1.69275468e-02 -1.47733839e+00] [ 1.00941160e-03 9.99985229e-01 -5.34065581e-03 -6.28807608e-03] [ 1.69331698e-02 5.32280051e-03 9.99842455e-01 -3.08682806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.413133365 meters Centerline goodness : 0.134206 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.01, Z:-0.31 [[ 9.99858135e-01 -8.52429990e-04 -1.68220807e-02 -1.47770716e+00] [ 7.78991967e-04 9.99990141e-01 -4.37164291e-03 -1.23630633e-02] [ 1.68256414e-02 4.35791847e-03 9.99848942e-01 -3.08419961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.443133365 meters Centerline goodness : 0.151371 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.01, Z:-0.31 [[ 0.99982572 -0.00852088 -0.01661083 -1.45708764] [ 0.00846951 0.99995914 -0.00316022 -0.01078482] [ 0.01663707 0.00301898 0.99985704 -0.30778806] [ 0. 0. 0. 1. ]] SLAMing on 184.473133365 meters Centerline goodness : 0.137850 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.02, Z:-0.31 [[ 9.99868524e-01 -1.05685047e-03 -1.61807921e-02 -1.47591480e+00] [ 9.95900008e-04 9.99992381e-01 -3.77443466e-03 -2.07182969e-02] [ 1.61846578e-02 3.75782396e-03 9.99861958e-01 -3.09837741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.503133365 meters Centerline goodness : 0.135246 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.02, Z:-0.31 [[ 9.99868893e-01 -8.86932871e-04 -1.61681741e-02 -1.47597946e+00] [ 8.35822119e-04 9.99994634e-01 -3.16767834e-03 -2.44858349e-02] [ 1.61708968e-02 3.15374932e-03 9.99864269e-01 -3.09721803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.533133365 meters Centerline goodness : 0.117678 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.03, Z:-0.31 [[ 9.99869037e-01 -5.97750980e-04 -1.61725634e-02 -1.47581653e+00] [ 5.62936481e-04 9.99997515e-01 -2.15715571e-03 -3.23268353e-02] [ 1.61738127e-02 2.14776908e-03 9.99866889e-01 -3.09825513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.563133365 meters Centerline goodness : 0.127509 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.03, Z:-0.31 [[ 9.99866969e-01 -4.52288249e-04 -1.63046181e-02 -1.47530423e+00] [ 4.23472985e-04 9.99998343e-01 -1.77071605e-03 -3.46581848e-02] [ 1.63053920e-02 1.76357592e-03 9.99865503e-01 -3.10099567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.593133365 meters Centerline goodness : 0.123903 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.04, Z:-0.31 [[ 9.99866325e-01 -3.57918645e-04 -1.63463661e-02 -1.47497718e+00] [ 3.32819815e-04 9.99998762e-01 -1.53813244e-03 -3.61632104e-02] [ 1.63468964e-02 1.53248644e-03 9.99865206e-01 -3.10450543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.623133365 meters Centerline goodness : 0.130329 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.04, Z:-0.31 [[ 9.99865964e-01 -2.62676159e-04 -1.63702333e-02 -1.47469038e+00] [ 2.40186621e-04 9.99999025e-01 -1.37575772e-03 -3.71706639e-02] [ 1.63705787e-02 1.37164141e-03 9.99865052e-01 -3.10846115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.653133365 meters Centerline goodness : 0.130306 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.04, Z:-0.31 [[ 9.99867400e-01 -1.40664137e-04 -1.62838424e-02 -1.47482518e+00] [ 1.20579229e-04 9.99999231e-01 -1.23440084e-03 -3.76462348e-02] [ 1.62840035e-02 1.23227366e-03 9.99866647e-01 -3.10997856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.683133365 meters Centerline goodness : 0.125860 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.04, Z:-0.31 [[ 9.99868971e-01 5.29851602e-06 -1.61876798e-02 -1.47499157e+00] [-2.34362404e-05 9.99999372e-01 -1.12027524e-03 -3.76296961e-02] [ 1.61876637e-02 1.12050783e-03 9.99868343e-01 -3.11135088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71313336499998 meters Centerline goodness : 0.306493 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99831092e-01 1.07681458e-04 -1.83786814e-02 -1.52066980e+00] [-1.12438853e-04 9.99999960e-01 -2.57820886e-04 -4.21478600e-02] [ 1.83786529e-02 2.59843816e-04 9.99831065e-01 -3.10592035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74313336499998 meters Centerline goodness : 0.129851 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99830061e-01 8.71567069e-05 -1.84348003e-02 -1.52036900e+00] [-9.31232978e-05 9.99999944e-01 -3.22800920e-04 -4.19461794e-02] [ 1.84347711e-02 3.24462773e-04 9.99830013e-01 -3.10882624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77313336499998 meters Centerline goodness : 0.298203 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99828970e-01 1.00966707e-04 -1.84937789e-02 -1.52020006e+00] [-1.05658685e-04 9.99999962e-01 -2.52728811e-04 -4.24840738e-02] [ 1.84937527e-02 2.54639615e-04 9.99828944e-01 -3.10958350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80313336499998 meters Centerline goodness : 0.058277 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99828778e-01 1.05645654e-04 -1.85041494e-02 -1.52006814e+00] [-1.10232054e-04 9.99999963e-01 -2.46838097e-04 -4.25432356e-02] [ 1.85041227e-02 2.48835583e-04 9.99828753e-01 -3.11139142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83313336499998 meters Centerline goodness : 0.126533 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99828843e-01 7.31329818e-05 -1.85008185e-02 -1.52003437e+00] [-7.83066259e-05 9.99999958e-01 -2.78919792e-04 -4.26652203e-02] [ 1.85007973e-02 2.80320789e-04 9.99828806e-01 -3.11214565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86313336499998 meters Centerline goodness : 0.147806 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99826463e-01 2.97722089e-06 -1.86291076e-02 -1.51968966e+00] [-8.46651018e-06 9.99999957e-01 -2.94583095e-04 -4.31466497e-02] [ 1.86291059e-02 2.94689697e-04 9.99826420e-01 -3.11260077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89313336499998 meters Centerline goodness : 0.126048 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99818816e-01 -9.88678062e-05 -1.90348552e-02 -1.51866583e+00] [ 9.31776772e-05 9.99999951e-01 -2.99818746e-04 -4.37246679e-02] [ 1.90348839e-02 2.97990800e-04 9.99818776e-01 -3.11398967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92313336499998 meters Centerline goodness : 0.125198 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99814102e-01 -9.27951952e-05 -1.92808964e-02 -1.51764232e+00] [ 8.78677012e-05 9.99999963e-01 -2.56410539e-04 -4.38762223e-02] [ 1.92809195e-02 2.54668705e-04 9.99814073e-01 -3.12070126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95313336499999 meters Centerline goodness : 0.127254 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99810697e-01 -7.42262813e-05 -1.94567603e-02 -1.51689475e+00] [ 6.98887712e-05 9.99999973e-01 -2.23610620e-04 -4.38723794e-02] [ 1.94567764e-02 2.22208480e-04 9.99810674e-01 -3.12587485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.983133365 meters Centerline goodness : 0.127459 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99808649e-01 -9.29836743e-05 -1.95616250e-02 -1.51658319e+00] [ 8.88395013e-05 9.99999973e-01 -2.12721085e-04 -4.40854507e-02] [ 1.95616442e-02 2.10942535e-04 9.99808630e-01 -3.12675197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.013133365 meters Centerline goodness : 0.126431 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99807067e-01 -1.02000270e-04 -1.96422702e-02 -1.51642865e+00] [ 9.87684077e-05 9.99999981e-01 -1.65506121e-04 -4.45156126e-02] [ 1.96422867e-02 1.63534154e-04 9.99807058e-01 -3.12612082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.043133365 meters Centerline goodness : 0.129950 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99804290e-01 -1.66297453e-04 -1.97826779e-02 -1.51626835e+00] [ 1.62918282e-04 9.99999972e-01 -1.72426152e-04 -4.47789241e-02] [ 1.97827060e-02 1.69169447e-04 9.99804289e-01 -3.12348392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.073133365 meters Centerline goodness : 0.130195 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.05, Z:-0.31 [[ 9.99804258e-01 -1.14083778e-04 -1.97846648e-02 -1.51653309e+00] [ 1.13964831e-04 9.99999993e-01 -7.13957883e-06 -4.55237252e-02] [ 1.97846655e-02 4.88342532e-06 9.99804264e-01 -3.11929227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.103133365 meters Centerline goodness : 0.131379 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.05, Z:-0.31 [[ 9.99806005e-01 -9.89705553e-05 -1.96962506e-02 -1.51695244e+00] [ 1.02083520e-04 9.99999982e-01 1.57043233e-04 -4.64626696e-02] [ 1.96962347e-02 -1.59023430e-04 9.99805998e-01 -3.11602099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.133133365 meters Centerline goodness : 0.130023 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.05, Z:-0.31 [[ 9.99806696e-01 -7.89157438e-05 -1.96612319e-02 -1.51718646e+00] [ 8.63990759e-05 9.99999924e-01 3.79764444e-04 -4.79093861e-02] [ 1.96612005e-02 -3.81389746e-04 9.99806627e-01 -3.11316567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.163133365 meters Centerline goodness : 0.131733 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.05, Z:-0.31 [[ 9.99806326e-01 -7.99855701e-05 -1.96800667e-02 -1.51724958e+00] [ 9.33322105e-05 9.99999766e-01 6.77263101e-04 -4.99453875e-02] [ 1.96800079e-02 -6.78968717e-04 9.99806099e-01 -3.11091423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.193133365 meters Centerline goodness : 0.129513 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.05, Z:-0.31 [[ 9.99847452e-01 -4.15682116e-04 -1.74614063e-02 -1.47425780e+00] [ 4.15331464e-04 9.99999913e-01 -2.37079588e-05 -4.98771210e-02] [ 1.74614147e-02 1.64520707e-05 9.99847538e-01 -3.10587678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.223133365 meters Centerline goodness : 0.133437 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.06, Z:-0.31 [[ 9.99890614e-01 -4.65201630e-03 -1.40399236e-02 -1.51583428e+00] [ 4.64985553e-03 9.99989172e-01 -1.86541931e-04 -5.75520996e-02] [ 1.40406394e-02 1.21237909e-04 9.99901418e-01 -3.11883114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.253133365 meters Centerline goodness : 0.131000 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.06, Z:-0.31 [[ 9.99920525e-01 1.23414538e-03 -1.25467360e-02 -1.49498209e+00] [-1.27563571e-03 9.99993743e-01 -3.29939771e-03 -6.13476831e-02] [ 1.25425856e-02 3.31514055e-03 9.99915843e-01 -3.11561108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.283133365 meters Centerline goodness : 0.133050 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.06, Z:-0.31 [[ 0.99987967 -0.00803878 -0.0132674 -1.51608699] [ 0.00800824 0.99996516 -0.00235336 -0.06212856] [ 0.01328585 0.00224683 0.99990921 -0.31207848] [ 0. 0. 0. 1. ]] SLAMing on 185.313133365 meters Centerline goodness : 0.119144 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.06, Z:-0.31 [[ 0.99987653 -0.00795853 -0.01354964 -1.51545523] [ 0.00793323 0.99996669 -0.00191999 -0.06492189] [ 0.01356447 0.00181226 0.99990636 -0.31198411] [ 0. 0. 0. 1. ]] SLAMing on 185.343133365 meters Centerline goodness : 0.109507 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.07, Z:-0.31 [[ 9.99924317e-01 -9.89253407e-04 -1.22630112e-02 -1.53324058e+00] [ 9.58191350e-04 9.99996319e-01 -2.53860439e-03 -7.34126114e-02] [ 1.22654774e-02 2.52666195e-03 9.99921584e-01 -3.14415804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.373133365 meters Centerline goodness : 0.093679 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.08, Z:-0.31 [[ 9.99924040e-01 -8.14065824e-04 -1.22984503e-02 -1.53319428e+00] [ 7.88399570e-04 9.99997502e-01 -2.09165438e-03 -7.55893462e-02] [ 1.23001223e-02 2.08179940e-03 9.99922184e-01 -3.14328979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.403133365 meters Centerline goodness : 0.131890 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.08, Z:-0.31 [[ 9.99924578e-01 -5.21258031e-04 -1.22705392e-02 -1.53356710e+00] [ 5.05671809e-04 9.99999062e-01 -1.27328326e-03 -8.01815934e-02] [ 1.22711914e-02 1.26698236e-03 9.99923903e-01 -3.13798693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.433133365 meters Centerline goodness : 0.129464 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.08, Z:-0.31 [[ 9.99923754e-01 -4.82220635e-04 -1.23391280e-02 -1.53352980e+00] [ 4.70081023e-04 9.99999403e-01 -9.86711976e-04 -8.25737065e-02] [ 1.23395964e-02 9.80836353e-04 9.99923383e-01 -3.13578663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46313336499998 meters Centerline goodness : 0.128248 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.08, Z:-0.31 [[ 9.99922825e-01 -4.34407521e-04 -1.24159422e-02 -1.53343507e+00] [ 4.24906038e-04 9.99999615e-01 -7.67892396e-04 -8.42539311e-02] [ 1.24162710e-02 7.62557525e-04 9.99922624e-01 -3.13430355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49313336499998 meters SLAMing on 185.52313336499998 meters Centerline goodness : 0.128330 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.09, Z:-0.31 [[ 9.99922741e-01 -1.64405885e-04 -1.24292218e-02 -1.53347675e+00] [ 1.60808167e-04 9.99999945e-01 -2.90455299e-04 -8.61350822e-02] [ 1.24292688e-02 2.88434138e-04 9.99922712e-01 -3.13352442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55313336499998 meters Centerline goodness : 0.126549 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.09, Z:-0.31 [[ 9.99921154e-01 2.72069041e-05 -1.25572966e-02 -1.53273050e+00] [-2.77090370e-05 9.99999999e-01 -3.98133604e-05 -8.69586593e-02] [ 1.25572955e-02 4.01581719e-05 9.99921153e-01 -3.14050448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58313336499998 meters SLAMing on 185.61313336499998 meters Centerline goodness : 0.056980 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.09, Z:-0.31 [[ 9.99919893e-01 1.61614176e-05 -1.26573188e-02 -1.53221171e+00] [-1.59368413e-05 1.00000000e+00 1.78436602e-05 -8.79728173e-02] [ 1.26573191e-02 -1.76405132e-05 9.99919893e-01 -3.14453571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64313336499998 meters Centerline goodness : 0.144816 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.09, Z:-0.31 [[ 9.99919929e-01 3.98315629e-05 -1.26543980e-02 -1.53227688e+00] [-3.97090904e-05 9.99999999e-01 9.92951146e-06 -8.77681170e-02] [ 1.26543984e-02 -9.42622176e-06 9.99919930e-01 -3.14382513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67313336499998 meters SLAMing on 185.70313336499999 meters SLAMing on 185.733133365 meters SLAMing on 185.763133365 meters Centerline goodness : 0.053128 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.08, Z:-0.32 [[ 0.99989611 0.00357348 -0.01396451 -1.52709978] [-0.00354036 0.99999086 0.00239544 -0.08034408] [ 0.01397294 -0.00234576 0.99989962 -0.317455 ] [ 0. 0. 0. 1. ]] SLAMing on 185.793133365 meters Centerline goodness : 0.124425 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.08, Z:-0.32 [[ 0.99989839 0.0035343 -0.01381025 -1.52744941] [-0.00350602 0.99999171 0.00207126 -0.0781494 ] [ 0.01381746 -0.00202264 0.99990249 -0.3175591 ] [ 0. 0. 0. 1. ]] SLAMing on 185.823133365 meters Centerline goodness : 0.126293 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.08, Z:-0.32 [[ 0.99990155 0.0034649 -0.01359693 -1.52805238] [-0.00344169 0.99999258 0.00172979 -0.07593832] [ 0.01360282 -0.00168283 0.99990606 -0.31749313] [ 0. 0. 0. 1. ]] SLAMing on 185.853133365 meters Centerline goodness : 0.088767 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.07, Z:-0.32 [[ 9.99904821e-01 3.33520252e-03 -1.33875229e-02 -1.52872070e+00] [-3.31747532e-03 9.99993591e-01 1.34614700e-03 -7.39432793e-02] [ 1.33919268e-02 -1.30160609e-03 9.99909477e-01 -3.17276713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.883133365 meters SLAMing on 185.913133365 meters SLAMing on 185.943133365 meters Centerline goodness : 0.165662 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.07, Z:-0.32 [[ 9.99908202e-01 3.16973748e-03 -1.31734602e-02 -1.52927169e+00] [-3.15943061e-03 9.99994686e-01 8.03134111e-04 -7.08541547e-02] [ 1.31759359e-02 -7.61439751e-04 9.99912904e-01 -3.17292600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.973133365 meters SLAMing on 186.003133365 meters Centerline goodness : 0.189435 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.07, Z:-0.32 [[ 9.99915657e-01 3.27665280e-03 -1.25675498e-02 -1.53110448e+00] [-3.27013298e-03 9.99994508e-01 5.39296699e-04 -6.73901490e-02] [ 1.25692478e-02 -4.98153654e-04 9.99920880e-01 -3.16768587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.033133365 meters Centerline goodness : 0.127596 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.07, Z:-0.32 [[ 9.99917227e-01 3.18079530e-03 -1.24668122e-02 -1.53148618e+00] [-3.17658458e-03 9.99994891e-01 3.57541689e-04 -6.64824350e-02] [ 1.24678858e-02 -3.17910211e-04 9.99922222e-01 -3.16584379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.063133365 meters Centerline goodness : 0.139663 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:-0.32 [[ 9.99892815e-01 1.73584271e-03 -1.45377029e-02 -1.57701913e+00] [-1.73609809e-03 9.99998493e-01 -4.94640834e-06 -6.83224726e-02] [ 1.45376724e-02 3.01847564e-05 9.99894322e-01 -3.15986945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.093133365 meters Centerline goodness : 0.108483 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:-0.32 [[ 9.99891373e-01 1.60441661e-03 -1.46515822e-02 -1.57664518e+00] [-1.60884772e-03 9.99998664e-01 -2.90649961e-04 -6.69968204e-02] [ 1.46510963e-02 3.14190553e-04 9.99892618e-01 -3.16194784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.123133365 meters Centerline goodness : 0.126316 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:-0.32 [[ 9.99891173e-01 1.49536190e-03 -1.46767496e-02 -1.57642750e+00] [-1.50479341e-03 9.99998668e-01 -6.31593236e-04 -6.50874842e-02] [ 1.46757856e-02 6.53609977e-04 9.99892091e-01 -3.16503216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.153133365 meters Centerline goodness : 0.110221 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.32 [[ 9.99895019e-01 1.43226554e-03 -1.44187323e-02 -1.57694292e+00] [-1.44857184e-03 9.99998323e-01 -1.12053071e-03 -6.17738591e-02] [ 1.44171032e-02 1.14129964e-03 9.99895417e-01 -3.16680410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.183133365 meters Centerline goodness : 0.133038 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.32 [[ 9.99898952e-01 1.30422556e-03 -1.41557668e-02 -1.57776890e+00] [-1.32451391e-03 9.99998109e-01 -1.42394097e-03 -6.03890554e-02] [ 1.41538829e-02 1.44254659e-03 9.99898788e-01 -3.16427243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21313336499998 meters Centerline goodness : 0.343620 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.32 [[ 9.99903551e-01 1.17295173e-03 -1.38388193e-02 -1.57903020e+00] [-1.19609233e-03 9.99997900e-01 -1.66399277e-03 -5.95062520e-02] [ 1.38368384e-02 1.68038478e-03 9.99902854e-01 -3.15668748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24313336499998 meters Centerline goodness : 0.127027 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.31 [[ 9.99906850e-01 1.09317020e-03 -1.36049861e-02 -1.58004259e+00] [-1.11767088e-03 9.99997767e-01 -1.79338730e-03 -5.90033483e-02] [ 1.36029953e-02 1.80842615e-03 9.99905840e-01 -3.14945225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27313336499998 meters Centerline goodness : 0.327664 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.31 [[ 9.99910043e-01 1.08920387e-03 -1.33686032e-02 -1.58095143e+00] [-1.11318193e-03 9.99997785e-01 -1.78630046e-03 -5.88813005e-02] [ 1.33666280e-02 1.80102146e-03 9.99909041e-01 -3.14411344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30313336499998 meters Centerline goodness : 0.125890 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.31 [[ 9.99912006e-01 1.09059650e-03 -1.32208799e-02 -1.58144033e+00] [-1.11348749e-03 9.99997894e-01 -1.72419048e-03 -5.91368775e-02] [ 1.32189716e-02 1.73876004e-03 9.99911114e-01 -3.14197176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33313336499998 meters Centerline goodness : 0.128213 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.31 [[ 9.99909877e-01 9.29968269e-04 -1.33929998e-02 -1.58087971e+00] [-9.51604463e-04 9.99998252e-01 -1.60920320e-03 -6.08347284e-02] [ 1.33914799e-02 1.62180301e-03 9.99909015e-01 -3.14364484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36313336499998 meters Centerline goodness : 0.127114 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.31 [[ 9.99906792e-01 9.24329356e-04 -1.36217798e-02 -1.58020377e+00] [-9.43575363e-04 9.99998566e-01 -1.40652576e-03 -6.25775844e-02] [ 1.36204602e-02 1.41924783e-03 9.99906230e-01 -3.14561203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39313336499998 meters Centerline goodness : 0.138600 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.32 [[ 9.99902785e-01 9.44730500e-04 -1.39114685e-02 -1.57919923e+00] [-9.61353035e-04 9.99998832e-01 -1.18824119e-03 -6.42038779e-02] [ 1.39103297e-02 1.20149951e-03 9.99902525e-01 -3.15048449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42313336499998 meters Centerline goodness : 0.135930 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:-0.32 [[ 9.99898585e-01 9.90192144e-04 -1.42069957e-02 -1.57811957e+00] [-1.00384325e-03 9.99999041e-01 -9.53773103e-04 -6.58173561e-02] [ 1.42060377e-02 9.67937973e-04 9.99898621e-01 -3.15629985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45313336499999 meters Centerline goodness : 0.127823 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:-0.32 [[ 9.99895189e-01 1.05397458e-03 -1.44395571e-02 -1.57720936e+00] [-1.06425169e-03 9.99999186e-01 -7.04067757e-04 -6.74435411e-02] [ 1.44388033e-02 7.19361285e-04 9.99895496e-01 -3.16211352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.483133365 meters Centerline goodness : 0.041361 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:-0.32 [[ 9.99894492e-01 1.20648206e-03 -1.44758231e-02 -1.57696932e+00] [-1.20929021e-03 9.99999252e-01 -1.85237589e-04 -7.07649360e-02] [ 1.44755888e-02 2.02723516e-04 9.99895203e-01 -3.16398092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.513133365 meters SLAMing on 186.543133365 meters Centerline goodness : 0.220587 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:-0.32 [[ 9.99889620e-01 1.37511252e-03 -1.47937956e-02 -1.57592286e+00] [-1.37197286e-03 9.99999034e-01 2.22374407e-04 -7.29797020e-02] [ 1.47940871e-02 -2.02053176e-04 9.99890541e-01 -3.16875348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.573133365 meters Centerline goodness : 0.128401 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.07, Z:-0.32 [[ 9.99885593e-01 1.45085185e-03 -1.50564446e-02 -1.57484414e+00] [-1.44637749e-03 9.99998907e-01 3.08057608e-04 -7.32449382e-02] [ 1.50568751e-02 -2.86245061e-04 9.99886598e-01 -3.17573672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.603133365 meters Centerline goodness : 0.248093 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.08, Z:-0.32 [[ 9.99844825e-01 1.09862342e-03 -1.75818051e-02 -1.61927720e+00] [-1.08182674e-03 9.99998949e-01 9.64826962e-04 -7.65122207e-02] [ 1.75828466e-02 -9.45656778e-04 9.99844963e-01 -3.17574552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.633133365 meters SLAMing on 186.663133365 meters Centerline goodness : 0.243770 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99849490e-01 1.47686670e-03 -1.72862861e-02 -1.61981584e+00] [-1.46119163e-03 9.99998510e-01 9.19387285e-04 -7.45595468e-02] [ 1.72876182e-02 -8.93990332e-04 9.99850158e-01 -3.17929058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.693133365 meters SLAMing on 186.723133365 meters Centerline goodness : 0.192817 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99848994e-01 1.36259310e-03 -1.73243434e-02 -1.61932425e+00] [-1.35241943e-03 9.99998906e-01 5.98949582e-04 -7.30704144e-02] [ 1.73251406e-02 -5.75429358e-04 9.99849743e-01 -3.18626648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.753133365 meters Centerline goodness : 0.141454 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99848899e-01 1.24808966e-03 -1.73384161e-02 -1.61941466e+00] [-1.24007528e-03 9.99999119e-01 4.72976257e-04 -7.30344426e-02] [ 1.73389911e-02 -4.51403849e-04 9.99849566e-01 -3.18459399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.783133365 meters SLAMing on 186.813133365 meters Centerline goodness : 0.057537 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99849700e-01 1.01199619e-03 -1.73076006e-02 -1.61989187e+00] [-1.00671984e-03 9.99999444e-01 3.13567462e-04 -7.31137839e-02] [ 1.73079083e-02 -2.96096427e-04 9.99850163e-01 -3.17842227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.843133365 meters Centerline goodness : 0.128904 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99848483e-01 9.38816502e-04 -1.73818558e-02 -1.61953493e+00] [-9.37478885e-04 9.99999557e-01 8.51028143e-05 -7.15752605e-02] [ 1.73819280e-02 -6.87947970e-05 9.99848921e-01 -3.18145270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.873133365 meters Centerline goodness : 0.113017 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99847840e-01 8.68365164e-04 -1.74224596e-02 -1.61911267e+00] [-8.71487620e-04 9.99999606e-01 -1.71628654e-04 -6.99764585e-02] [ 1.74223037e-02 1.86785996e-04 9.99848203e-01 -3.18667041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.903133365 meters Centerline goodness : 0.110050 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99849400e-01 8.01673240e-04 -1.73359285e-02 -1.61932289e+00] [-8.09521387e-04 9.99999573e-01 -4.45697269e-04 -6.82403741e-02] [ 1.73355638e-02 4.59663952e-04 9.99849622e-01 -3.18692136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.933133365 meters Centerline goodness : 0.142451 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99853206e-01 7.36348923e-04 -1.71179460e-02 -1.62007480e+00] [-7.48666153e-04 9.99999465e-01 -7.13153549e-04 -6.66405431e-02] [ 1.71174117e-02 7.25864489e-04 9.99853223e-01 -3.18355505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96313336499998 meters Centerline goodness : 0.133141 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99855370e-01 6.90526058e-04 -1.69930328e-02 -1.62067477e+00] [-7.07747576e-04 9.99999242e-01 -1.00745290e-03 -6.47999831e-02] [ 1.69923242e-02 1.01933397e-03 9.99855100e-01 -3.17966388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99313336499998 meters Centerline goodness : 0.126479 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99856686e-01 5.31008021e-04 -1.69211271e-02 -1.62082680e+00] [-5.58121908e-04 9.99998568e-01 -1.59768679e-03 -6.15101315e-02] [ 1.69202545e-02 1.60690187e-03 9.99855551e-01 -3.18127388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02313336499998 meters Centerline goodness : 0.128156 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99857178e-01 4.85357987e-04 -1.68934275e-02 -1.62067239e+00] [-5.15974081e-04 9.99998232e-01 -1.80799659e-03 -6.01727475e-02] [ 1.68925202e-02 1.81645494e-03 9.99855661e-01 -3.18518484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05313336499998 meters Centerline goodness : 0.122374 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99859849e-01 4.71235601e-04 -1.67349777e-02 -1.62113443e+00] [-5.03948871e-04 9.99997971e-01 -1.95062091e-03 -5.90114988e-02] [ 1.67340245e-02 1.95878110e-03 9.99858058e-01 -3.18424885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08313336499998 meters Centerline goodness : 0.129000 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99865865e-01 4.97132515e-04 -1.63708566e-02 -1.62219520e+00] [-5.29895029e-04 9.99997866e-01 -1.99699366e-03 -5.82930772e-02] [ 1.63698288e-02 2.00540063e-03 9.99863994e-01 -3.18117062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11313336499998 meters Centerline goodness : 0.128768 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99870235e-01 4.98706008e-04 -1.61017065e-02 -1.62342510e+00] [-5.31473218e-04 9.99997797e-01 -2.03079977e-03 -5.79972746e-02] [ 1.61006583e-02 2.03909387e-03 9.99868297e-01 -3.17213545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14313336499998 meters Centerline goodness : 0.269096 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99872600e-01 4.79452315e-04 -1.59547447e-02 -1.62424574e+00] [-5.12413241e-04 9.99997743e-01 -2.06187734e-03 -5.78588912e-02] [ 1.59537201e-02 2.06979008e-03 9.99870589e-01 -3.16478711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17313336499998 meters Centerline goodness : 0.119286 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99870468e-01 4.87759724e-04 -1.60875449e-02 -1.62384174e+00] [-5.24035700e-04 9.99997330e-01 -2.25077222e-03 -5.63456205e-02] [ 1.60864041e-02 2.25891112e-03 9.99868054e-01 -3.16662560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20313336499999 meters Centerline goodness : 0.129312 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99867351e-01 4.92302686e-04 -1.62800099e-02 -1.62301871e+00] [-5.32143715e-04 9.99996874e-01 -2.44299478e-03 -5.48874423e-02] [ 1.62787563e-02 2.45133403e-03 9.99864487e-01 -3.17299311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.233133365 meters Centerline goodness : 0.121313 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99865331e-01 4.49650266e-04 -1.64048223e-02 -1.62236745e+00] [-4.94087867e-04 9.99996220e-01 -2.70486086e-03 -5.32727049e-02] [ 1.64035441e-02 2.71260203e-03 9.99861773e-01 -3.17921819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.263133365 meters Centerline goodness : 0.128755 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99864223e-01 3.60612058e-04 -1.64743867e-02 -1.62213718e+00] [-4.10408659e-04 9.99995357e-01 -3.01938712e-03 -5.15604299e-02] [ 1.64732214e-02 3.02573839e-03 9.99859729e-01 -3.18078082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.293133365 meters Centerline goodness : 0.133560 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99865437e-01 3.22932611e-04 -1.64013256e-02 -1.62237215e+00] [-3.78715852e-04 9.99994155e-01 -3.39815020e-03 -4.89932582e-02] [ 1.64001324e-02 3.40390438e-03 9.99859715e-01 -3.18130546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.323133365 meters Centerline goodness : 0.137106 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99867880e-01 2.96983107e-04 -1.62522350e-02 -1.62281472e+00] [-3.54508400e-04 9.99993683e-01 -3.53676470e-03 -4.80498169e-02] [ 1.62510820e-02 3.54205898e-03 9.99861669e-01 -3.18040318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.353133365 meters Centerline goodness : 0.130320 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99870773e-01 2.68306690e-04 -1.60737635e-02 -1.62328694e+00] [-3.27265688e-04 9.99993228e-01 -3.66550888e-03 -4.72221891e-02] [ 1.60726712e-02 3.67029559e-03 9.99864090e-01 -3.17993087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.383133365 meters Centerline goodness : 0.131742 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99871742e-01 2.11317242e-04 -1.60141880e-02 -1.62342728e+00] [-2.72909114e-04 9.99992575e-01 -3.84399377e-03 -4.61393506e-02] [ 1.60132568e-02 3.84787117e-03 9.99864376e-01 -3.18044279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.413133365 meters Centerline goodness : 0.132105 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.05, Z:-0.32 [[ 0.99982977 0.0080035 -0.01662458 -1.64338839] [-0.00808582 0.99995535 -0.00489069 -0.05026836] [ 0.01658469 0.00502428 0.99984984 -0.319269 ] [ 0. 0. 0. 1. ]] SLAMing on 187.443133365 meters Centerline goodness : 0.132343 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.05, Z:-0.32 [[ 0.99982814 0.00792855 -0.01675784 -1.64292961] [-0.00801642 0.99995444 -0.0051828 -0.04843106] [ 0.01671599 0.00531624 0.99984614 -0.31957828] [ 0. 0. 0. 1. ]] SLAMing on 187.473133365 meters Centerline goodness : 0.132447 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99829041e-01 1.35602708e-03 -1.84404456e-02 -1.62395604e+00] [-1.43755878e-03 9.99989248e-01 -4.40881525e-03 -3.87709325e-02] [ 1.84342689e-02 4.43457075e-03 9.99820240e-01 -3.17592964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.503133365 meters Centerline goodness : 0.146943 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99828934e-01 1.25678038e-03 -1.84532713e-02 -1.62394474e+00] [-1.34339726e-03 9.99988136e-01 -4.68220424e-03 -3.71511373e-02] [ 1.84471678e-02 4.70619334e-03 9.99818760e-01 -3.17595277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.533133365 meters Centerline goodness : 0.135024 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99830773e-01 1.15443736e-03 -1.83601090e-02 -1.62412546e+00] [-1.24494218e-03 9.99987128e-01 -4.91876173e-03 -3.59558321e-02] [ 1.83541942e-02 4.94078661e-03 9.99819340e-01 -3.17702780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.563133365 meters Centerline goodness : 0.142780 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99830353e-01 1.07571315e-03 -1.83877055e-02 -1.62401224e+00] [-1.16958691e-03 9.99986335e-01 -5.09525467e-03 -3.50314573e-02] [ 1.83819732e-02 5.11589629e-03 9.99817949e-01 -3.17805271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.593133365 meters Centerline goodness : 0.134090 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.03, Z:-0.32 [[ 9.99830011e-01 1.02221087e-03 -1.84093297e-02 -1.62399248e+00] [-1.11840300e-03 9.99985773e-01 -5.21564687e-03 -3.44150768e-02] [ 1.84037363e-02 5.23534932e-03 9.99816930e-01 -3.17778155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.623133365 meters Centerline goodness : 0.132327 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.03, Z:-0.32 [[ 9.99828605e-01 9.00186617e-04 -1.84918731e-02 -1.62419675e+00] [-9.97730703e-04 9.99985635e-01 -5.26642227e-03 -3.42999399e-02] [ 1.84868667e-02 5.28396954e-03 9.99815141e-01 -3.17160440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.653133365 meters Centerline goodness : 0.136200 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.03, Z:-0.32 [[ 9.99829226e-01 9.22458206e-04 -1.84571824e-02 -1.62438375e+00] [-1.01757169e-03 9.99986249e-01 -5.14446848e-03 -3.48193421e-02] [ 1.84521831e-02 5.16237144e-03 9.99816417e-01 -3.16990292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.683133365 meters Centerline goodness : 0.133167 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99829433e-01 8.82001236e-04 -1.84479803e-02 -1.62441051e+00] [-9.75516117e-04 9.99986719e-01 -5.06072766e-03 -3.55149405e-02] [ 1.84432717e-02 5.07786077e-03 9.99817014e-01 -3.16930036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71313336499998 meters Centerline goodness : 0.150650 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99828875e-01 8.06617589e-04 -1.84815995e-02 -1.62441097e+00] [-8.99173817e-04 9.99987094e-01 -5.00025807e-03 -3.65269684e-02] [ 1.84773277e-02 5.01602057e-03 9.99816697e-01 -3.16779560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74313336499998 meters Centerline goodness : 0.134133 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99827892e-01 7.35705177e-04 -1.85376468e-02 -1.62451505e+00] [-8.26618712e-04 9.99987668e-01 -4.89708010e-03 -3.77982661e-02] [ 1.85338154e-02 4.91156084e-03 9.99816170e-01 -3.16423910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77313336499998 meters Centerline goodness : 0.132162 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99826100e-01 7.70955840e-04 -1.86326249e-02 -1.62452187e+00] [-8.57716754e-04 9.99988826e-01 -4.64885505e-03 -3.93375984e-02] [ 1.86288326e-02 4.66402813e-03 9.99815590e-01 -3.16033784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80313336499998 meters Centerline goodness : 0.136928 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99823887e-01 8.10222460e-04 -1.87493349e-02 -1.62430786e+00] [-8.88021500e-04 9.99991030e-01 -4.14147575e-03 -4.23792739e-02] [ 1.87458112e-02 4.15739619e-03 9.99815638e-01 -3.15857600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83313336499998 meters Centerline goodness : 0.136928 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99823887e-01 8.10222460e-04 -1.87493349e-02 -1.62430786e+00] [-8.88021500e-04 9.99991030e-01 -4.14147575e-03 -4.23792739e-02] [ 1.87458112e-02 4.15739619e-03 9.99815638e-01 -3.15857600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86313336499998 meters Centerline goodness : 0.133155 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99822457e-01 8.67170076e-04 -1.88229430e-02 -1.62387023e+00] [-9.39205566e-04 9.99992268e-01 -3.81850196e-03 -4.45567168e-02] [ 1.88194862e-02 3.83550262e-03 9.99815541e-01 -3.16198495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89313336499998 meters Centerline goodness : 0.154469 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99820682e-01 8.56946721e-04 -1.89174136e-02 -1.62356140e+00] [-9.23840122e-04 9.99993351e-01 -3.52761952e-03 -4.71114231e-02] [ 1.89142648e-02 3.54446362e-03 9.99814827e-01 -3.16309930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92313336499998 meters Centerline goodness : 0.135525 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99817807e-01 8.70705412e-04 -1.90681585e-02 -1.62335688e+00] [-9.31508690e-04 9.99994510e-01 -3.18008392e-03 -4.99203779e-02] [ 1.90652849e-02 3.19726668e-03 9.99813129e-01 -3.16029314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95313336499999 meters Centerline goodness : 0.139104 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99815699e-01 1.00895863e-03 -1.91715963e-02 -1.62330411e+00] [-1.06230171e-03 9.99995593e-01 -2.77242144e-03 -5.23049058e-02] [ 1.91687145e-02 2.79227650e-03 9.99812364e-01 -3.15761976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.983133365 meters Centerline goodness : 0.135786 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.05, Z:-0.32 [[ 9.99768291e-01 -7.33327612e-03 -2.02382740e-02 -1.64369598e+00] [ 7.31163571e-03 9.99972616e-01 -1.14307009e-03 -5.16151142e-02] [ 2.02461023e-02 9.94830343e-04 9.99794532e-01 -3.16527443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.013133365 meters Centerline goodness : 0.135338 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.31 [[ 9.99808656e-01 1.04030265e-03 -1.95337936e-02 -1.62493768e+00] [-1.08345048e-03 9.99996997e-01 -2.19842800e-03 -5.77239818e-02] [ 1.95314479e-02 2.21917124e-03 9.99806780e-01 -3.14402403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.043133365 meters Centerline goodness : 0.134723 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.06, Z:-0.31 [[ 9.99810534e-01 1.02880103e-03 -1.94380542e-02 -1.62510827e+00] [-1.07136781e-03 9.99997051e-01 -2.17958153e-03 -5.82988765e-02] [ 1.94357545e-02 2.19999388e-03 9.99808687e-01 -3.14507688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.073133365 meters Centerline goodness : 0.131835 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.31 [[ 9.99809674e-01 1.06388351e-03 -1.94803506e-02 -1.62488229e+00] [-1.10679981e-03 9.99996984e-01 -2.19240701e-03 -5.82820207e-02] [ 1.94779594e-02 2.21355058e-03 9.99807836e-01 -3.14687443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.103133365 meters Centerline goodness : 0.134416 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.31 [[ 9.99808703e-01 1.19562174e-03 -1.95224847e-02 -1.62474816e+00] [-1.23762575e-03 9.99996945e-01 -2.13963053e-03 -5.79231834e-02] [ 1.95198669e-02 2.16338276e-03 9.99807129e-01 -3.14808532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.133133365 meters Centerline goodness : 0.134272 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99808796e-01 1.28670309e-03 -1.95119413e-02 -1.62452951e+00] [-1.33028590e-03 9.99996649e-01 -2.22083304e-03 -5.69263741e-02] [ 1.95090184e-02 2.24636487e-03 9.99807157e-01 -3.15230359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.163133365 meters Centerline goodness : 0.105184 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99806397e-01 1.36564300e-03 -1.96291479e-02 -1.62415950e+00] [-1.41522386e-03 9.99995843e-01 -2.51221026e-03 -5.50748206e-02] [ 1.96256355e-02 2.53950353e-03 9.99804174e-01 -3.15538994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.193133365 meters Centerline goodness : 0.130963 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99806706e-01 1.34763978e-03 -1.96146309e-02 -1.62428307e+00] [-1.40058632e-03 9.99995412e-01 -2.68585176e-03 -5.40131638e-02] [ 1.96109214e-02 2.71280458e-03 9.99804007e-01 -3.15510661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.223133365 meters Centerline goodness : 0.127809 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99810571e-01 1.41261477e-03 -1.94120352e-02 -1.62483852e+00] [-1.46645024e-03 9.99995118e-01 -2.75934897e-03 -5.29984570e-02] [ 1.94080425e-02 2.78729305e-03 9.99807761e-01 -3.15463263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.253133365 meters Centerline goodness : 0.130652 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 9.99816275e-01 1.51012330e-03 -1.91085480e-02 -1.62571355e+00] [-1.56455026e-03 9.99994761e-01 -2.83367524e-03 -5.16648182e-02] [ 1.91041687e-02 2.86305090e-03 9.99813399e-01 -3.15305008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.283133365 meters Centerline goodness : 0.129587 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 9.99820890e-01 1.53201969e-03 -1.88637488e-02 -1.62632240e+00] [-1.58806371e-03 9.99994369e-01 -2.95636944e-03 -5.04062757e-02] [ 1.88591133e-02 2.98579676e-03 9.99817693e-01 -3.15303773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.313133365 meters Centerline goodness : 0.131690 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 9.99823798e-01 1.47517658e-03 -1.87135409e-02 -1.62673821e+00] [-1.53393147e-03 9.99993938e-01 -3.12573395e-03 -4.94586776e-02] [ 1.87088164e-02 3.15388848e-03 9.99820000e-01 -3.15273965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.343133365 meters Centerline goodness : 0.123486 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.31 [[ 9.99826302e-01 1.40471340e-03 -1.85847147e-02 -1.62726237e+00] [-1.46424763e-03 9.99993839e-01 -3.19017801e-03 -4.95326514e-02] [ 1.85801189e-02 3.21683651e-03 9.99822200e-01 -3.14968003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.373133365 meters Centerline goodness : 0.107773 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.31 [[ 9.99826072e-01 1.47154907e-03 -1.85919565e-02 -1.62735587e+00] [-1.52832463e-03 9.99994212e-01 -3.03993066e-03 -5.01036877e-02] [ 1.85873754e-02 3.06781648e-03 9.99822533e-01 -3.14807360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.403133365 meters Centerline goodness : 0.128657 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.31 [[ 9.99826088e-01 1.51778347e-03 -1.85873826e-02 -1.62730683e+00] [-1.57200828e-03 9.99994551e-01 -2.90302797e-03 -5.07611536e-02] [ 1.85828752e-02 2.93174262e-03 9.99823025e-01 -3.14857162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.433133365 meters Centerline goodness : 0.130500 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 9.99823245e-01 1.49993034e-03 -1.87410872e-02 -1.62681816e+00] [-1.55300016e-03 9.99994825e-01 -2.81750372e-03 -5.15954681e-02] [ 1.87367641e-02 2.84611062e-03 9.99820401e-01 -3.15025002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46313336499998 meters Centerline goodness : 0.132226 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 9.99820915e-01 1.45403105e-03 -1.88686162e-02 -1.62626801e+00] [-1.50675826e-03 9.99994999e-01 -2.78052445e-03 -5.24207205e-02] [ 1.88644788e-02 2.80845694e-03 9.99818105e-01 -3.15369499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49313336499998 meters Centerline goodness : 0.130188 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 9.99818635e-01 1.51733665e-03 -1.89840421e-02 -1.62560616e+00] [-1.56635952e-03 9.99995477e-01 -2.56771709e-03 -5.36416827e-02] [ 1.89800601e-02 2.59698724e-03 9.99816490e-01 -3.15955886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52313336499998 meters Centerline goodness : 0.126468 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 0.99981764 0.00163333 -0.01902685 -1.625332 ] [-0.0016776 0.99999592 -0.00231089 -0.05475846] [ 0.01902299 0.00234239 0.9998163 -0.31621649] [ 0. 0. 0. 1. ]] SLAMing on 188.55313336499998 meters Centerline goodness : 0.132440 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.06, Z:-0.32 [[ 0.99981726 0.00172033 -0.01903916 -1.62522187] [-0.00175863 0.99999646 -0.00199524 -0.05662574] [ 0.01903566 0.00202836 0.99981675 -0.31628938] [ 0. 0. 0. 1. ]] SLAMing on 188.58313336499998 meters Centerline goodness : 0.129247 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.06, Z:-0.32 [[ 0.9998165 0.00174487 -0.01907657 -1.62514221] [-0.00177703 0.99999703 -0.00166904 -0.05913368] [ 0.0190736 0.00170263 0.99981663 -0.31624229] [ 0. 0. 0. 1. ]] SLAMing on 188.61313336499998 meters Centerline goodness : 0.127684 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.06, Z:-0.32 [[ 9.99814458e-01 1.72695650e-03 -1.91850748e-02 -1.62503444e+00] [-1.75285281e-03 9.99997575e-01 -1.33308128e-03 -6.19501346e-02] [ 1.91827261e-02 1.36646255e-03 9.99815061e-01 -3.15949563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64313336499998 meters Centerline goodness : 0.132446 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99810354e-01 1.72720470e-03 -1.93977592e-02 -1.62440999e+00] [-1.74649655e-03 9.99997997e-01 -9.77643513e-04 -6.47185986e-02] [ 1.93960318e-02 1.01133623e-03 9.99811368e-01 -3.16083432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67313336499998 meters Centerline goodness : 0.131870 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99798221e-01 1.70955900e-03 -2.00148499e-02 -1.62240796e+00] [-1.72006362e-03 9.99998392e-01 -5.07637933e-04 -6.84692648e-02] [ 2.00139498e-02 5.41962317e-04 9.99799554e-01 -3.16865913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70313336499999 meters Centerline goodness : 0.128853 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99793027e-01 1.75814440e-03 -2.02684956e-02 -1.62161471e+00] [-1.76538654e-03 9.99998384e-01 -3.39422660e-04 -6.96398485e-02] [ 2.02678661e-02 3.75134138e-04 9.99794515e-01 -3.17125943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.733133365 meters Centerline goodness : 0.131367 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99790773e-01 1.82038617e-03 -2.03739179e-02 -1.62114132e+00] [-1.82474312e-03 9.99998316e-01 -1.95261041e-04 -7.05252471e-02] [ 2.03735281e-02 2.32397354e-04 9.99792411e-01 -3.17456960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.763133365 meters Centerline goodness : 0.151384 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99789106e-01 1.94712230e-03 -2.04438982e-02 -1.62089934e+00] [-1.94919850e-03 9.99998097e-01 -8.16298040e-05 -7.09809835e-02] [ 2.04437003e-02 1.21461805e-04 9.99790998e-01 -3.17605606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.793133365 meters Centerline goodness : 0.136526 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99791209e-01 1.98838887e-03 -2.03367834e-02 -1.62122280e+00] [-1.99157033e-03 9.99998008e-01 -1.36186838e-04 -7.04456965e-02] [ 2.03364721e-02 1.76660538e-04 9.99793177e-01 -3.17542116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.823133365 meters Centerline goodness : 0.136526 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99791209e-01 1.98838887e-03 -2.03367834e-02 -1.62122280e+00] [-1.99157033e-03 9.99998008e-01 -1.36186838e-04 -7.04456965e-02] [ 2.03364721e-02 1.76660538e-04 9.99793177e-01 -3.17542116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.853133365 meters Centerline goodness : 0.063571 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99797278e-01 2.20915993e-03 -2.00130726e-02 -1.62203625e+00] [-2.21406918e-03 9.99997524e-01 -2.23147803e-04 -6.88633408e-02] [ 2.00125301e-02 2.67412893e-04 9.99799694e-01 -3.17562651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.883133365 meters SLAMing on 188.913133365 meters Centerline goodness : 0.122515 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99807288e-01 2.35864980e-03 -1.94890522e-02 -1.62323638e+00] [-2.36951237e-03 9.99997050e-01 -5.34294726e-04 -6.59666248e-02] [ 1.94877345e-02 5.80371311e-04 9.99809928e-01 -3.17735327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.943133365 meters Centerline goodness : 0.122663 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99817591e-01 2.31277780e-03 -1.89587716e-02 -1.62445436e+00] [-2.33343684e-03 9.99996708e-01 -1.06763320e-03 -6.23781398e-02] [ 1.89562400e-02 1.11167755e-03 9.99819696e-01 -3.17900474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.973133365 meters Centerline goodness : 0.124194 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99820543e-01 2.21331177e-03 -1.88144168e-02 -1.62489543e+00] [-2.23987011e-03 9.99996525e-01 -1.39063921e-03 -6.05371703e-02] [ 1.88112735e-02 1.43253150e-03 9.99822026e-01 -3.17843502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.003133365 meters Centerline goodness : 0.127017 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.06, Z:-0.32 [[ 0.99982164 0.00210908 -0.01876832 -1.62507412] [-0.0021424 0.99999616 -0.00175564 -0.05831168] [ 0.01876454 0.00179554 0.99982232 -0.31781934] [ 0. 0. 0. 1. ]] SLAMing on 189.033133365 meters Centerline goodness : 0.118710 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.06, Z:-0.32 [[ 0.99982241 0.00203126 -0.0187357 -1.62531872] [-0.00207064 0.99999569 -0.00208244 -0.0561293 ] [ 0.01873139 0.00212087 0.9998223 -0.31762346] [ 0. 0. 0. 1. ]] SLAMing on 189.063133365 meters Centerline goodness : 0.132480 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 0.99982299 0.0019408 -0.0187141 -1.62548084] [-0.00198657 0.99999508 -0.00242734 -0.05383046] [ 0.0187093 0.00246409 0.99982193 -0.31752101] [ 0. 0. 0. 1. ]] SLAMing on 189.093133365 meters Centerline goodness : 0.129377 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.04, Z:-0.31 [[ 0.99977125 -0.00391431 -0.02102675 -1.6100507 ] [ 0.00386931 0.99999014 -0.00218062 -0.0433543 ] [ 0.02103508 0.00209877 0.99977654 -0.31454158] [ 0. 0. 0. 1. ]] SLAMing on 189.123133365 meters Centerline goodness : 0.131686 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 0.99978986 0.00355185 -0.02018983 -1.63023582] [-0.00361849 0.99998812 -0.00326486 -0.04713357] [ 0.020178 0.00333723 0.99979083 -0.31594041] [ 0. 0. 0. 1. ]] SLAMing on 189.153133365 meters Centerline goodness : 0.132880 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 0.99979312 0.00341612 -0.02005105 -1.6308761 ] [-0.0034891 0.99998741 -0.00360561 -0.04515589] [ 0.02003848 0.00367483 0.99979246 -0.31548837] [ 0. 0. 0. 1. ]] SLAMing on 189.183133365 meters Centerline goodness : 0.129146 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.04, Z:-0.32 [[ 0.99979621 0.00328115 -0.01991919 -1.63123776] [-0.00336066 0.99998651 -0.00395949 -0.04307951] [ 0.01990593 0.00402563 0.99979375 -0.31543853] [ 0. 0. 0. 1. ]] SLAMing on 189.21313336499998 meters Centerline goodness : 0.133808 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.04, Z:-0.32 [[ 0.99979673 0.00313337 -0.01991682 -1.6311806 ] [-0.00322047 0.99998539 -0.00434231 -0.04098978] [ 0.01990293 0.00440556 0.99979221 -0.3155597 ] [ 0. 0. 0. 1. ]] SLAMing on 189.24313336499998 meters Centerline goodness : 0.143157 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.04, Z:-0.32 [[ 0.99979686 0.00299651 -0.01993147 -1.63102508] [-0.00309131 0.99998405 -0.00472752 -0.03889972] [ 0.01991699 0.00478817 0.99979017 -0.31577434] [ 0. 0. 0. 1. ]] SLAMing on 189.27313336499998 meters Centerline goodness : 0.135619 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.04, Z:-0.32 [[ 0.99979554 0.00271966 -0.02003681 -1.63053967] [-0.00282898 0.99998126 -0.00542978 -0.03519233] [ 0.02002166 0.00548535 0.9997845 -0.31620929] [ 0. 0. 0. 1. ]] SLAMing on 189.30313336499998 meters Centerline goodness : 0.145628 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.03, Z:-0.31 [[ 0.9997881 -0.0046094 -0.02006286 -1.6114739 ] [ 0.00451974 0.99997961 -0.00451159 -0.02765148] [ 0.02008324 0.00441996 0.99978854 -0.31470637] [ 0. 0. 0. 1. ]] SLAMing on 189.33313336499998 meters Centerline goodness : 0.134148 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99980613 0.00314542 -0.01943755 -1.63148457] [-0.00325088 0.99998016 -0.00539619 -0.032066 ] [ 0.01942019 0.00545834 0.99979651 -0.31630269] [ 0. 0. 0. 1. ]] SLAMing on 189.36313336499998 meters Centerline goodness : 0.157229 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.9998065 0.0030942 -0.01942636 -1.63151458] [-0.00320277 0.99997941 -0.00555995 -0.03109714] [ 0.01940876 0.00562109 0.99979583 -0.31632787] [ 0. 0. 0. 1. ]] SLAMing on 189.39313336499998 meters Centerline goodness : 0.132643 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99980558 0.00300408 -0.01948806 -1.63121414] [-0.00311639 0.9999787 -0.00573514 -0.03044706] [ 0.01947041 0.00579476 0.99979364 -0.31656954] [ 0. 0. 0. 1. ]] SLAMing on 189.42313336499998 meters Centerline goodness : 0.131492 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99980329 0.00285672 -0.01962704 -1.63062933] [-0.00297507 0.99997756 -0.00600301 -0.02947127] [ 0.01960945 0.00606022 0.99978935 -0.31699885] [ 0. 0. 0. 1. ]] SLAMing on 189.45313336499999 meters Centerline goodness : 0.131548 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99979978 0.0027459 -0.01982071 -1.62965182] [-0.00287282 0.99997554 -0.00637751 -0.02746825] [ 0.01980271 0.00643317 0.99978321 -0.31786994] [ 0. 0. 0. 1. ]] SLAMing on 189.483133365 meters Centerline goodness : 0.132986 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99980071 0.00274921 -0.01977337 -1.62959941] [-0.00287957 0.99997429 -0.00656733 -0.02590866] [ 0.01975481 0.00662296 0.99978292 -0.31819508] [ 0. 0. 0. 1. ]] SLAMing on 189.513133365 meters Centerline goodness : 0.133573 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99980464 0.00273361 -0.01957589 -1.63002867] [-0.00286686 0.99997289 -0.00678235 -0.02436637] [ 0.01955682 0.00683714 0.99978537 -0.3182848 ] [ 0. 0. 0. 1. ]] SLAMing on 189.543133365 meters Centerline goodness : 0.133857 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99980833 0.00268012 -0.01939386 -1.63052063] [-0.00281684 0.99997135 -0.00702611 -0.022903 ] [ 0.01937447 0.00707939 0.99978723 -0.31824296] [ 0. 0. 0. 1. ]] SLAMing on 189.573133365 meters Centerline goodness : 0.147819 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99981066 0.00261319 -0.01928272 -1.6308042 ] [-0.00275351 0.9999699 -0.00725398 -0.02165379] [ 0.01926319 0.0073057 0.99978776 -0.31825983] [ 0. 0. 0. 1. ]] SLAMing on 189.603133365 meters Centerline goodness : 0.131996 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99981128 0.00254564 -0.0192594 -1.63084148] [-0.00268839 0.99996908 -0.00738956 -0.02111998] [ 0.01923999 0.00743994 0.99978721 -0.31831536] [ 0. 0. 0. 1. ]] SLAMing on 189.633133365 meters Centerline goodness : 0.126750 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99980994 0.00249188 -0.0193356 -1.63079456] [-0.00263538 0.99996915 -0.00739997 -0.02113462] [ 0.01931657 0.00744952 0.99978566 -0.31814766] [ 0. 0. 0. 1. ]] SLAMing on 189.663133365 meters Centerline goodness : 0.147921 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99980989 0.00247959 -0.01934002 -1.63098431] [-0.00261978 0.99997045 -0.0072268 -0.02232778] [ 0.01932153 0.0072761 0.99978685 -0.31782712] [ 0. 0. 0. 1. ]] SLAMing on 189.693133365 meters Centerline goodness : 0.132379 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.9998118 0.0024792 -0.019241 -1.63146906] [-0.00261471 0.99997193 -0.00702103 -0.02365576] [ 0.01922306 0.00707002 0.99979022 -0.31741924] [ 0. 0. 0. 1. ]] SLAMing on 189.723133365 meters Centerline goodness : 0.132379 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.9998118 0.0024792 -0.019241 -1.63146906] [-0.00261471 0.99997193 -0.00702103 -0.02365576] [ 0.01922306 0.00707002 0.99979022 -0.31741924] [ 0. 0. 0. 1. ]] SLAMing on 189.753133365 meters Centerline goodness : 0.136191 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99982529 0.00223675 -0.01855783 -1.63336374] [-0.00236565 0.99997321 -0.00692703 -0.02538877] [ 0.01854184 0.00696972 0.99980379 -0.31679241] [ 0. 0. 0. 1. ]] SLAMing on 189.783133365 meters Centerline goodness : 0.123007 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99982515 0.0022315 -0.01856584 -1.63336031] [-0.00236024 0.9999733 -0.00691526 -0.0255185 ] [ 0.01854991 0.00695787 0.99980373 -0.31678382] [ 0. 0. 0. 1. ]] SLAMing on 189.813133365 meters Centerline goodness : 0.132768 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99982425 0.00223574 -0.01861365 -1.63305442] [-0.00236551 0.99997303 -0.00695274 -0.02513376] [ 0.0185976 0.00699555 0.99980258 -0.31711744] [ 0. 0. 0. 1. ]] SLAMing on 189.843133365 meters Centerline goodness : 0.134047 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99982372 0.00225223 -0.01864024 -1.63284013] [-0.00238427 0.9999722 -0.0070648 -0.02404794] [ 0.01862381 0.007108 0.9998013 -0.31738105] [ 0. 0. 0. 1. ]] SLAMing on 189.873133365 meters Centerline goodness : 0.126001 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99982456 0.00223653 -0.01859702 -1.63294806] [-0.002371 0.99997118 -0.00721183 -0.02298188] [ 0.01858036 0.00725466 0.99980105 -0.31742573] [ 0. 0. 0. 1. ]] SLAMing on 189.903133365 meters Centerline goodness : 0.132544 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99982776 0.0022381 -0.01842401 -1.63347894] [-0.0023736 0.99997028 -0.0073358 -0.02197447] [ 0.01840704 0.00737827 0.99980335 -0.31727289] [ 0. 0. 0. 1. ]] SLAMing on 189.933133365 meters Centerline goodness : 0.136470 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99983404 0.00221554 -0.01808259 -1.63468447] [-0.00235114 0.99996925 -0.0074808 -0.02086846] [ 0.01806546 0.00752207 0.99980851 -0.31668175] [ 0. 0. 0. 1. ]] SLAMing on 189.96313336499998 meters Centerline goodness : 0.135286 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99983304 0.00205449 -0.01815681 -1.63450123] [-0.00219361 0.99996837 -0.00764548 -0.02077272] [ 0.01814053 0.00768403 0.99980592 -0.31670866] [ 0. 0. 0. 1. ]] SLAMing on 189.99313336499998 meters Centerline goodness : 0.140875 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99983006 0.00195098 -0.01833149 -1.63401541] [-0.00209222 0.99996825 -0.00768846 -0.021335 ] [ 0.01831591 0.0077255 0.9998024 -0.31684917] [ 0. 0. 0. 1. ]] SLAMing on 190.02313336499998 meters Centerline goodness : 0.136001 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.02, Z:-0.32 [[ 0.99980588 -0.00588167 -0.01880449 -1.61344673] [ 0.00575231 0.99995947 -0.00692608 -0.01660522] [ 0.01884446 0.00681657 0.99979919 -0.31567922] [ 0. 0. 0. 1. ]] SLAMing on 190.05313336499998 meters Centerline goodness : 0.145885 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.02, Z:-0.32 [[ 0.99974685 -0.00633443 -0.0215897 -1.65745112] [ 0.00619851 0.99996059 -0.00635658 -0.02105675] [ 0.02162911 0.00622115 0.99974671 -0.31587748] [ 0. 0. 0. 1. ]] SLAMing on 190.08313336499998 meters Centerline goodness : 0.144961 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.02, Z:-0.32 [[ 0.99974352 -0.00619722 -0.02178258 -1.65680975] [ 0.00607101 0.99996443 -0.0058556 -0.02329342] [ 0.02181809 0.00572185 0.99974558 -0.31612248] [ 0. 0. 0. 1. ]] SLAMing on 190.11313336499998 meters Centerline goodness : 0.158003 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.02, Z:-0.32 [[ 0.99974499 -0.00616172 -0.02172519 -1.65689063] [ 0.00604083 0.99996593 -0.00562581 -0.02486879] [ 0.02175912 0.00549314 0.99974815 -0.31616408] [ 0. 0. 0. 1. ]] SLAMing on 190.14313336499998 meters Centerline goodness : 0.152978 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.03, Z:-0.32 [[ 0.99974409 -0.0061504 -0.02176993 -1.65673283] [ 0.00603299 0.99996692 -0.00545464 -0.026216 ] [ 0.02180275 0.00532191 0.99974813 -0.3162228 ] [ 0. 0. 0. 1. ]] SLAMing on 190.17313336499998 meters Centerline goodness : 0.151967 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.03, Z:-0.32 [[ 0.99974146 -0.0061046 -0.02190317 -1.65635295] [ 0.00599059 0.99996819 -0.00526703 -0.02739676] [ 0.02193462 0.00513445 0.99974622 -0.31634635] [ 0. 0. 0. 1. ]] SLAMing on 190.20313336499999 meters Centerline goodness : 0.151756 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.03, Z:-0.32 [[ 0.99973808 -0.00597157 -0.02209347 -1.65582286] [ 0.0058625 0.99997032 -0.00499808 -0.0284298 ] [ 0.02212266 0.00486725 0.99974342 -0.316467 ] [ 0. 0. 0. 1. ]] SLAMing on 190.233133365 meters Centerline goodness : 0.152729 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.03, Z:-0.32 [[ 0.99973591 -0.00584531 -0.02222492 -1.65528277] [ 0.00574107 0.99997223 -0.00475123 -0.02937013] [ 0.02225208 0.00462238 0.99974171 -0.3168511 ] [ 0. 0. 0. 1. ]] SLAMing on 190.263133365 meters Centerline goodness : 0.126185 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.03, Z:-0.32 [[ 0.9997251 -0.00583658 -0.02270792 -1.65341561] [ 0.00573921 0.99997407 -0.00435074 -0.03260324] [ 0.02273272 0.00421921 0.99973268 -0.31787215] [ 0. 0. 0. 1. ]] SLAMing on 190.293133365 meters Centerline goodness : 0.150428 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.04, Z:-0.32 [[ 0.99972673 -0.00572815 -0.02266406 -1.65350678] [ 0.0056406 0.99997639 -0.00392501 -0.03530754] [ 0.02268601 0.0037961 0.99973543 -0.31786037] [ 0. 0. 0. 1. ]] SLAMing on 190.323133365 meters Centerline goodness : 0.103337 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.04, Z:-0.32 [[ 0.99973235 -0.00554916 -0.02245974 -1.65432988] [ 0.00547353 0.99997915 -0.0034277 -0.03794319] [ 0.02247829 0.00330385 0.99974187 -0.31729922] [ 0. 0. 0. 1. ]] SLAMing on 190.353133365 meters Centerline goodness : 0.145582 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 0.99973962 -0.00537193 -0.0221774 -1.65541122] [ 0.00530749 0.99998152 -0.00296362 -0.04023045] [ 0.02219292 0.00284514 0.99974966 -0.31660505] [ 0. 0. 0. 1. ]] SLAMing on 190.383133365 meters Centerline goodness : 0.143809 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 0.9997438 -0.00524031 -0.02202002 -1.65608357] [ 0.0051831 0.99998304 -0.00265434 -0.04176363] [ 0.02203356 0.00253953 0.99975401 -0.3160961 ] [ 0. 0. 0. 1. ]] SLAMing on 190.413133365 meters Centerline goodness : 0.107529 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 0.99974406 -0.00517548 -0.0220235 -1.65612989] [ 0.00512173 0.99998377 -0.0024964 -0.04281614] [ 0.02203606 0.00238296 0.99975434 -0.31600395] [ 0. 0. 0. 1. ]] SLAMing on 190.443133365 meters Centerline goodness : 0.142780 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 0.99974266 -0.00510354 -0.02210358 -1.65569506] [ 0.00505112 0.9999843 -0.00242695 -0.04320254] [ 0.02211562 0.00231468 0.99975274 -0.31638678] [ 0. 0. 0. 1. ]] SLAMing on 190.473133365 meters Centerline goodness : 0.142159 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.05, Z:-0.32 [[ 0.99974965 0.0029334 -0.02218178 -1.67559036] [-0.00300663 0.99999014 -0.00326862 -0.04848359] [ 0.02217198 0.00333449 0.99974861 -0.31841367] [ 0. 0. 0. 1. ]] SLAMing on 190.503133365 meters Centerline goodness : 0.135098 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.05, Z:-0.32 [[ 0.99975312 0.00312071 -0.02199913 -1.67596277] [-0.00319095 0.99998992 -0.00315884 -0.04819606] [ 0.02198905 0.00322825 0.999753 -0.31857029] [ 0. 0. 0. 1. ]] SLAMing on 190.533133365 meters Centerline goodness : 0.135463 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.05, Z:-0.32 [[ 0.99976502 0.00359714 -0.02137688 -1.67759478] [-0.00365764 0.99998941 -0.0027916 -0.04841605] [ 0.02136661 0.00286914 0.99976759 -0.3184034 ] [ 0. 0. 0. 1. ]] SLAMing on 190.563133365 meters Centerline goodness : 0.133282 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.05, Z:-0.32 [[ 0.99976647 0.00361252 -0.02130635 -1.67783752] [-0.00367355 0.99998926 -0.00282593 -0.04834175] [ 0.02129591 0.00290354 0.999769 -0.31831506] [ 0. 0. 0. 1. ]] SLAMing on 190.593133365 meters Centerline goodness : 0.243961 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.05, Z:-0.32 [[ 0.9997689 0.00359923 -0.0211942 -1.67797356] [-0.0036615 0.99998909 -0.00290022 -0.04815931] [ 0.02118353 0.00297715 0.99977117 -0.31857799] [ 0. 0. 0. 1. ]] SLAMing on 190.623133365 meters Centerline goodness : 0.109698 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 9.99759172e-01 -3.42825998e-03 -2.16759020e-02 -1.65855890e+00] [ 3.39166270e-03 9.99992761e-01 -1.72492338e-03 -4.27049673e-02] [ 2.16816586e-02 1.65099062e-03 9.99763562e-01 -3.17070603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.653133365 meters Centerline goodness : 0.125556 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 9.99758838e-01 -3.33394040e-03 -2.17060284e-02 -1.65824593e+00] [ 3.29968177e-03 9.99993254e-01 -1.61392476e-03 -4.28227435e-02] [ 2.17112627e-02 1.54191255e-03 9.99763094e-01 -3.17475407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.683133365 meters Centerline goodness : 0.126711 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 9.99759810e-01 -3.25016254e-03 -2.16739357e-02 -1.65812189e+00] [ 3.21883764e-03 9.99993724e-01 -1.48000978e-03 -4.32416673e-02] [ 2.16786100e-02 1.40988941e-03 9.99763997e-01 -3.17806388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71313336499998 meters Centerline goodness : 0.150730 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 9.99763291e-01 -3.25223733e-03 -2.15124362e-02 -1.65846379e+00] [ 3.22384978e-03 9.99993887e-01 -1.35413694e-03 -4.44496563e-02] [ 2.15167086e-02 1.28446354e-03 9.99767664e-01 -3.17832675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74313336499998 meters Centerline goodness : 0.128619 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 9.99763217e-01 -3.29130395e-03 -2.15099460e-02 -1.65853955e+00] [ 3.26202667e-03 9.99993705e-01 -1.39604975e-03 -4.44626500e-02] [ 2.15144054e-02 1.32555317e-03 9.99767660e-01 -3.17752178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77313336499998 meters Centerline goodness : 0.114654 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 9.99761612e-01 -3.34534937e-03 -2.15760984e-02 -1.65842921e+00] [ 3.31296724e-03 9.99993332e-01 -1.53640377e-03 -4.37945288e-02] [ 2.15810943e-02 1.46455660e-03 9.99766028e-01 -3.17735403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80313336499998 meters Centerline goodness : 0.116932 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 0.99975939 -0.00335058 -0.02167791 -1.65805236] [ 0.0033138 0.99999301 -0.00173256 -0.04236167] [ 0.02168356 0.0016603 0.99976351 -0.31800858] [ 0. 0. 0. 1. ]] SLAMing on 190.83313336499998 meters Centerline goodness : 0.128689 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 0.99975731 -0.0033458 -0.02177449 -1.65772115] [ 0.00330213 0.99999246 -0.00204144 -0.03993798] [ 0.02178116 0.00196904 0.99976082 -0.31827708] [ 0. 0. 0. 1. ]] SLAMing on 190.86313336499998 meters Centerline goodness : 0.128156 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.03, Z:-0.32 [[ 9.99759147e-01 3.68750886e-04 -2.19433840e-02 -1.65734627e+00] [-3.49636601e-04 9.99999556e-01 8.74902993e-04 -3.44651098e-02] [ 2.19436969e-02 -8.67020059e-04 9.99758832e-01 -3.18436016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89313336499998 meters Centerline goodness : 0.134656 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.03, Z:-0.32 [[ 9.99765086e-01 2.59579152e-04 -2.16727113e-02 -1.65795935e+00] [-2.56018770e-04 9.99999953e-01 1.67053971e-04 -3.01145938e-02] [ 2.16727536e-02 -1.61466107e-04 9.99765105e-01 -3.18615584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92313336499998 meters Centerline goodness : 0.129763 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.03, Z:-0.32 [[ 9.99756016e-01 8.77344686e-03 -2.02715356e-02 -1.63719981e+00] [-8.80362723e-03 9.99960267e-01 -1.40004314e-03 -2.64763244e-02] [ 2.02584470e-02 1.57816460e-03 9.99793531e-01 -3.18016185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95313336499999 meters Centerline goodness : 0.133674 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.02, Z:-0.32 [[ 9.99787045e-01 6.12589106e-04 -2.06273738e-02 -1.65769443e+00] [-6.24527393e-04 9.99999641e-01 -5.72322521e-04 -1.87813640e-02] [ 2.06270158e-02 5.85083002e-04 9.99787069e-01 -3.19704798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.983133365 meters Centerline goodness : 0.132133 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.01, Z:-0.32 [[ 9.99787302e-01 3.97576602e-04 -2.06202057e-02 -1.65766777e+00] [-4.23667889e-04 9.99999115e-01 -1.26097314e-03 -1.47130407e-02] [ 2.06196861e-02 1.26944105e-03 9.99786586e-01 -3.19918752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.013133365 meters Centerline goodness : 0.131560 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.01, Z:-0.32 [[ 9.99787818e-01 1.83578726e-04 -2.05982105e-02 -1.65772542e+00] [-2.21475830e-04 9.99998287e-01 -1.83755893e-03 -1.15043228e-02] [ 2.05978379e-02 1.84173104e-03 9.99786146e-01 -3.20020011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.043133365 meters Centerline goodness : 0.131025 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.01, Z:-0.32 [[ 9.99783071e-01 -3.25789666e-04 -2.08255632e-02 -1.65767273e+00] [ 2.68133785e-04 9.99996124e-01 -2.77124723e-03 -6.96598565e-03] [ 2.08263853e-02 2.76506203e-03 9.99779284e-01 -3.19388030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.073133365 meters Centerline goodness : 0.136908 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.01, Z:-0.32 [[ 9.99778521e-01 -4.69756246e-04 -2.10401435e-02 -1.65740188e+00] [ 4.06324986e-04 9.99995360e-01 -3.01894675e-03 -5.74565643e-03] [ 2.10414641e-02 3.00972898e-03 9.99774074e-01 -3.19059532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.103133365 meters Centerline goodness : 0.136469 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.00, Z:-0.32 [[ 9.99773130e-01 -5.72364376e-04 -2.12922699e-02 -1.65677243e+00] [ 5.04283741e-04 9.99994744e-01 -3.20266626e-03 -4.66066703e-03] [ 2.12939911e-02 3.19120232e-03 9.99768164e-01 -3.19090417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.133133365 meters Centerline goodness : 0.121474 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.00, Z:-0.32 [[ 9.99771440e-01 -6.49173620e-04 -2.13692879e-02 -1.65650378e+00] [ 5.77941106e-04 9.99994257e-01 -3.33941313e-03 -3.83016609e-03] [ 2.13713331e-02 3.32629968e-03 9.99766074e-01 -3.19180555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.163133365 meters Centerline goodness : 0.136088 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.00, Z:-0.32 [[ 9.99773879e-01 -7.53836918e-04 -2.12514248e-02 -1.65691438e+00] [ 6.80370489e-04 9.99993769e-01 -3.46403026e-03 -3.39410473e-03] [ 2.12539037e-02 3.44878812e-03 9.99768162e-01 -3.18974336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.193133365 meters Centerline goodness : 0.143674 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.00, Z:-0.32 [[ 9.99779230e-01 -8.32891115e-04 -2.09951638e-02 -1.65779897e+00] [ 7.57245148e-04 9.99993195e-01 -3.61071131e-03 -2.70801084e-03] [ 2.09980283e-02 3.59401569e-03 9.99773057e-01 -3.18571773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.223133365 meters Centerline goodness : 0.131593 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.00, Z:-0.32 [[ 9.99789716e-01 -8.20852419e-04 -2.04902485e-02 -1.65990999e+00] [ 7.42874355e-04 9.99992455e-01 -3.81293984e-03 -9.13795410e-04] [ 2.04932238e-02 3.79691636e-03 9.99782782e-01 -3.17213226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.253133365 meters Centerline goodness : 0.136808 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.00, Z:-0.32 [[ 9.99791922e-01 -8.27198328e-04 -2.03820433e-02 -1.66027912e+00] [ 7.46879873e-04 9.99991928e-01 -3.94794505e-03 1.18086389e-04] [ 2.03851445e-02 3.93190064e-03 9.99784470e-01 -3.17091949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.283133365 meters Centerline goodness : 0.129072 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.00, Z:-0.32 [[ 9.99790241e-01 -8.60985475e-04 -2.04629682e-02 -1.65994764e+00] [ 7.77482403e-04 9.99991341e-01 -4.08829747e-03 9.41028028e-04] [ 2.04663109e-02 4.07153031e-03 9.99782253e-01 -3.17326372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.313133365 meters Centerline goodness : 0.124866 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99722451e-01 -1.52486305e-03 -2.35094619e-02 -1.70315626e+00] [ 1.42332305e-03 9.99989590e-01 -4.33524050e-03 -1.25904088e-03] [ 2.35158278e-02 4.30057570e-03 9.99714215e-01 -3.17881134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.343133365 meters Centerline goodness : 0.123702 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99715400e-01 -1.53973136e-03 -2.38064687e-02 -1.70217862e+00] [ 1.43499780e-03 9.99989221e-01 -4.41583209e-03 -7.72908223e-04] [ 2.38130112e-02 4.38041312e-03 9.99706833e-01 -3.18342788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.373133365 meters Centerline goodness : 0.142296 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99713381e-01 -1.49996173e-03 -2.38936291e-02 -1.70181775e+00] [ 1.39590749e-03 9.99989473e-01 -4.37097871e-03 -7.52583896e-04] [ 2.38999338e-02 4.33637260e-03 9.99704951e-01 -3.18598070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.403133365 meters Centerline goodness : 0.127647 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99721487e-01 -1.43343375e-03 -2.35561951e-02 -1.70290167e+00] [ 1.33559833e-03 9.99990420e-01 -4.16848594e-03 -1.84322875e-03] [ 2.35619447e-02 4.13586335e-03 9.99713824e-01 -3.18114725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.433133365 meters Centerline goodness : 0.133471 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99724976e-01 -1.45461718e-03 -2.34063450e-02 -1.70350137e+00] [ 1.35915208e-03 9.99990696e-01 -4.09399075e-03 -2.75262117e-03] [ 2.34120824e-02 4.06105202e-03 9.99717651e-01 -3.17713333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46313336499998 meters Centerline goodness : 0.126915 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99724201e-01 -1.47341881e-03 -2.34382511e-02 -1.70361009e+00] [ 1.37848423e-03 9.99990783e-01 -4.06605345e-03 -3.19427273e-03] [ 2.34440261e-02 4.03262278e-03 9.99717018e-01 -3.17448216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49313336499998 meters Centerline goodness : 0.129279 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99720800e-01 -1.39900631e-03 -2.35873946e-02 -1.70329543e+00] [ 1.30513904e-03 9.99991170e-01 -3.99447712e-03 -3.10560794e-03] [ 2.35927746e-02 3.96257703e-03 9.99713799e-01 -3.17428203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52313336499998 meters Centerline goodness : 0.131501 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99717137e-01 -1.30676086e-03 -2.37474075e-02 -1.70286582e+00] [ 1.21186932e-03 9.99991226e-01 -4.00982161e-03 -2.28422575e-03] [ 2.37524390e-02 3.97990862e-03 9.99709949e-01 -3.17565403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55313336499998 meters Centerline goodness : 0.126315 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.01, Z:-0.32 [[ 0.99968621 0.00676234 -0.02411965 -1.72255448] [-0.00688569 0.99996362 -0.00503465 -0.00639276] [ 0.02408472 0.00519915 0.9996964 -0.31917463] [ 0. 0. 0. 1. ]] SLAMing on 191.58313336499998 meters Centerline goodness : 0.127488 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.00, Z:-0.32 [[ 9.99711066e-01 -6.46229437e-04 -2.40284587e-02 -1.70367820e+00] [ 5.39168541e-04 9.99989901e-01 -4.46179902e-03 8.24208422e-04] [ 2.40310994e-02 4.44755446e-03 9.99701318e-01 -3.17816030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61313336499998 meters Centerline goodness : 0.119702 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.00, Z:-0.32 [[ 9.99712999e-01 -6.89455335e-04 -2.39467083e-02 -1.70385166e+00] [ 5.77674786e-04 9.99988908e-01 -4.67449193e-03 2.06001260e-03] [ 2.39496655e-02 4.65931694e-03 9.99702308e-01 -3.17973354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64313336499998 meters Centerline goodness : 0.119702 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.00, Z:-0.32 [[ 9.99712999e-01 -6.89455335e-04 -2.39467083e-02 -1.70385166e+00] [ 5.77674786e-04 9.99988908e-01 -4.67449193e-03 2.06001260e-03] [ 2.39496655e-02 4.65931694e-03 9.99702308e-01 -3.17973354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67313336499998 meters Centerline goodness : 0.132281 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.00, Z:-0.32 [[ 9.99711189e-01 -7.14872734e-04 -2.40213885e-02 -1.70351814e+00] [ 5.98706046e-04 9.99988094e-01 -4.84281287e-03 3.22709706e-03] [ 2.40245645e-02 4.82703247e-03 9.99699715e-01 -3.18230248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70313336499999 meters Centerline goodness : 0.129029 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.00, Z:-0.32 [[ 9.99707220e-01 -7.37813828e-04 -2.41853318e-02 -1.70290479e+00] [ 6.17666099e-04 9.99987434e-01 -4.97488725e-03 4.19100120e-03] [ 2.41886984e-02 4.95849225e-03 9.99695114e-01 -3.18585442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.733133365 meters Centerline goodness : 0.115284 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.01, Z:-0.32 [[ 9.99704040e-01 -8.37504945e-04 -2.43131772e-02 -1.70239059e+00] [ 7.10883024e-04 9.99986143e-01 -5.21613066e-03 5.32950686e-03] [ 2.43172088e-02 5.19730307e-03 9.99690783e-01 -3.18951264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.763133365 meters Centerline goodness : 0.132273 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.01, Z:-0.32 [[ 9.99700267e-01 -9.28482539e-04 -2.44645614e-02 -1.70185715e+00] [ 7.94271363e-04 9.99984586e-01 -5.49508868e-03 6.71943313e-03] [ 2.44692864e-02 5.47401012e-03 9.99685595e-01 -3.19286680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.793133365 meters Centerline goodness : 0.129524 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.01, Z:-0.32 [[ 9.99699096e-01 -1.11159719e-03 -2.45047505e-02 -1.70160295e+00] [ 9.61139059e-04 9.99980621e-01 -6.15088073e-03 1.07252685e-02] [ 2.45111129e-02 6.12547742e-03 9.99680791e-01 -3.19639593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.823133365 meters Centerline goodness : 0.145217 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.01, Z:-0.32 [[ 9.99700942e-01 -1.13482159e-03 -2.44282240e-02 -1.70180342e+00] [ 9.78758084e-04 9.99979043e-01 -6.39966408e-03 1.26831047e-02] [ 2.44349745e-02 6.37384089e-03 9.99681102e-01 -3.19660912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.853133365 meters Centerline goodness : 0.130153 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.01, Z:-0.32 [[ 9.99703182e-01 -1.24363702e-03 -2.43310942e-02 -1.70215905e+00] [ 1.08069825e-03 9.99976912e-01 -6.70873339e-03 1.44789160e-02] [ 2.43388756e-02 6.68044755e-03 9.99681445e-01 -3.19515905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.883133365 meters Centerline goodness : 0.188251 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99706206e-01 -1.34725263e-03 -2.42009469e-02 -1.70270597e+00] [ 1.17804300e-03 9.99974772e-01 -7.00475653e-03 1.60513294e-02] [ 2.42097736e-02 6.97418882e-03 9.99682573e-01 -3.19228966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.913133365 meters Centerline goodness : 0.131700 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99707213e-01 -1.41509600e-03 -2.41554377e-02 -1.70303844e+00] [ 1.24156842e-03 9.99973329e-01 -7.19727601e-03 1.71820972e-02] [ 2.41649783e-02 7.16517811e-03 9.99682307e-01 -3.18909684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.943133365 meters Centerline goodness : 0.128798 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99707926e-01 -1.47713082e-03 -2.41222220e-02 -1.70325741e+00] [ 1.30024086e-03 9.99972164e-01 -7.34710981e-03 1.80665153e-02] [ 2.41324032e-02 7.31359921e-03 9.99682019e-01 -3.18725871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.973133365 meters Centerline goodness : 0.188616 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99708463e-01 -1.50601721e-03 -2.40981558e-02 -1.70339498e+00] [ 1.32704823e-03 9.99971435e-01 -7.44093645e-03 1.87707201e-02] [ 2.41086736e-02 7.40678773e-03 9.99681905e-01 -3.18620358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.003133365 meters Centerline goodness : 0.129302 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99710122e-01 -1.53179880e-03 -2.40275940e-02 -1.70355763e+00] [ 1.35154608e-03 9.99970838e-01 -7.51635110e-03 1.94032646e-02] [ 2.40384069e-02 7.48169788e-03 9.99683039e-01 -3.18634483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.033133365 meters Centerline goodness : 0.101321 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99719497e-01 -1.65831658e-03 -2.36257752e-02 -1.70492087e+00] [ 1.47739202e-03 9.99969468e-01 -7.67332879e-03 2.00700961e-02] [ 2.36377786e-02 7.63627186e-03 9.99691424e-01 -3.17999732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.063133365 meters Centerline goodness : 0.110603 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99718063e-01 -1.74635559e-03 -2.36800559e-02 -1.70499365e+00] [ 1.56146822e-03 9.99968173e-01 -7.82396896e-03 2.06643089e-02] [ 2.36929657e-02 7.78478744e-03 9.99688972e-01 -3.17694979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.093133365 meters Centerline goodness : 0.145697 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99713244e-01 -1.81921143e-03 -2.38772025e-02 -1.70452125e+00] [ 1.62860952e-03 9.99966676e-01 -7.99960983e-03 2.15718803e-02] [ 2.38909598e-02 7.95842926e-03 9.99682892e-01 -3.17738532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.123133365 meters SLAMing on 192.153133365 meters Centerline goodness : 0.143623 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99681533e-01 -2.21528957e-04 -2.52345646e-02 -1.69892486e+00] [ 5.38790202e-05 9.99977926e-01 -6.64414890e-03 2.34795236e-02] [ 2.52354795e-02 6.64067335e-03 9.99659478e-01 -3.20436477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.183133365 meters Centerline goodness : 0.162469 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.03, Z:-0.32 [[ 9.99675563e-01 -3.43179831e-04 -2.54686370e-02 -1.69801340e+00] [ 1.65017095e-04 9.99975506e-01 -6.99714978e-03 2.54391734e-02] [ 2.54704145e-02 6.99067688e-03 9.99651133e-01 -3.21002627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21313336499998 meters Centerline goodness : 0.099679 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.03, Z:-0.32 [[ 9.99677124e-01 -4.07939259e-04 -2.54063141e-02 -1.69843995e+00] [ 2.28228387e-04 9.99974939e-01 -7.07597084e-03 2.56594896e-02] [ 2.54085640e-02 7.06788773e-03 9.99652164e-01 -3.20597239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24313336499998 meters Centerline goodness : 0.108665 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.03, Z:-0.32 [[ 9.99678643e-01 -4.31984797e-04 -2.53460794e-02 -1.69893465e+00] [ 2.51898445e-04 9.99974707e-01 -7.10785966e-03 2.57745740e-02] [ 2.53485088e-02 7.09919086e-03 9.99653467e-01 -3.20051231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27313336499998 meters Centerline goodness : 0.134914 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.02, Z:-0.32 [[ 9.99628391e-01 -8.15132858e-04 -2.72472915e-02 -1.74534623e+00] [ 6.23215780e-04 9.99974945e-01 -7.05127875e-03 2.30643531e-02] [ 2.72523566e-02 7.03167749e-03 9.99603854e-01 -3.19499120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30313336499998 meters Centerline goodness : 0.184416 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.02, Z:-0.32 [[ 9.99629168e-01 -8.62388714e-04 -2.72173359e-02 -1.74560256e+00] [ 6.70096087e-04 9.99974759e-01 -7.07340915e-03 2.30563329e-02] [ 2.72227489e-02 7.05254787e-03 9.99604514e-01 -3.19203174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33313336499998 meters Centerline goodness : 0.159728 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99564214e-01 -1.67367871e-03 -2.94717081e-02 -1.79041413e+00] [ 1.45166143e-03 9.99970422e-01 -7.55301946e-03 2.03693409e-02] [ 2.94834777e-02 7.50694501e-03 9.99537078e-01 -3.19664584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36313336499998 meters Centerline goodness : 0.186825 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99551819e-01 -1.76817605e-03 -2.98836985e-02 -1.78892909e+00] [ 1.54393798e-03 9.99970494e-01 -7.52510142e-03 1.94875692e-02] [ 2.98961225e-02 7.47559023e-03 9.99525056e-01 -3.20413340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39313336499998 meters Centerline goodness : 0.131866 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99545520e-01 -1.74701938e-03 -3.00948648e-02 -1.78813371e+00] [ 1.52132846e-03 9.99970563e-01 -7.52058196e-03 1.95588020e-02] [ 3.01071175e-02 7.47137984e-03 9.99518754e-01 -3.20865832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42313336499998 meters Centerline goodness : 0.193675 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99539100e-01 -1.75064132e-03 -3.03071450e-02 -1.78751827e+00] [ 1.52254989e-03 9.99970359e-01 -7.54743759e-03 1.96891357e-02] [ 3.03194595e-02 7.49781483e-03 9.99512138e-01 -3.21024123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45313336499999 meters Centerline goodness : 0.106146 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99536140e-01 -1.75465528e-03 -3.04043857e-02 -1.78750212e+00] [ 1.52511642e-03 9.99970176e-01 -7.57107779e-03 1.97646041e-02] [ 3.04167636e-02 7.52119564e-03 9.99509006e-01 -3.20739336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.483133365 meters Centerline goodness : 0.113798 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99535540e-01 -1.74576808e-03 -3.04245918e-02 -1.78764563e+00] [ 1.51702876e-03 9.99970425e-01 -7.53969994e-03 1.95671507e-02] [ 3.04368546e-02 7.49004308e-03 9.99508628e-01 -3.20489340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.513133365 meters Centerline goodness : 0.205598 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99536642e-01 -1.67493547e-03 -3.03923609e-02 -1.78796977e+00] [ 1.45035821e-03 9.99971495e-01 -7.40980775e-03 1.89908332e-02] [ 3.04039055e-02 7.36229455e-03 9.99510580e-01 -3.20167495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.543133365 meters Centerline goodness : 0.111923 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99551488e-01 -1.57286510e-03 -2.99056813e-02 -1.78948284e+00] [ 1.36271797e-03 9.99974248e-01 -7.04607991e-03 1.69368282e-02] [ 2.99159937e-02 7.00216664e-03 9.99527890e-01 -3.19585525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.573133365 meters Centerline goodness : 0.143232 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99557847e-01 -1.46367018e-03 -2.96979386e-02 -1.79023969e+00] [ 1.26337269e-03 9.99976338e-01 -6.76213458e-03 1.54327632e-02] [ 2.97071335e-02 6.72162512e-03 9.99536045e-01 -3.19179595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.603133365 meters Centerline goodness : 0.218416 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.01, Z:-0.32 [[ 9.99562822e-01 -1.37435926e-03 -2.95343123e-02 -1.79067549e+00] [ 1.18262618e-03 9.99978121e-01 -6.50836315e-03 1.40527267e-02] [ 2.95426109e-02 6.47058979e-03 9.99542578e-01 -3.19082135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.633133365 meters Centerline goodness : 0.148666 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.01, Z:-0.32 [[ 9.99564933e-01 -1.25037673e-03 -2.94683078e-02 -1.79096674e+00] [ 1.06711928e-03 9.99980001e-01 -6.23370413e-03 1.27606827e-02] [ 2.94755129e-02 6.19954585e-03 9.99546277e-01 -3.18876976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.663133365 meters Centerline goodness : 0.089696 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.01, Z:-0.32 [[ 9.99566261e-01 -1.14488625e-03 -2.94275281e-02 -1.79128549e+00] [ 9.67900052e-04 9.99981364e-01 -6.02784829e-03 1.18188553e-02] [ 2.94338808e-02 5.99675087e-03 9.99548741e-01 -3.18586001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.693133365 meters Centerline goodness : 0.091799 Centerline is valid? [False, False] Translation: X:-1.81, Y:0.01, Z:-0.32 [[ 0.99956663 0.00719457 -0.0285446 -1.81269584] [-0.00738769 0.99995049 -0.00666593 0.00616706] [ 0.02849523 0.00687392 0.99957029 -0.3199819 ] [ 0. 0. 0. 1. ]] SLAMing on 192.723133365 meters Centerline goodness : 0.116016 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.01, Z:-0.32 [[ 9.99580117e-01 1.78581751e-04 -2.89751189e-02 -1.79457180e+00] [-3.46267843e-04 9.99983222e-01 -5.78232986e-03 1.29796910e-02] [ 2.89736001e-02 5.78993511e-03 9.99563408e-01 -3.18247355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.753133365 meters Centerline goodness : 0.091979 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99574805e-01 1.88753705e-04 -2.91577362e-02 -1.79387405e+00] [-3.67613567e-04 9.99981150e-01 -6.12897763e-03 1.52569540e-02] [ 2.91560297e-02 6.13709040e-03 9.99556032e-01 -3.18760095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.783133365 meters Centerline goodness : 0.091979 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99574805e-01 1.88753705e-04 -2.91577362e-02 -1.79387405e+00] [-3.67613567e-04 9.99981150e-01 -6.12897763e-03 1.52569540e-02] [ 2.91560297e-02 6.13709040e-03 9.99556032e-01 -3.18760095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.813133365 meters Centerline goodness : 0.142494 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 0.99955799 0.00394158 -0.02946688 -1.7927409 ] [-0.0040403 0.99998642 -0.0032914 0.02085723] [ 0.02945351 0.003409 0.99956034 -0.31951851] [ 0. 0. 0. 1. ]] SLAMing on 192.843133365 meters Centerline goodness : 0.092849 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 0.99955754 0.00397776 -0.02947723 -1.79272308] [-0.00409077 0.99998451 -0.00377449 0.02446655] [ 0.02946176 0.00389341 0.99955833 -0.31966365] [ 0. 0. 0. 1. ]] SLAMing on 192.873133365 meters Centerline goodness : 0.133627 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.03, Z:-0.32 [[ 0.99956296 0.00385518 -0.02930931 -1.79319789] [-0.00398503 0.9999825 -0.00437302 0.02803552] [ 0.02929194 0.00448791 0.99956082 -0.31968615] [ 0. 0. 0. 1. ]] SLAMing on 192.903133365 meters Centerline goodness : 0.147156 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.03, Z:-0.32 [[ 0.99956716 0.00361033 -0.02919692 -1.79355938] [-0.00375756 0.99998049 -0.00498949 0.03115336] [ 0.02917833 0.00509704 0.99956123 -0.31963385] [ 0. 0. 0. 1. ]] SLAMing on 192.933133365 meters Centerline goodness : 0.142805 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.03, Z:-0.32 [[ 0.99956881 0.00336957 -0.02916907 -1.79387058] [-0.0035313 0.99997867 -0.00549471 0.03340163] [ 0.02914993 0.00559535 0.99955939 -0.31934166] [ 0. 0. 0. 1. ]] SLAMing on 192.96313336499998 meters Centerline goodness : 0.105155 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.04, Z:-0.32 [[ 0.99956567 0.00302048 -0.02931467 -1.79397769] [-0.00319669 0.99997709 -0.00596598 0.03550641] [ 0.02929598 0.00605709 0.99955243 -0.31870976] [ 0. 0. 0. 1. ]] SLAMing on 192.99313336499998 meters Centerline goodness : 0.096765 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.04, Z:-0.32 [[ 0.99953582 -0.00550772 -0.02996351 -1.81532715] [ 0.00536597 0.99997404 -0.00480908 0.03729978] [ 0.02998922 0.00464606 0.99953942 -0.31993277] [ 0. 0. 0. 1. ]] SLAMing on 193.02313336499998 meters Centerline goodness : 0.065002 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.04, Z:-0.32 [[ 0.99953852 -0.00560549 -0.02985496 -1.81563812] [ 0.00546996 0.99997437 -0.00461916 0.03579505] [ 0.02988009 0.00445372 0.99954357 -0.31976217] [ 0. 0. 0. 1. ]] SLAMing on 193.05313336499998 meters Centerline goodness : 0.093071 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.03, Z:-0.32 [[ 0.99954177 -0.0058167 -0.02970545 -1.81590858] [ 0.0056855 0.99997372 -0.00449922 0.03402596] [ 0.02973084 0.00432827 0.99954857 -0.31971132] [ 0. 0. 0. 1. ]] SLAMing on 193.08313336499998 meters Centerline goodness : 0.220693 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.03, Z:-0.32 [[ 0.99946658 -0.00718309 -0.03185857 -1.86079837] [ 0.00701682 0.99996119 -0.00532762 0.02896498] [ 0.0318956 0.00510123 0.99947819 -0.32068951] [ 0. 0. 0. 1. ]] SLAMing on 193.11313336499998 meters Centerline goodness : 0.103316 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.03, Z:-0.32 [[ 9.99494847e-01 -9.47025883e-04 -3.17671968e-02 -1.83797809e+00] [ 7.02317588e-04 9.99970004e-01 -7.71344945e-03 2.72847930e-02] [ 3.17735487e-02 7.68724231e-03 9.99465531e-01 -3.20418781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14313336499998 meters Centerline goodness : 0.094783 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99461669e-01 -5.59005279e-04 -3.28033490e-02 -1.83451825e+00] [ 3.17855281e-04 9.99972893e-01 -7.35613782e-03 2.73316958e-02] [ 3.28065719e-02 7.34175106e-03 9.99434754e-01 -3.21860199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17313336499998 meters SLAMing on 193.20313336499999 meters Centerline goodness : 0.090589 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99439623e-01 -3.41642005e-04 -3.34712217e-02 -1.83229173e+00] [ 8.90338815e-05 9.99971508e-01 -7.54822409e-03 2.92256688e-02] [ 3.34728469e-02 7.54101417e-03 9.99411177e-01 -3.22948847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.233133365 meters Centerline goodness : 0.341802 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99447950e-01 -3.79262165e-04 -3.32212378e-02 -1.83301435e+00] [ 1.21365879e-04 9.99969847e-01 -7.76466705e-03 3.03489722e-02] [ 3.32231809e-02 7.75634864e-03 9.99417860e-01 -3.22850257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.263133365 meters Centerline goodness : 0.099944 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99457912e-01 -3.88984092e-04 -3.29200760e-02 -1.83398649e+00] [ 1.25789890e-04 9.99968018e-01 -7.99663859e-03 3.18399694e-02] [ 3.29221338e-02 7.98816270e-03 9.99425996e-01 -3.22584336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.293133365 meters Centerline goodness : 0.153140 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99462187e-01 -3.91440848e-04 -3.27899993e-02 -1.83445722e+00] [ 1.23297520e-04 9.99966542e-01 -8.17921770e-03 3.31861300e-02] [ 3.27921039e-02 8.17077589e-03 9.99428795e-01 -3.22446214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.323133365 meters Centerline goodness : 0.207065 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99460594e-01 -4.60479088e-04 -3.28376153e-02 -1.83410979e+00] [ 1.82073918e-04 9.99964021e-01 -8.48072588e-03 3.49937376e-02] [ 3.28403391e-02 8.47017246e-03 9.99424719e-01 -3.22891259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.353133365 meters Centerline goodness : 0.096733 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.04, Z:-0.32 [[ 9.99459536e-01 -5.46282057e-04 -3.28684816e-02 -1.83406700e+00] [ 2.64203797e-04 9.99963107e-01 -8.58576011e-03 3.52966522e-02] [ 3.28719592e-02 8.57243584e-03 9.99422807e-01 -3.22865522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.383133365 meters Centerline goodness : 0.132242 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99460624e-01 -5.56438328e-04 -3.28352106e-02 -1.83435859e+00] [ 2.77218573e-04 9.99963771e-01 -8.50760861e-03 3.46469774e-02] [ 3.28387550e-02 8.49391728e-03 9.99424569e-01 -3.22564267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.413133365 meters Centerline goodness : 0.090233 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99463212e-01 -5.23226026e-04 -3.27568949e-02 -1.83486186e+00] [ 2.50061411e-04 9.99965168e-01 -8.34269004e-03 3.37516639e-02] [ 3.27601190e-02 8.33002055e-03 9.99428529e-01 -3.22074501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.443133365 meters Centerline goodness : 0.099751 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.03, Z:-0.32 [[ 9.99470601e-01 -4.73440396e-04 -3.25314156e-02 -1.83557970e+00] [ 2.10110467e-04 9.99967192e-01 -8.09757655e-03 3.24214773e-02] [ 3.25341820e-02 8.08645451e-03 9.99437910e-01 -3.21764099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.473133365 meters Centerline goodness : 0.095896 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.03, Z:-0.32 [[ 9.99485834e-01 -5.34201802e-04 -3.20590416e-02 -1.83677486e+00] [ 2.89931604e-04 9.99970898e-01 -7.62355056e-03 2.86586962e-02] [ 3.20621812e-02 7.61033586e-03 9.99456902e-01 -3.21476098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.503133365 meters Centerline goodness : 0.205015 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.03, Z:-0.32 [[ 9.99485120e-01 -4.92564308e-04 -3.20819724e-02 -1.83652400e+00] [ 2.57263769e-04 9.99973043e-01 -7.33806882e-03 2.66196494e-02] [ 3.20847220e-02 7.32603706e-03 9.99458303e-01 -3.21724493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.533133365 meters Centerline goodness : 0.205015 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.03, Z:-0.32 [[ 9.99485120e-01 -4.92564308e-04 -3.20819724e-02 -1.83652400e+00] [ 2.57263769e-04 9.99973043e-01 -7.33806882e-03 2.66196494e-02] [ 3.20847220e-02 7.32603706e-03 9.99458303e-01 -3.21724493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.563133365 meters Centerline goodness : 0.089928 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.02, Z:-0.32 [[ 9.99476308e-01 -3.22669422e-04 -3.23574560e-02 -1.83551620e+00] [ 9.92522293e-05 9.99976148e-01 -6.90602729e-03 2.43073460e-02] [ 3.23589126e-02 6.89919911e-03 9.99452501e-01 -3.22254990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.593133365 meters Centerline goodness : 0.088066 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.02, Z:-0.32 [[ 9.99467562e-01 -9.97528867e-05 -3.26279397e-02 -1.83456324e+00] [-1.09263788e-04 9.99979487e-01 -6.40421841e-03 2.19114608e-02] [ 3.26279092e-02 6.40437361e-03 9.99447049e-01 -3.22722558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.623133365 meters Centerline goodness : 0.135268 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.02, Z:-0.32 [[ 9.99461705e-01 1.28305778e-04 -3.28067693e-02 -1.83390185e+00] [-3.22634063e-04 9.99982435e-01 -5.91819524e-03 1.96279339e-02] [ 3.28054337e-02 5.92559409e-03 9.99444191e-01 -3.23052214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.653133365 meters Centerline goodness : 0.150777 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.02, Z:-0.32 [[ 9.99459977e-01 2.95535780e-04 -3.28582870e-02 -1.83359210e+00] [-4.77770576e-04 9.99984549e-01 -5.53837014e-03 1.75713762e-02] [ 3.28561425e-02 5.55107802e-03 9.99444676e-01 -3.23322235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.683133365 meters Centerline goodness : 0.187748 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.01, Z:-0.32 [[ 9.99466447e-01 6.45381961e-04 -3.26558661e-02 -1.83401931e+00] [-8.00080997e-04 9.99988520e-01 -4.72440565e-03 1.29600333e-02] [ 3.26524422e-02 4.74801227e-03 9.99455489e-01 -3.23379568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71313336499998 meters Centerline goodness : 0.103818 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.01, Z:-0.32 [[ 9.99408632e-01 4.45390303e-04 -3.43829606e-02 -1.88053866e+00] [-5.94136707e-04 9.99990509e-01 -4.31607038e-03 6.29621145e-03] [ 3.43807120e-02 4.33394618e-03 9.99399411e-01 -3.23795700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74313336499998 meters Centerline goodness : 0.128924 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.00, Z:-0.32 [[ 9.99414365e-01 6.37567436e-04 -3.42128671e-02 -1.88101035e+00] [-7.66330102e-04 9.99992673e-01 -3.75059323e-03 3.09988624e-03] [ 3.42102252e-02 3.77461510e-03 9.99407531e-01 -3.23659546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77313336499998 meters Centerline goodness : 0.189120 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.00, Z:-0.32 [[ 9.99416920e-01 7.82076645e-04 -3.41351364e-02 -1.88109141e+00] [-8.93451919e-04 9.99994327e-01 -3.24764359e-03 2.97595046e-05] [ 3.41324029e-02 3.27624806e-03 9.99411950e-01 -3.23774741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80313336499998 meters Centerline goodness : 0.140816 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.00, Z:-0.32 [[ 9.99409795e-01 8.52569308e-04 -3.43414311e-02 -1.88024169e+00] [-9.51813460e-04 9.99995418e-01 -2.87368030e-03 -2.62945233e-03] [ 3.43388237e-02 2.90467088e-03 9.99406028e-01 -3.24248260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83313336499998 meters Centerline goodness : 0.108625 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.01, Z:-0.32 [[ 9.99401928e-01 9.38734543e-04 -3.45673971e-02 -1.87935854e+00] [-1.02640191e-03 9.99996302e-01 -2.51847079e-03 -5.01589493e-03] [ 3.45649051e-02 2.55244461e-03 9.99399196e-01 -3.24780658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86313336499998 meters Centerline goodness : 0.129385 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.01, Z:-0.33 [[ 9.99395437e-01 9.97775408e-04 -3.47528986e-02 -1.87864566e+00] [-1.07670905e-03 9.99996883e-01 -2.25264115e-03 -6.81907771e-03] [ 3.47505426e-02 2.28869805e-03 9.99393397e-01 -3.25186191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89313336499998 meters Centerline goodness : 0.111046 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.01, Z:-0.33 [[ 9.99393376e-01 1.09852055e-03 -3.48091095e-02 -1.87834759e+00] [-1.16639495e-03 9.99997458e-01 -1.92965682e-03 -8.68584833e-03] [ 3.48069013e-02 1.96908741e-03 9.99392116e-01 -3.25422866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92313336499998 meters Centerline goodness : 0.093817 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.01, Z:-0.33 [[ 9.99396392e-01 1.22387943e-03 -3.47182174e-02 -1.87855380e+00] [-1.28013185e-03 9.99997904e-01 -1.59807410e-03 -1.03214375e-02] [ 3.47161888e-02 1.64155338e-03 9.99395863e-01 -3.25430381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95313336499999 meters Centerline goodness : 0.115089 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.01, Z:-0.33 [[ 9.99392870e-01 1.41658678e-03 -3.48121247e-02 -1.87827409e+00] [-1.45009912e-03 9.99998509e-01 -9.37433340e-04 -1.36857943e-02] [ 3.48107448e-02 9.87345228e-04 9.99393435e-01 -3.25456496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.983133365 meters SLAMing on 194.013133365 meters Centerline goodness : 0.120280 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.02, Z:-0.33 [[ 9.99362323e-01 1.05200118e-03 -3.56909080e-02 -1.87555880e+00] [-1.08476589e-03 9.99999008e-01 -8.98660749e-04 -1.60803239e-02] [ 3.56899272e-02 9.36803973e-04 9.99362473e-01 -3.26352016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.043133365 meters SLAMing on 194.073133365 meters Centerline goodness : 0.105409 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.02, Z:-0.33 [[ 9.99381635e-01 6.54687748e-04 -3.51556495e-02 -1.87718379e+00] [-6.81442048e-04 9.99999487e-01 -7.49047597e-04 -1.87483699e-02] [ 3.51551411e-02 7.72540950e-04 9.99381568e-01 -3.25759732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.103133365 meters Centerline goodness : 0.114647 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.02, Z:-0.33 [[ 9.99368035e-01 -8.14778888e-03 -3.45997795e-02 -1.90033299e+00] [ 8.15695139e-03 9.99966724e-01 1.23663195e-04 -1.73042909e-02] [ 3.45976205e-02 -4.05813763e-04 9.99401241e-01 -3.26573715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.133133365 meters Centerline goodness : 0.093504 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.02, Z:-0.33 [[ 9.99385749e-01 -8.58957279e-03 -3.39756463e-02 -1.90211250e+00] [ 8.60531522e-03 9.99962923e-01 3.17141240e-04 -2.03817090e-02] [ 3.39716625e-02 -6.09317582e-04 9.99422611e-01 -3.25949389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.163133365 meters Centerline goodness : 0.208182 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.32 [[ 9.99392474e-01 -1.99924099e-03 -3.47948990e-02 -1.88326703e+00] [ 1.95174032e-03 9.99997117e-01 -1.39907407e-03 -2.65179714e-02] [ 3.47975958e-02 1.33031349e-03 9.99393495e-01 -3.23568569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.193133365 meters Centerline goodness : 0.209386 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.32 [[ 9.99381170e-01 -2.06234388e-03 -3.51144306e-02 -1.88231117e+00] [ 2.02488706e-03 9.99997342e-01 -1.10223623e-03 -2.88376314e-02] [ 3.51166105e-02 1.03045138e-03 9.99382690e-01 -3.23834178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.223133365 meters Centerline goodness : 0.091079 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.32 [[ 9.99377790e-01 -2.11221033e-03 -3.52075552e-02 -1.88203233e+00] [ 2.08573156e-03 9.99997514e-01 -7.88787363e-04 -3.11569498e-02] [ 3.52091338e-02 7.14863062e-04 9.99379711e-01 -3.23919766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.253133365 meters Centerline goodness : 0.088959 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.32 [[ 9.99378340e-01 -2.11086285e-03 -3.51920011e-02 -1.88218471e+00] [ 2.09760763e-03 9.99997714e-01 -4.13571290e-04 -3.35101477e-02] [ 3.51927937e-02 3.39495179e-04 9.99380484e-01 -3.23718939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.283133365 meters Centerline goodness : 0.183398 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.04, Z:-0.32 [[ 9.99394460e-01 -2.55127786e-03 -3.47016406e-02 -1.88367052e+00] [ 2.55008340e-03 9.99996745e-01 -7.86804572e-05 -3.78717601e-02] [ 3.47017283e-02 -9.85926432e-06 9.99397714e-01 -3.23161256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.313133365 meters Centerline goodness : 0.107509 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.04, Z:-0.32 [[ 9.99389868e-01 -2.53422029e-03 -3.48348775e-02 -1.88338623e+00] [ 2.54829030e-03 9.99996688e-01 3.59513587e-04 -4.07546616e-02] [ 3.48338511e-02 -4.48063617e-04 9.99393017e-01 -3.23121471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.343133365 meters Centerline goodness : 0.111506 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.05, Z:-0.33 [[ 0.99943424 0.00328275 -0.03347267 -1.9043375 ] [-0.00334876 0.99999256 -0.00191614 -0.04909121] [ 0.03346614 0.00202714 0.9994378 -0.32540426] [ 0. 0. 0. 1. ]] SLAMing on 194.373133365 meters Centerline goodness : 0.112361 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.05, Z:-0.32 [[ 9.99440114e-01 -4.93138085e-03 -3.30928880e-02 -1.88332701e+00] [ 4.90719544e-03 9.99987630e-01 -8.12013573e-04 -4.85146294e-02] [ 3.30964830e-02 6.49165669e-04 9.99451951e-01 -3.24362502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.403133365 meters Centerline goodness : 0.130206 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.05, Z:-0.32 [[ 9.99441766e-01 -4.85650321e-03 -3.30540715e-02 -1.88333135e+00] [ 4.84992834e-03 9.99988200e-01 -2.79086987e-04 -5.18409521e-02] [ 3.30550369e-02 1.18621313e-04 9.99453526e-01 -3.24518837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.433133365 meters Centerline goodness : 0.091390 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.05, Z:-0.32 [[ 9.99446660e-01 -4.75563841e-03 -3.29204607e-02 -1.88372930e+00] [ 4.76398608e-03 9.99988637e-01 1.75137459e-04 -5.44825443e-02] [ 3.29192537e-02 -3.31873165e-04 9.99457959e-01 -3.24435722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46313336499998 meters Centerline goodness : 0.111982 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.06, Z:-0.33 [[ 9.99518303e-01 1.46372515e-03 -3.10003180e-02 -1.90560257e+00] [-1.51346886e-03 9.99997605e-01 -1.58121545e-03 -6.49759869e-02] [ 3.09979293e-02 1.62737180e-03 9.99518124e-01 -3.25855943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49313336499998 meters Centerline goodness : 0.112599 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.06, Z:-0.32 [[ 9.99500087e-01 -6.26916148e-03 -3.09882711e-02 -1.88510856e+00] [ 6.25751743e-03 9.99980310e-01 -4.72721191e-04 -6.32434503e-02] [ 3.09906245e-02 2.78575225e-04 9.99519636e-01 -3.24533741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52313336499998 meters Centerline goodness : 0.094517 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.06, Z:-0.33 [[ 9.99487462e-01 -6.08569891e-03 -3.14289347e-02 -1.88360133e+00] [ 6.08423761e-03 9.99981481e-01 -1.42130232e-04 -6.47319412e-02] [ 3.14292176e-02 -4.91637217e-05 9.99505979e-01 -3.25129977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55313336499998 meters Centerline goodness : 0.104974 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.07, Z:-0.33 [[ 9.99473973e-01 -5.91251769e-03 -3.18876175e-02 -1.88188791e+00] [ 5.91974332e-03 9.99982469e-01 1.32193429e-04 -6.58901981e-02] [ 3.18862769e-02 -3.20890402e-04 9.99491452e-01 -3.25978752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58313336499998 meters Centerline goodness : 0.096830 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.07, Z:-0.33 [[ 9.99420665e-01 2.60776140e-03 -3.39342601e-02 -1.85999080e+00] [-2.59677774e-03 9.99996561e-01 3.67743330e-04 -7.34198598e-02] [ 3.39351024e-02 -2.79410552e-04 9.99423999e-01 -3.25142641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61313336499998 meters Centerline goodness : 0.110055 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.07, Z:-0.33 [[ 9.99425497e-01 2.74446809e-03 -3.37808111e-02 -1.86033165e+00] [-2.72665259e-03 9.99996118e-01 5.73441430e-04 -7.44074433e-02] [ 3.37822537e-02 -4.81003450e-04 9.99429101e-01 -3.25152663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64313336499998 meters Centerline goodness : 0.098443 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.08, Z:-0.32 [[ 9.99434081e-01 2.85747825e-03 -3.35164555e-02 -1.86126825e+00] [-2.83479209e-03 9.99995720e-01 7.24366094e-04 -7.52373528e-02] [ 3.35183819e-02 -6.28943979e-04 9.99437903e-01 -3.24620174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67313336499998 meters Centerline goodness : 0.101752 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 0.99947323 -0.00453392 -0.03213589 -1.84267009] [ 0.0045971 0.99998764 0.00189251 -0.07226663] [ 0.03212691 -0.00203925 0.99948172 -0.32287728] [ 0. 0. 0. 1. ]] SLAMing on 194.70313336499999 meters Centerline goodness : 0.104888 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99473069e-01 -4.49780936e-03 -3.21458221e-02 -1.84295026e+00] [ 4.55844992e-03 9.99987966e-01 1.81338322e-03 -7.19031781e-02] [ 3.21372790e-02 -1.95896281e-03 9.99481544e-01 -3.22333062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.733133365 meters Centerline goodness : 0.100075 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.07, Z:-0.32 [[ 9.99496355e-01 4.01646980e-03 -3.14786375e-02 -1.82309824e+00] [-3.99895621e-03 9.99991812e-01 6.19301430e-04 -7.49062765e-02] [ 3.14808671e-02 -4.93107829e-04 9.99504233e-01 -3.20646240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.763133365 meters Centerline goodness : 0.110452 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.07, Z:-0.32 [[ 0.9994783 0.00801454 -0.03128738 -1.82359917] [-0.00788236 0.99995949 0.00434554 -0.07452193] [ 0.03132094 -0.00409666 0.99950098 -0.32036871] [ 0. 0. 0. 1. ]] SLAMing on 194.793133365 meters Centerline goodness : 0.095959 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99524975e-01 -5.31079674e-05 -3.08191766e-02 -1.84308338e+00] [ 2.17187001e-04 9.99985822e-01 5.32060344e-03 -6.91848203e-02] [ 3.08184571e-02 -5.32476955e-03 9.99510815e-01 -3.22258983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.823133365 meters Centerline goodness : 0.102011 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99524455e-01 -3.19981208e-05 -3.08360696e-02 -1.84288780e+00] [ 1.92846203e-04 9.99986392e-01 5.21327176e-03 -6.85545040e-02] [ 3.08354832e-02 -5.21673924e-03 9.99510860e-01 -3.22516777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.853133365 meters Centerline goodness : 0.107270 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99517401e-01 -2.09692476e-05 -3.10638805e-02 -1.84213893e+00] [ 1.82067796e-04 9.99986550e-01 5.18322125e-03 -6.84903657e-02] [ 3.10633540e-02 -5.18637556e-03 9.99503962e-01 -3.22856500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.883133365 meters Centerline goodness : 0.104017 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99510871e-01 3.18071192e-05 -3.12732715e-02 -1.84141176e+00] [ 1.32710817e-04 9.99986165e-01 5.25856667e-03 -6.87239933e-02] [ 3.12730061e-02 -5.26014486e-03 9.99497038e-01 -3.23228707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.913133365 meters Centerline goodness : 0.097583 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.07, Z:-0.32 [[ 0.99943423 0.00815645 -0.03262953 -1.82014482] [-0.00801358 0.99995773 0.00450699 -0.07398693] [ 0.03266492 -0.00424296 0.99945735 -0.32180155] [ 0. 0. 0. 1. ]] SLAMing on 194.943133365 meters Centerline goodness : 0.116699 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99451067e-01 -7.18998218e-04 -3.31217235e-02 -1.84059004e+00] [ 8.97995190e-04 9.99985072e-01 5.38965809e-03 -7.14608024e-02] [ 3.31173540e-02 -5.41644267e-03 9.99436793e-01 -3.23256346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.973133365 meters Centerline goodness : 0.104535 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99451659e-01 -6.65176755e-04 -3.31049725e-02 -1.84079036e+00] [ 8.49024738e-04 9.99984295e-01 5.53973800e-03 -7.23349972e-02] [ 3.31007677e-02 -5.56480728e-03 9.99436527e-01 -3.23013675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.003133365 meters Centerline goodness : 0.105935 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99452683e-01 -6.17619476e-04 -3.30749687e-02 -1.84089062e+00] [ 8.03595395e-04 9.99983942e-01 5.60986217e-03 -7.26432595e-02] [ 3.30709728e-02 -5.63337069e-03 9.99437130e-01 -3.22972613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.033133365 meters Centerline goodness : 0.103856 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99942614 0.00790655 -0.03293748 -1.82084691] [-0.00776019 0.99995945 0.00456897 -0.0756133 ] [ 0.03297227 -0.00431074 0.99944697 -0.32139873] [ 0. 0. 0. 1. ]] SLAMing on 195.063133365 meters Centerline goodness : 0.104896 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99942396 0.00794404 -0.0329945 -1.82049349] [-0.00779706 0.99995911 0.00458082 -0.07558224] [ 0.03302954 -0.00432093 0.99944504 -0.32174599] [ 0. 0. 0. 1. ]] SLAMing on 195.093133365 meters Centerline goodness : 0.108144 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99941916 0.00796213 -0.03313528 -1.81984037] [-0.00781478 0.999959 0.00457394 -0.07572999] [ 0.03317034 -0.00431234 0.99944041 -0.3221483 ] [ 0. 0. 0. 1. ]] SLAMing on 195.123133365 meters Centerline goodness : 0.108370 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99941668 0.00795561 -0.03321167 -1.81969939] [-0.00780666 0.99995889 0.00461219 -0.07620077] [ 0.033247 -0.00435023 0.9994377 -0.32210479] [ 0. 0. 0. 1. ]] SLAMing on 195.153133365 meters Centerline goodness : 0.108370 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99941668 0.00795561 -0.03321167 -1.81969939] [-0.00780666 0.99995889 0.00461219 -0.07620077] [ 0.033247 -0.00435023 0.9994377 -0.32210479] [ 0. 0. 0. 1. ]] SLAMing on 195.183133365 meters Centerline goodness : 0.128712 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99942128 0.00814204 -0.03302739 -1.82055542] [-0.00798136 0.99995568 0.00499423 -0.07798073] [ 0.03306659 -0.00472774 0.99944197 -0.32151883] [ 0. 0. 0. 1. ]] SLAMing on 195.21313336499998 meters Centerline goodness : 0.105072 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.08, Z:-0.32 [[ 9.99466895e-01 -7.56755365e-04 -3.26397556e-02 -1.84183625e+00] [ 9.50105810e-04 9.99982092e-01 5.90866833e-03 -7.63059971e-02] [ 3.26346997e-02 -5.93652961e-03 9.99449716e-01 -3.22907310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24313336499998 meters Centerline goodness : 0.176419 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.08, Z:-0.32 [[ 9.99470815e-01 -7.21928290e-04 -3.25202676e-02 -1.84225433e+00] [ 9.20966091e-04 9.99980935e-01 6.10586008e-03 -7.77004838e-02] [ 3.25152396e-02 -6.13257902e-03 9.99452425e-01 -3.22685312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27313336499998 meters Centerline goodness : 0.109127 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99946885 0.00733165 -0.03175319 -1.82319598] [-0.00718492 0.99996299 0.00473265 -0.08187507] [ 0.03178671 -0.00450199 0.99948454 -0.32079151] [ 0. 0. 0. 1. ]] SLAMing on 195.30313336499998 meters Centerline goodness : 0.136114 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99946481 0.00740086 -0.03186397 -1.82298577] [-0.00724757 0.99996161 0.00492367 -0.08294885] [ 0.03189919 -0.00469009 0.99948009 -0.32072605] [ 0. 0. 0. 1. ]] SLAMing on 195.33313336499998 meters Centerline goodness : 0.121061 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99945596 0.00751524 -0.03211405 -1.8221017 ] [-0.00735571 0.99996003 0.00508266 -0.08376522] [ 0.03215096 -0.00484367 0.99947129 -0.32114834] [ 0. 0. 0. 1. ]] SLAMing on 195.36313336499998 meters Centerline goodness : 0.111159 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99945122 0.00749395 -0.03226601 -1.82164846] [-0.00733629 0.99996058 0.00500188 -0.08357915] [ 0.03230222 -0.00476242 0.9994668 -0.32128625] [ 0. 0. 0. 1. ]] SLAMing on 195.39313336499998 meters Centerline goodness : 0.150387 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99945381 0.00744082 -0.03219805 -1.82190038] [-0.00728672 0.99996144 0.00490053 -0.08331117] [ 0.03223328 -0.00466323 0.99946949 -0.3212114 ] [ 0. 0. 0. 1. ]] SLAMing on 195.42313336499998 meters Centerline goodness : 0.113238 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99945734 0.00744559 -0.03208713 -1.82230249] [-0.00729466 0.99996179 0.0048183 -0.08268949] [ 0.03212178 -0.00458162 0.99947346 -0.32106292] [ 0. 0. 0. 1. ]] SLAMing on 195.45313336499999 meters Centerline goodness : 0.113238 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99945734 0.00744559 -0.03208713 -1.82230249] [-0.00729466 0.99996179 0.0048183 -0.08268949] [ 0.03212178 -0.00458162 0.99947346 -0.32106292] [ 0. 0. 0. 1. ]] SLAMing on 195.483133365 meters Centerline goodness : 0.122622 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.9994634 0.00739996 -0.0319084 -1.82275478] [-0.0072544 0.99996276 0.00467525 -0.08190988] [ 0.03194181 -0.00444126 0.99947986 -0.32105873] [ 0. 0. 0. 1. ]] SLAMing on 195.513133365 meters Centerline goodness : 0.134022 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99947593 0.00730928 -0.03153472 -1.82417311] [-0.00717337 0.9999645 0.00442083 -0.08056164] [ 0.03156592 -0.0041923 0.99949288 -0.32033657] [ 0. 0. 0. 1. ]] SLAMing on 195.543133365 meters Centerline goodness : 0.131240 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99948027 0.00725839 -0.0314087 -1.82477647] [-0.00712589 0.99996524 0.00432856 -0.08016236] [ 0.03143903 -0.0041025 0.99949725 -0.31996478] [ 0. 0. 0. 1. ]] SLAMing on 195.573133365 meters Centerline goodness : 0.126883 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.08, Z:-0.32 [[ 0.99948493 0.00718852 -0.03127626 -1.82526383] [-0.00705878 0.99996603 0.00425683 -0.07992656] [ 0.0313058 -0.00403386 0.99950171 -0.31972314] [ 0. 0. 0. 1. ]] SLAMing on 195.603133365 meters Centerline goodness : 0.135721 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.08, Z:-0.32 [[ 0.99948713 0.0071639 -0.03121161 -1.82545897] [-0.00703326 0.99996605 0.00429315 -0.08020297] [ 0.0312413 -0.00407142 0.99950358 -0.31967684] [ 0. 0. 0. 1. ]] SLAMing on 195.633133365 meters Centerline goodness : 0.134610 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.08, Z:-0.32 [[ 0.9994928 0.00688315 -0.03109296 -1.82594932] [-0.00675589 0.99996838 0.00419601 -0.08079459] [ 0.03112086 -0.00398382 0.99950769 -0.31931892] [ 0. 0. 0. 1. ]] SLAMing on 195.663133365 meters Centerline goodness : 0.136396 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.08, Z:-0.32 [[ 0.99948759 0.00679441 -0.03127932 -1.82549462] [-0.0066679 0.99996917 0.00414726 -0.08103878] [ 0.03130654 -0.00393657 0.99950208 -0.31934207] [ 0. 0. 0. 1. ]] SLAMing on 195.693133365 meters Centerline goodness : 0.135525 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99947975 0.00673414 -0.03154166 -1.82487495] [-0.00660778 0.99996973 0.00410883 -0.08103983] [ 0.03156838 -0.00389828 0.99949399 -0.31934793] [ 0. 0. 0. 1. ]] SLAMing on 195.723133365 meters Centerline goodness : 0.106564 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:-0.32 [[ 9.99466406e-01 -4.40925073e-04 -3.26605166e-02 -1.80566581e+00] [ 6.09712905e-04 9.99986511e-01 5.15816828e-03 -7.55841944e-02] [ 3.26578017e-02 -5.17532945e-03 9.99453192e-01 -3.16931414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.753133365 meters Centerline goodness : 0.107859 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:-0.32 [[ 9.99466303e-01 -4.16183968e-04 -3.26639839e-02 -1.80551401e+00] [ 5.85478206e-04 9.99986446e-01 5.17350889e-03 -7.54882207e-02] [ 3.26613880e-02 -5.18987185e-03 9.99453000e-01 -3.17164123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.783133365 meters Centerline goodness : 0.108295 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:-0.32 [[ 9.99469272e-01 -4.12229963e-04 -3.25730488e-02 -1.80582875e+00] [ 5.81827275e-04 9.99986324e-01 5.19736911e-03 -7.56975419e-02] [ 3.25704609e-02 -5.21356262e-03 9.99455844e-01 -3.17028077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.813133365 meters Centerline goodness : 0.125060 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:-0.32 [[ 9.99482600e-01 -3.77937557e-04 -3.21619114e-02 -1.80723486e+00] [ 5.54181824e-04 9.99984879e-01 5.47116887e-03 -7.77148262e-02] [ 3.21593573e-02 -5.48616163e-03 9.99467697e-01 -3.16318229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.843133365 meters Centerline goodness : 0.110613 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.08, Z:-0.32 [[ 0.99950108 0.00651016 -0.0309065 -1.78592192] [-0.00641623 0.99997449 0.0031373 -0.08034845] [ 0.03092613 -0.00293743 0.99951736 -0.31618213] [ 0. 0. 0. 1. ]] SLAMing on 195.873133365 meters Centerline goodness : 0.114956 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.08, Z:-0.32 [[ 0.99949414 0.00657254 -0.03111697 -1.78509882] [-0.00647124 0.99997343 0.00335502 -0.08173886] [ 0.0311382 -0.00315196 0.99951012 -0.31665099] [ 0. 0. 0. 1. ]] SLAMing on 195.903133365 meters Centerline goodness : 0.132630 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99948329 0.00656865 -0.03146427 -1.78372741] [-0.00646188 0.99997302 0.00349399 -0.08297057] [ 0.03148637 -0.00328887 0.99949877 -0.31745947] [ 0. 0. 0. 1. ]] SLAMing on 195.933133365 meters Centerline goodness : 0.141873 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99947393 0.00657878 -0.03175832 -1.7824236 ] [-0.00646966 0.99997281 0.00353738 -0.08352436] [ 0.03178073 -0.00333006 0.99948932 -0.31825682] [ 0. 0. 0. 1. ]] SLAMing on 195.96313336499998 meters Centerline goodness : 0.137356 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99946872 0.00656627 -0.03192445 -1.78175128] [-0.00645796 0.99997304 0.00349451 -0.08361124] [ 0.03194653 -0.00328649 0.99948418 -0.31867542] [ 0. 0. 0. 1. ]] SLAMing on 195.99313336499998 meters Centerline goodness : 0.129404 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99946841 0.0071016 -0.03181913 -1.78187029] [-0.00698648 0.99996865 0.00372767 -0.08298953] [ 0.03184461 -0.00350338 0.99948669 -0.3189725 ] [ 0. 0. 0. 1. ]] SLAMing on 196.02313336499998 meters Centerline goodness : 0.127983 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99946577 0.00723218 -0.0318728 -1.78149232] [-0.00712121 0.99996819 0.00359382 -0.0816526 ] [ 0.03189778 -0.00336493 0.99948547 -0.31944094] [ 0. 0. 0. 1. ]] SLAMing on 196.05313336499998 meters Centerline goodness : 0.128584 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99945389 0.00729572 -0.03222881 -1.78025613] [-0.00719124 0.99996851 0.00335675 -0.079949 ] [ 0.03225228 -0.00312316 0.99947488 -0.3201265 ] [ 0. 0. 0. 1. ]] SLAMing on 196.08313336499998 meters Centerline goodness : 0.144312 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99944645 0.00726699 -0.0324652 -1.7793431 ] [-0.00717178 0.99996964 0.00304828 -0.07815703] [ 0.03248637 -0.00281376 0.99946822 -0.32072592] [ 0. 0. 0. 1. ]] SLAMing on 196.11313336499998 meters Centerline goodness : 0.129076 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.999447 0.00719226 -0.03246485 -1.77904192] [-0.00710659 0.99997096 0.00275359 -0.07657676] [ 0.03248371 -0.00252136 0.99946908 -0.32126893] [ 0. 0. 0. 1. ]] SLAMing on 196.14313336499998 meters Centerline goodness : 0.130260 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99944863 0.00709372 -0.03243639 -1.77910731] [-0.00701727 0.99997233 0.00247002 -0.07509134] [ 0.03245301 -0.00224104 0.99947075 -0.32134075] [ 0. 0. 0. 1. ]] SLAMing on 196.17313336499998 meters Centerline goodness : 0.129981 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.07, Z:-0.32 [[ 0.99945336 0.0069061 -0.03233079 -1.77967093] [-0.00684137 0.99997437 0.00211234 -0.0734933 ] [ 0.03234455 -0.00189 0.99947499 -0.32096883] [ 0. 0. 0. 1. ]] SLAMing on 196.20313336499999 meters Centerline goodness : 0.121591 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.07, Z:-0.32 [[ 0.99945432 0.0068572 -0.03231178 -1.77995531] [-0.00679334 0.99997475 0.00208559 -0.07335677] [ 0.03232526 -0.00186494 0.99947566 -0.32060997] [ 0. 0. 0. 1. ]] SLAMing on 196.233133365 meters Centerline goodness : 0.142177 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.07, Z:-0.32 [[ 0.99945374 0.00679743 -0.03234229 -1.78013729] [-0.00673273 0.99997511 0.00210872 -0.0736408 ] [ 0.03235582 -0.00188982 0.99947463 -0.32023189] [ 0. 0. 0. 1. ]] SLAMing on 196.263133365 meters Centerline goodness : 0.110734 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.07, Z:-0.32 [[ 0.99945168 0.00670662 -0.03242482 -1.78013058] [-0.00664018 0.99997563 0.00215627 -0.07433289] [ 0.03243849 -0.00193979 0.99947185 -0.31993324] [ 0. 0. 0. 1. ]] SLAMing on 196.293133365 meters Centerline goodness : 0.113986 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99484906e-01 -1.60083894e-03 -3.20524473e-02 -1.75906645e+00] [ 1.68439345e-03 9.99995253e-01 2.57997438e-03 -7.05960279e-02] [ 3.20481650e-02 -2.63263438e-03 9.99482858e-01 -3.18821997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.323133365 meters Centerline goodness : 0.117189 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99484944e-01 -1.73448841e-03 -3.20443307e-02 -1.75905859e+00] [ 1.81924113e-03 9.99994924e-01 2.61589216e-03 -7.15473607e-02] [ 3.20396308e-02 -2.67284119e-03 9.99483025e-01 -3.18793731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.353133365 meters Centerline goodness : 0.117025 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 0.99948409 -0.00197012 -0.03205747 -1.75916679] [ 0.00205425 0.99999453 0.00259145 -0.07240439] [ 0.03205219 -0.00265597 0.99948267 -0.31852931] [ 0. 0. 0. 1. ]] SLAMing on 196.383133365 meters Centerline goodness : 0.127891 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:-0.32 [[ 9.99488680e-01 6.03292300e-03 -3.14003661e-02 -1.74030012e+00] [-5.99671939e-03 9.99981242e-01 1.24701383e-03 -7.54788381e-02] [ 3.14073003e-02 -1.05807702e-03 9.99506109e-01 -3.16772037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.413133365 meters Centerline goodness : 0.107159 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:-0.32 [[ 9.99490587e-01 6.08285370e-03 -3.13299423e-02 -1.74054373e+00] [-6.04373549e-03 9.99980834e-01 1.34313633e-03 -7.58162361e-02] [ 3.13375120e-02 -1.15310224e-03 9.99508194e-01 -3.16658217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.443133365 meters Centerline goodness : 0.117095 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:-0.32 [[ 9.99491729e-01 6.09330651e-03 -3.12914634e-02 -1.74062339e+00] [-6.05316585e-03 9.99980731e-01 1.37736904e-03 -7.60206591e-02] [ 3.12992531e-02 -1.18725655e-03 9.99509353e-01 -3.16670090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.473133365 meters Centerline goodness : 0.128855 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:-0.32 [[ 9.99493861e-01 6.07069584e-03 -3.12277002e-02 -1.74073188e+00] [-6.03114902e-03 9.99980887e-01 1.36043934e-03 -7.60824443e-02] [ 3.12353622e-02 -1.17141186e-03 9.99511371e-01 -3.16744390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.503133365 meters Centerline goodness : 0.128992 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:-0.32 [[ 9.99496578e-01 6.04644077e-03 -3.11453360e-02 -1.74081769e+00] [-6.00782350e-03 9.99981064e-01 1.33333756e-03 -7.61153952e-02] [ 3.11528082e-02 -1.14555065e-03 9.99513977e-01 -3.16893165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.533133365 meters Centerline goodness : 0.130516 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:-0.32 [[ 9.99506975e-01 5.92267931e-03 -3.08338867e-02 -1.74145471e+00] [-5.89134556e-03 9.99982033e-01 1.10696134e-03 -7.55542070e-02] [ 3.08398889e-02 -9.24762496e-04 9.99523910e-01 -3.17051965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.563133365 meters Centerline goodness : 0.125079 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99515251e-01 5.83926092e-03 -3.05804770e-02 -1.74212913e+00] [-5.81474204e-03 9.99982698e-01 8.90650934e-04 -7.46362576e-02] [ 3.05851486e-02 -7.12401607e-04 9.99531911e-01 -3.16981352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.593133365 meters Centerline goodness : 0.109803 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99522067e-01 5.85493618e-03 -3.03538830e-02 -1.74286584e+00] [-5.83618060e-03 9.99982720e-01 7.06457021e-04 -7.31825268e-02] [ 3.03574947e-02 -5.28968639e-04 9.99538965e-01 -3.16723839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.623133365 meters Centerline goodness : 0.117683 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99525748e-01 5.93261242e-03 -3.02172627e-02 -1.74324557e+00] [-5.91993865e-03 9.99982348e-01 5.08867770e-04 -7.11942071e-02] [ 3.02197482e-02 -3.29742098e-04 9.99543225e-01 -3.16691774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.653133365 meters Centerline goodness : 0.119277 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99526422e-01 5.97458684e-03 -3.01866986e-02 -1.74307694e+00] [-5.96914455e-03 9.99982148e-01 2.70399969e-04 -6.91260470e-02] [ 3.01877752e-02 -9.00831457e-05 9.99544241e-01 -3.17131179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.683133365 meters Centerline goodness : 0.116503 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99524614e-01 5.92017135e-03 -3.02572007e-02 -1.74263977e+00] [-5.92337572e-03 9.99982457e-01 -1.62718421e-05 -6.74267657e-02] [ 3.02565735e-02 1.95488874e-04 9.99542146e-01 -3.17566569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71313336499998 meters Centerline goodness : 0.109722 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99527247e-01 5.70181889e-03 -3.02121180e-02 -1.74254212e+00] [-5.71622967e-03 9.99983586e-01 -3.90638327e-04 -6.63426630e-02] [ 3.02093947e-02 5.63153056e-04 9.99543433e-01 -3.17890499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74313336499998 meters Centerline goodness : 0.129632 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99527910e-01 5.68087574e-03 -3.01941262e-02 -1.74259621e+00] [-5.69499913e-03 9.99983710e-01 -3.81775582e-04 -6.67004970e-02] [ 3.01914656e-02 5.53550872e-04 9.99543981e-01 -3.17878471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77313336499998 meters Centerline goodness : 0.137072 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99523291e-01 5.64011123e-03 -3.03542450e-02 -1.74201249e+00] [-5.65357787e-03 9.99983954e-01 -3.57841931e-04 -6.72128006e-02] [ 3.03517397e-02 5.29281432e-04 9.99539140e-01 -3.18161032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80313336499998 meters Centerline goodness : 0.123266 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99514264e-01 5.59717416e-03 -3.06579303e-02 -1.74095186e+00] [-5.60968125e-03 9.99984214e-01 -3.21959734e-04 -6.79438421e-02] [ 3.06556443e-02 4.93784563e-04 9.99529883e-01 -3.18619231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83313336499998 meters Centerline goodness : 0.128882 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99463688e-01 -3.13530172e-03 -3.25960931e-02 -1.75988853e+00] [ 3.16249034e-03 9.99994693e-01 7.82583703e-04 -6.62921726e-02] [ 3.25934665e-02 -8.85248824e-04 9.99468300e-01 -3.20177825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86313336499998 meters Centerline goodness : 0.123313 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99458913e-01 -3.09089187e-03 -3.27464175e-02 -1.75943626e+00] [ 3.12192337e-03 9.99994725e-01 8.96543081e-04 -6.70889498e-02] [ 3.27434737e-02 -9.98289780e-04 9.99463290e-01 -3.20307504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89313336499998 meters Centerline goodness : 0.127475 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99458776e-01 -2.94734074e-03 -3.27638319e-02 -1.75943694e+00] [ 2.98348427e-03 9.99994994e-01 1.05431978e-03 -6.73915170e-02] [ 3.27605604e-02 -1.15149953e-03 9.99462565e-01 -3.20299371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92313336499998 meters Centerline goodness : 0.121985 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99465504e-01 -2.68751600e-03 -3.25804069e-02 -1.75964279e+00] [ 2.72894036e-03 9.99995524e-01 1.22704968e-03 -6.73450167e-02] [ 3.25769634e-02 -1.31530381e-03 9.99468364e-01 -3.20646994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95313336499999 meters SLAMing on 196.983133365 meters Centerline goodness : 0.122212 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99451818e-01 -2.61715713e-03 -3.30032444e-02 -1.75797404e+00] [ 2.65904025e-03 9.99995714e-01 1.22523389e-03 -6.75858504e-02] [ 3.29998963e-02 -1.31231920e-03 9.99454494e-01 -3.21711498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.013133365 meters Centerline goodness : 0.125551 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99450541e-01 -2.51258707e-03 -3.30500099e-02 -1.75778058e+00] [ 2.55893977e-03 9.99995801e-01 1.36027835e-03 -6.80143957e-02] [ 3.30464533e-02 -1.44410392e-03 9.99452774e-01 -3.21840386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.043133365 meters SLAMing on 197.073133365 meters Centerline goodness : 0.123560 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 0.99945266 -0.00232601 -0.03299968 -1.75822086] [ 0.00238541 0.9999956 0.00176078 -0.06983999] [ 0.03299544 -0.00183853 0.99945381 -0.32137662] [ 0. 0. 0. 1. ]] SLAMing on 197.103133365 meters Centerline goodness : 0.128863 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 0.9994521 -0.00233397 -0.03301587 -1.75838381] [ 0.00240194 0.99999508 0.0020193 -0.0718984 ] [ 0.033011 -0.00209749 0.99945279 -0.32104133] [ 0. 0. 0. 1. ]] SLAMing on 197.133133365 meters Centerline goodness : 0.129518 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 0.99945622 -0.00229511 -0.03289375 -1.7585293 ] [ 0.00236646 0.99999493 0.00213046 -0.07239945] [ 0.03288869 -0.00220715 0.99945658 -0.32124933] [ 0. 0. 0. 1. ]] SLAMing on 197.163133365 meters Centerline goodness : 0.149892 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 0.99946032 -0.00225505 -0.03277173 -1.75875802] [ 0.00232775 0.99999491 0.00218035 -0.0724091 ] [ 0.03276665 -0.00225546 0.99946048 -0.32133229] [ 0. 0. 0. 1. ]] SLAMing on 197.193133365 meters Centerline goodness : 0.125393 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99488027e-01 5.93161304e-03 -3.14404058e-02 -1.73919023e+00] [-5.90955339e-03 9.99982223e-01 7.94510593e-04 -7.42829257e-02] [ 3.14445596e-02 -6.08305069e-04 9.99505312e-01 -3.20273413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.223133365 meters Centerline goodness : 0.129727 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99510040e-01 -2.96626119e-03 -3.11589511e-02 -1.76038732e+00] [ 3.01218366e-03 9.99994445e-01 1.42697661e-03 -6.97570562e-02] [ 3.11545453e-02 -1.52013393e-03 9.99513423e-01 -3.21813002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.253133365 meters Centerline goodness : 0.126661 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99520213e-01 -3.01321125e-03 -3.08263484e-02 -1.76155586e+00] [ 3.04724309e-03 9.99994798e-01 1.05706612e-03 -6.71091010e-02] [ 3.08230029e-02 -1.15049433e-03 9.99524196e-01 -3.21363944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.283133365 meters Centerline goodness : 0.129317 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99521845e-01 -3.04463150e-03 -3.07703057e-02 -1.76174971e+00] [ 3.07312942e-03 9.99994892e-01 8.78900616e-04 -6.57582227e-02] [ 3.07674726e-02 -9.73041497e-04 9.99526096e-01 -3.21324308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.313133365 meters Centerline goodness : 0.130105 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.06, Z:-0.32 [[ 9.99522105e-01 -3.13321697e-03 -3.07529757e-02 -1.76179673e+00] [ 3.15448578e-03 9.99994818e-01 6.43109589e-04 -6.44709804e-02] [ 3.07508013e-02 -7.39812075e-04 9.99526808e-01 -3.21367857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.343133365 meters Centerline goodness : 0.130105 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.06, Z:-0.32 [[ 9.99522105e-01 -3.13321697e-03 -3.07529757e-02 -1.76179673e+00] [ 3.15448578e-03 9.99994818e-01 6.43109589e-04 -6.44709804e-02] [ 3.07508013e-02 -7.39812075e-04 9.99526808e-01 -3.21367857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.373133365 meters Centerline goodness : 0.124914 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99544390e-01 4.81186820e-03 -2.97969417e-02 -1.74227797e+00] [-4.84602110e-03 9.99987681e-01 -1.07407959e-03 -6.57815890e-02] [ 2.97914063e-02 1.21798684e-03 9.99555395e-01 -3.19875317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.403133365 meters Centerline goodness : 0.121508 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 9.99545625e-01 4.65116816e-03 -2.97810449e-02 -1.74236109e+00] [-4.69388909e-03 9.99988052e-01 -1.36475125e-03 -6.47118006e-02] [ 2.97743414e-02 1.50392007e-03 9.99555515e-01 -3.19827915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.433133365 meters Centerline goodness : 0.120128 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 9.99546393e-01 4.53706072e-03 -2.97728576e-02 -1.74249395e+00] [-4.58678646e-03 9.99988197e-01 -1.60208649e-03 -6.35896115e-02] [ 2.97652374e-02 1.73792152e-03 9.99555406e-01 -3.19697077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46313336499998 meters Centerline goodness : 0.120333 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 0.99955091 0.00443979 -0.02963552 -1.74298418] [-0.00449725 0.99998813 -0.00187275 -0.06205167] [ 0.02962685 0.00200519 0.99955902 -0.31950488] [ 0. 0. 0. 1. ]] SLAMing on 197.49313336499998 meters Centerline goodness : 0.119951 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 0.99955562 0.00435302 -0.02948933 -1.74335152] [-0.00441809 0.99998795 -0.00214173 -0.06037434] [ 0.02947966 0.00227106 0.9995628 -0.31949589] [ 0. 0. 0. 1. ]] SLAMing on 197.52313336499998 meters Centerline goodness : 0.152189 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 0.99955917 0.00425467 -0.02938309 -1.74349514] [-0.00432803 0.99998767 -0.00243375 -0.05862011] [ 0.02937237 0.00255985 0.99956526 -0.31971272] [ 0. 0. 0. 1. ]] SLAMing on 197.55313336499998 meters Centerline goodness : 0.120907 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 0.99955653 0.00403762 -0.02950316 -1.74271531] [-0.00413 0.99998676 -0.00307079 -0.05513999] [ 0.02949037 0.00319128 0.99955997 -0.32051031] [ 0. 0. 0. 1. ]] SLAMing on 197.58313336499998 meters Centerline goodness : 0.132781 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 0.99955309 0.00386292 -0.0296428 -1.74192766] [-0.00396839 0.999986 -0.00350003 -0.05301567] [ 0.02962886 0.0036161 0.99955443 -0.32124309] [ 0. 0. 0. 1. ]] SLAMing on 197.61313336499998 meters Centerline goodness : 0.133975 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 0.9995481 0.0037396 -0.02982644 -1.74099383] [-0.00385615 0.99998515 -0.00385127 -0.05113108] [ 0.02981159 0.00396455 0.99954767 -0.32204881] [ 0. 0. 0. 1. ]] SLAMing on 197.64313336499998 meters Centerline goodness : 0.133381 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 0.99954302 0.00363032 -0.03000953 -1.74029272] [-0.00375582 0.99998443 -0.00412653 -0.04962883] [ 0.02999409 0.00423736 0.99954109 -0.32251055] [ 0. 0. 0. 1. ]] SLAMing on 197.67313336499998 meters Centerline goodness : 0.129616 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 0.99953918 0.00353321 -0.03014862 -1.73986346] [-0.00366428 0.99998407 -0.00429341 -0.04884061] [ 0.03013297 0.00440191 0.99953621 -0.32268442] [ 0. 0. 0. 1. ]] SLAMing on 197.70313336499999 meters Centerline goodness : 0.131394 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.05, Z:-0.32 [[ 0.99953142 -0.00515017 -0.03017314 -1.76051457] [ 0.00505433 0.99998194 -0.0032517 -0.04546236] [ 0.03018934 0.00309767 0.9995394 -0.32416611] [ 0. 0. 0. 1. ]] SLAMing on 197.733133365 meters Centerline goodness : 0.134874 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 9.99614033e-01 9.95080779e-04 -2.77631804e-02 -1.74058687e+00] [-1.16163155e-03 9.99981424e-01 -5.98349676e-03 -4.63537461e-02] [ 2.77567107e-02 6.01343792e-03 9.99596620e-01 -3.23548745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.763133365 meters Centerline goodness : 0.138040 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 9.99615146e-01 9.82174041e-04 -2.77235491e-02 -1.74074818e+00] [-1.14586286e-03 9.99982003e-01 -5.88905490e-03 -4.70952230e-02] [ 2.77172660e-02 5.91855586e-03 9.99598281e-01 -3.23444362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.793133365 meters Centerline goodness : 0.136522 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 9.99614507e-01 9.63900779e-04 -2.77472295e-02 -1.74085878e+00] [-1.12514884e-03 9.99982568e-01 -5.79629483e-03 -4.78135791e-02] [ 2.77411587e-02 5.82528016e-03 9.99598166e-01 -3.23175138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.823133365 meters Centerline goodness : 0.131342 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 9.99615899e-01 9.76614959e-04 -2.76965734e-02 -1.74118032e+00] [-1.13459741e-03 9.99983174e-01 -5.68890162e-03 -4.84897737e-02] [ 2.76905515e-02 5.71814097e-03 9.99600188e-01 -3.22898746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.853133365 meters Centerline goodness : 0.131233 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 9.99615876e-01 1.00990007e-03 -2.76962117e-02 -1.74142651e+00] [-1.16218107e-03 9.99984294e-01 -5.48271521e-03 -4.97506654e-02] [ 2.76902397e-02 5.51279718e-03 9.99601350e-01 -3.22536491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.883133365 meters Centerline goodness : 0.133515 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 9.99614400e-01 9.87975551e-04 -2.77502122e-02 -1.74137344e+00] [-1.13674527e-03 9.99985065e-01 -5.34576624e-03 -5.10135991e-02] [ 2.77445162e-02 5.37524984e-03 9.99600594e-01 -3.22388286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.913133365 meters Centerline goodness : 0.138125 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 9.99612739e-01 8.26608952e-04 -2.78152658e-02 -1.74118866e+00] [-9.68033323e-04 9.99986672e-01 -5.07133411e-03 -5.37316773e-02] [ 2.78107031e-02 5.09629628e-03 9.99600216e-01 -3.22385100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.943133365 meters Centerline goodness : 0.134986 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 9.99611878e-01 8.67905234e-04 -2.78449446e-02 -1.74102789e+00] [-1.00089066e-03 9.99988159e-01 -4.76234522e-03 -5.56644377e-02] [ 2.78404817e-02 4.78836660e-03 9.99600910e-01 -3.22547758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.973133365 meters Centerline goodness : 0.139975 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 9.99609698e-01 9.07033278e-04 -2.79218195e-02 -1.74097774e+00] [-1.02985822e-03 9.99989856e-01 -4.38482108e-03 -5.79644371e-02] [ 2.79175591e-02 4.41186519e-03 9.99600493e-01 -3.22327512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.003133365 meters Centerline goodness : 0.135284 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 9.99613627e-01 8.65787249e-04 -2.77821238e-02 -1.74153570e+00] [-9.77222729e-04 9.99991532e-01 -3.99772314e-03 -6.07467098e-02] [ 2.77784273e-02 4.02332785e-03 9.99606008e-01 -3.21950311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.033133365 meters Centerline goodness : 0.135790 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 9.99623190e-01 6.91607970e-04 -2.74408264e-02 -1.74263160e+00] [-7.92843338e-04 9.99992920e-01 -3.67851580e-03 -6.38679628e-02] [ 2.74380880e-02 3.69888597e-03 9.99616661e-01 -3.21439363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.063133365 meters Centerline goodness : 0.137894 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.07, Z:-0.32 [[ 0.99963337 -0.00227064 -0.02698097 -1.7454166 ] [ 0.00211996 0.99998201 -0.00561203 -0.07114078] [ 0.02699323 0.00555278 0.99962019 -0.31943738] [ 0. 0. 0. 1. ]] SLAMing on 198.093133365 meters Centerline goodness : 0.139185 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.07, Z:-0.32 [[ 0.99964055 -0.00229109 -0.02671181 -1.7461099 ] [ 0.00215576 0.9999847 -0.00509396 -0.07498874] [ 0.02672308 0.00503454 0.9996302 -0.31924411] [ 0. 0. 0. 1. ]] SLAMing on 198.123133365 meters Centerline goodness : 0.136959 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.08, Z:-0.32 [[ 0.99964285 -0.00226495 -0.02662768 -1.74637476] [ 0.00214431 0.99998731 -0.00455821 -0.0787491 ] [ 0.02663767 0.00449949 0.99963503 -0.31911665] [ 0. 0. 0. 1. ]] SLAMing on 198.153133365 meters Centerline goodness : 0.135272 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.08, Z:-0.32 [[ 0.99964308 -0.00215961 -0.02662784 -1.74634879] [ 0.00205509 0.99999008 -0.00395202 -0.08268524] [ 0.02663611 0.00389588 0.9996376 -0.31917576] [ 0. 0. 0. 1. ]] SLAMing on 198.183133365 meters Centerline goodness : 0.128608 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.09, Z:-0.32 [[ 0.9996425 -0.00196706 -0.02666458 -1.74619611] [ 0.00188098 0.99999294 -0.00325317 -0.08673404] [ 0.02667079 0.00320186 0.99963914 -0.31922794] [ 0. 0. 0. 1. ]] SLAMing on 198.21313336499998 meters Centerline goodness : 0.115346 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.09, Z:-0.32 [[ 9.99641560e-01 -1.80328692e-03 -2.67114224e-02 -1.74620072e+00] [ 1.73425828e-03 9.99995097e-01 -2.60717764e-03 -9.01056944e-02] [ 2.67159929e-02 2.55991862e-03 9.99639786e-01 -3.19170496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24313336499998 meters Centerline goodness : 0.119181 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.10, Z:-0.32 [[ 0.99962899 -0.00391852 -0.026954 -1.74632295] [ 0.00382481 0.99998646 -0.00352742 -0.09904573] [ 0.02696746 0.00342302 0.99963045 -0.31867392] [ 0. 0. 0. 1. ]] SLAMing on 198.27313336499998 meters Centerline goodness : 0.148911 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.10, Z:-0.32 [[ 0.99962314 -0.00382342 -0.02718377 -1.7459337 ] [ 0.00374415 0.99998859 -0.00296653 -0.10223805] [ 0.0271948 0.00286363 0.99962605 -0.31856678] [ 0. 0. 0. 1. ]] SLAMing on 198.30313336499998 meters Centerline goodness : 0.146849 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.11, Z:-0.32 [[ 0.99961275 -0.00369537 -0.02758051 -1.74483298] [ 0.00363289 0.99999072 -0.00231518 -0.10643724] [ 0.02758881 0.00221409 0.9996169 -0.31883553] [ 0. 0. 0. 1. ]] SLAMing on 198.33313336499998 meters Centerline goodness : 0.115508 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.11, Z:-0.32 [[ 9.99603498e-01 -3.45106308e-03 -2.79452597e-02 -1.74379976e+00] [ 3.41176978e-03 9.99993123e-01 -1.45363976e-03 -1.10500711e-01] [ 2.79500842e-02 1.35772059e-03 9.99608398e-01 -3.19370060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36313336499998 meters Centerline goodness : 0.051288 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.12, Z:-0.32 [[ 9.99584096e-01 -4.43441582e-03 -2.84950910e-02 -1.74215812e+00] [ 4.40211196e-03 9.99989595e-01 -1.19629644e-03 -1.20982972e-01] [ 2.85000994e-02 1.07036032e-03 9.99593217e-01 -3.19722868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39313336499998 meters Centerline goodness : 0.139429 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.13, Z:-0.32 [[ 0.99960552 0.00193404 -0.02801901 -1.72006855] [-0.00203773 0.99999118 -0.00367267 -0.12741822] [ 0.02801166 0.00372831 0.99960064 -0.31951543] [ 0. 0. 0. 1. ]] SLAMing on 198.42313336499998 meters Centerline goodness : 0.123304 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.13, Z:-0.32 [[ 0.99960272 0.00208764 -0.02810787 -1.71982169] [-0.0021732 0.9999931 -0.00301386 -0.13159056] [ 0.02810139 0.00307374 0.99960035 -0.31958362] [ 0. 0. 0. 1. ]] SLAMing on 198.45313336499999 meters Centerline goodness : 0.113366 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.14, Z:-0.32 [[ 0.99959657 0.00219625 -0.02831729 -1.71923658] [-0.00226687 0.9999944 -0.00246186 -0.13514871] [ 0.02831172 0.00252506 0.99959595 -0.31972557] [ 0. 0. 0. 1. ]] SLAMing on 198.483133365 meters Centerline goodness : 0.101605 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.14, Z:-0.32 [[ 0.99959032 0.00233377 -0.0285262 -1.71863884] [-0.00238999 0.99999527 -0.00193698 -0.13836939] [ 0.02852154 0.00200436 0.99959117 -0.3199 ] [ 0. 0. 0. 1. ]] SLAMing on 198.513133365 meters SLAMing on 198.543133365 meters SLAMing on 198.573133365 meters Centerline goodness : 0.137076 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.15, Z:-0.32 [[ 9.99566800e-01 2.16056500e-03 -2.93520886e-02 -1.71592300e+00] [-2.19715627e-03 9.99996849e-01 -1.21443698e-03 -1.47929616e-01] [ 2.93493722e-02 1.27840201e-03 9.99568397e-01 -3.20896927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.603133365 meters SLAMing on 198.633133365 meters Centerline goodness : 0.129312 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.15, Z:-0.32 [[ 9.99565587e-01 2.24223276e-03 -2.93872491e-02 -1.71606095e+00] [-2.25970000e-03 9.99997289e-01 -5.61184861e-04 -1.52203534e-01] [ 2.93859111e-02 6.27347442e-04 9.99567944e-01 -3.20617867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.663133365 meters Centerline goodness : 0.119417 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.15, Z:-0.32 [[ 9.99561435e-01 2.24536607e-03 -2.95278816e-02 -1.71583285e+00] [-2.25153153e-03 9.99997450e-01 -1.75554203e-04 -1.54997084e-01] [ 2.95274122e-02 2.41960168e-04 9.99563942e-01 -3.20504722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.693133365 meters Centerline goodness : 0.139177 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.16, Z:-0.32 [[ 9.99552837e-01 -6.29603964e-03 -2.92315816e-02 -1.69455523e+00] [ 6.32079892e-03 9.99979739e-01 7.54677280e-04 -1.58383495e-01] [ 2.92262379e-02 -9.39106766e-04 9.99572381e-01 -3.19070996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.723133365 meters Centerline goodness : 0.129435 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.16, Z:-0.32 [[ 9.99551048e-01 -6.14874182e-03 -2.93239597e-02 -1.69441951e+00] [ 6.18973149e-03 9.99979989e-01 1.30725249e-03 -1.61284978e-01] [ 2.93153349e-02 -1.48817304e-03 9.99569105e-01 -3.18985864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.753133365 meters Centerline goodness : 0.114719 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.16, Z:-0.32 [[ 0.99954915 -0.00601612 -0.02941598 -1.69444963] [ 0.00607246 0.99997989 0.00182647 -0.16405856] [ 0.0294044 -0.00200427 0.99956559 -0.31865737] [ 0. 0. 0. 1. ]] SLAMing on 198.783133365 meters Centerline goodness : 0.149525 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.17, Z:-0.32 [[ 9.99598442e-01 3.66246757e-04 -2.83340782e-02 -1.67274901e+00] [-3.86092379e-04 9.99999684e-01 -6.94947577e-04 -1.69163422e-01] [ 2.83338147e-02 7.05608087e-04 9.99598268e-01 -3.18562780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.813133365 meters Centerline goodness : 0.105852 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.17, Z:-0.32 [[ 9.99604004e-01 4.94171895e-04 -2.81352112e-02 -1.67354859e+00] [-4.99645210e-04 9.99999858e-01 -1.87506247e-04 -1.72062969e-01] [ 2.81351146e-02 2.01489619e-04 9.99604109e-01 -3.18110393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.843133365 meters Centerline goodness : 0.144944 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.17, Z:-0.32 [[ 9.99608992e-01 5.81610512e-04 -2.79557508e-02 -1.67440204e+00] [-5.74105183e-04 9.99999797e-01 2.76497329e-04 -1.74836942e-01] [ 2.79559059e-02 -2.60339675e-04 9.99609123e-01 -3.17520665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.873133365 meters Centerline goodness : 0.141184 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.18, Z:-0.32 [[ 9.99600126e-01 -7.18599780e-03 -2.73486686e-02 -1.65371411e+00] [ 7.22444452e-03 9.99973049e-01 1.30724896e-03 -1.75028182e-01] [ 2.73385376e-02 -1.50430517e-03 9.99625100e-01 -3.16060802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.903133365 meters Centerline goodness : 0.139963 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.18, Z:-0.32 [[ 0.99959766 -0.00709019 -0.02746369 -1.65367167] [ 0.00714211 0.99997289 0.00179292 -0.17795339] [ 0.02745024 -0.00198835 0.99962119 -0.31575555] [ 0. 0. 0. 1. ]] SLAMing on 198.933133365 meters Centerline goodness : 0.125543 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.18, Z:-0.32 [[ 0.99959785 -0.00696999 -0.02748758 -1.65378541] [ 0.00703508 0.99997267 0.002272 -0.18068551] [ 0.02747099 -0.00246447 0.99961956 -0.31557905] [ 0. 0. 0. 1. ]] SLAMing on 198.96313336499998 meters Centerline goodness : 0.120428 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.19, Z:-0.31 [[ 9.99689598e-01 1.01862708e-03 -2.48931597e-02 -1.63553457e+00] [-9.83560109e-04 9.99998507e-01 1.42090237e-03 -1.88292696e-01] [ 2.48945699e-02 -1.39597740e-03 9.99689107e-01 -3.14538159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99313336499998 meters Centerline goodness : 0.073153 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.19, Z:-0.31 [[ 9.99697283e-01 1.12679884e-03 -2.45778715e-02 -1.63656051e+00] [-1.08666174e-03 9.99998054e-01 1.64635301e-03 -1.89237754e-01] [ 2.45796788e-02 -1.61914680e-03 9.99696563e-01 -3.14112927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02313336499998 meters SLAMing on 199.05313336499998 meters Centerline goodness : 0.093583 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.19, Z:-0.31 [[ 9.99698015e-01 1.25833289e-03 -2.45416886e-02 -1.63667264e+00] [-1.21074221e-03 9.99997358e-01 1.95393959e-03 -1.90710604e-01] [ 2.45440824e-02 -1.92363588e-03 9.99696898e-01 -3.14072910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08313336499998 meters Centerline goodness : 0.137558 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.19, Z:-0.31 [[ 9.99694018e-01 1.33352257e-03 -2.47000322e-02 -1.63611938e+00] [-1.28154459e-03 9.99996931e-01 2.12007903e-03 -1.91410285e-01] [ 2.47027836e-02 -2.08777613e-03 9.99692660e-01 -3.14340516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11313336499998 meters Centerline goodness : 0.145528 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.19, Z:-0.31 [[ 9.99688720e-01 1.39199746e-03 -2.49103469e-02 -1.63549401e+00] [-1.33540674e-03 9.99996490e-01 2.28826685e-03 -1.92354052e-01] [ 2.49134448e-02 -2.25428911e-03 9.99687070e-01 -3.14528232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14313336499998 meters Centerline goodness : 0.106919 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.19, Z:-0.31 [[ 9.99683873e-01 1.42556285e-03 -2.51022115e-02 -1.63498016e+00] [-1.36338326e-03 9.99995961e-01 2.49399669e-03 -1.93939942e-01] [ 2.51056655e-02 -2.45898434e-03 9.99681779e-01 -3.14616382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17313336499998 meters Centerline goodness : 0.112083 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.19, Z:-0.31 [[ 9.99683232e-01 1.41933070e-03 -2.51281059e-02 -1.63487389e+00] [-1.35562954e-03 9.99995825e-01 2.55190930e-03 -1.94484207e-01] [ 2.51316230e-02 -2.51703653e-03 9.99680982e-01 -3.14671845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20313336499999 meters Centerline goodness : 0.131296 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.20, Z:-0.31 [[ 9.99683100e-01 1.50575657e-03 -2.51283215e-02 -1.63487890e+00] [-1.43819635e-03 9.99995303e-01 2.70646467e-03 -1.95057567e-01] [ 2.51322788e-02 -2.66946753e-03 9.99680570e-01 -3.14675231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.233133365 meters Centerline goodness : 0.104263 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:-0.31 [[ 9.99669294e-01 9.11058280e-03 -2.40478593e-02 -1.61457906e+00] [-9.09503300e-03 9.99958354e-01 7.55915740e-04 -1.98943228e-01] [ 2.40537446e-02 -5.36949681e-04 9.99710523e-01 -3.14607296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.263133365 meters Centerline goodness : 0.104263 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:-0.31 [[ 9.99669294e-01 9.11058280e-03 -2.40478593e-02 -1.61457906e+00] [-9.09503300e-03 9.99958354e-01 7.55915740e-04 -1.98943228e-01] [ 2.40537446e-02 -5.36949681e-04 9.99710523e-01 -3.14607296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.293133365 meters Centerline goodness : 0.153176 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:-0.31 [[ 9.99670033e-01 9.12885351e-03 -2.40101710e-02 -1.61463604e+00] [-9.11096550e-03 9.99958129e-01 8.54308381e-04 -1.99827404e-01] [ 2.40169646e-02 -6.35270648e-04 9.99711349e-01 -3.14618811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.323133365 meters Centerline goodness : 0.146410 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.20, Z:-0.31 [[ 0.99970559 0.00201005 -0.02418022 -1.59495187] [-0.00196542 0.99999632 0.00186924 -0.19738208] [ 0.02418389 -0.00182117 0.99970587 -0.31310456] [ 0. 0. 0. 1. ]] SLAMing on 199.353133365 meters Centerline goodness : 0.146442 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.20, Z:-0.31 [[ 0.99969325 0.00230197 -0.02465983 -1.59296615] [-0.00224912 0.99999511 0.00217066 -0.19800702] [ 0.0246647 -0.00211453 0.99969354 -0.31429411] [ 0. 0. 0. 1. ]] SLAMing on 199.383133365 meters Centerline goodness : 0.156617 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.20, Z:-0.31 [[ 0.99968383 0.00239187 -0.02503038 -1.59161559] [-0.00233902 0.99999497 0.00214053 -0.19729016] [ 0.02503537 -0.00208131 0.9996844 -0.31493475] [ 0. 0. 0. 1. ]] SLAMing on 199.413133365 meters Centerline goodness : 0.121290 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.20, Z:-0.32 [[ 0.99967829 0.00239421 -0.02525027 -1.59082614] [-0.00234511 0.9999953 0.0019739 -0.19622441] [ 0.02525488 -0.00191405 0.99967921 -0.31527492] [ 0. 0. 0. 1. ]] SLAMing on 199.443133365 meters Centerline goodness : 0.113362 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.20, Z:-0.31 [[ 0.99967465 0.00239724 -0.02539366 -1.59064808] [-0.00235056 0.99999549 0.0018679 -0.19564811] [ 0.02539802 -0.0018076 0.99967578 -0.31498982] [ 0. 0. 0. 1. ]] SLAMing on 199.473133365 meters Centerline goodness : 0.101461 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:-0.31 [[ 0.99967509 -0.00429985 -0.0251242 -1.57228645] [ 0.00438108 0.99998535 0.00317887 -0.1911604 ] [ 0.02511016 -0.0032879 0.99967928 -0.31272966] [ 0. 0. 0. 1. ]] SLAMing on 199.503133365 meters Centerline goodness : 0.111298 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:-0.31 [[ 0.99968385 -0.00402534 -0.02481938 -1.57302986] [ 0.00411297 0.99998548 0.00348071 -0.19192051] [ 0.02480501 -0.0035817 0.99968589 -0.31263574] [ 0. 0. 0. 1. ]] SLAMing on 199.533133365 meters Centerline goodness : 0.108852 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:-0.31 [[ 0.99968568 -0.0039761 -0.02475344 -1.57326061] [ 0.00406809 0.999985 0.00366714 -0.19319444] [ 0.02473848 -0.00376668 0.99968686 -0.31250892] [ 0. 0. 0. 1. ]] SLAMing on 199.563133365 meters Centerline goodness : 0.129633 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.20, Z:-0.31 [[ 9.99701636e-01 3.46582045e-03 -2.41790673e-02 -1.55336170e+00] [-3.43312006e-03 9.99993135e-01 1.39380542e-03 -1.98478156e-01] [ 2.41837320e-02 -1.31037991e-03 9.99706672e-01 -3.11564532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.593133365 meters SLAMing on 199.623133365 meters Centerline goodness : 0.122293 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.20, Z:-0.31 [[ 0.99968955 0.00365788 -0.02464578 -1.55237941] [-0.00360794 0.99999135 0.00207033 -0.2024218 ] [ 0.02465314 -0.00198076 0.9996941 -0.31141028] [ 0. 0. 0. 1. ]] SLAMing on 199.653133365 meters Centerline goodness : 0.139589 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.20, Z:-0.31 [[ 0.9996876 0.00382919 -0.02469906 -1.55232212] [-0.00376966 0.99998988 0.00245619 -0.20422614] [ 0.02470822 -0.00236231 0.99969191 -0.3112672 ] [ 0. 0. 0. 1. ]] SLAMing on 199.683133365 meters Centerline goodness : 0.135988 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.21, Z:-0.31 [[ 0.99969188 0.00403138 -0.02449252 -1.55336924] [-0.00396166 0.99998796 0.00289446 -0.20680572] [ 0.0245039 -0.00279654 0.99969582 -0.31033176] [ 0. 0. 0. 1. ]] SLAMing on 199.71313336499998 meters Centerline goodness : 0.145728 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.21, Z:-0.31 [[ 0.99969372 0.0041379 -0.02439987 -1.55371856] [-0.00406569 0.99998721 0.00300829 -0.20732234] [ 0.02441201 -0.00290817 0.99969775 -0.31008866] [ 0. 0. 0. 1. ]] SLAMing on 199.74313336499998 meters Centerline goodness : 0.104014 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.21, Z:-0.31 [[ 0.99969687 0.0043382 -0.02423513 -1.55404359] [-0.00426292 0.99998593 0.00315695 -0.2073357 ] [ 0.02424849 -0.00305268 0.9997013 -0.31014611] [ 0. 0. 0. 1. ]] SLAMing on 199.77313336499998 meters Centerline goodness : 0.151645 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.21, Z:-0.31 [[ 0.999699 0.00461786 -0.0240954 -1.55413157] [-0.00453846 0.99998409 0.00334915 -0.20717618] [ 0.02411049 -0.00323879 0.99970405 -0.31045927] [ 0. 0. 0. 1. ]] SLAMing on 199.80313336499998 meters SLAMing on 199.83313336499998 meters Centerline goodness : 0.161200 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.21, Z:-0.31 [[ 0.99970636 0.0050966 -0.02369012 -1.55509402] [-0.00501004 0.99998056 0.00371213 -0.20779452] [ 0.02370858 -0.00359235 0.99971246 -0.31038167] [ 0. 0. 0. 1. ]] SLAMing on 199.86313336499998 meters SLAMing on 199.89313336499998 meters Centerline goodness : 0.094596 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.21, Z:-0.31 [[ 0.99975062 0.00627778 -0.02143104 -1.51465131] [-0.00622498 0.99997743 0.00252958 -0.20941122] [ 0.02144643 -0.00239554 0.99976713 -0.30786712] [ 0. 0. 0. 1. ]] SLAMing on 199.92313336499998 meters Centerline goodness : 0.181736 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.21, Z:-0.31 [[ 0.99974914 0.00629275 -0.02149551 -1.51440486] [-0.00623889 0.99997723 0.00257185 -0.20985752] [ 0.02151121 -0.0024371 0.99976564 -0.30797604] [ 0. 0. 0. 1. ]] SLAMing on 199.95313336499999 meters Centerline goodness : 0.091633 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.21, Z:-0.31 [[ 0.99975052 0.00631502 -0.02142458 -1.51440689] [-0.00626088 0.99997704 0.00259313 -0.20993138] [ 0.02144046 -0.00245835 0.9997671 -0.30822389] [ 0. 0. 0. 1. ]] SLAMing on 199.983133365 meters Centerline goodness : 0.161904 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.21, Z:-0.31 [[ 0.99975501 0.00636257 -0.02119978 -1.51489362] [-0.00630827 0.99997665 0.0026274 -0.20989867] [ 0.021216 -0.00249302 0.99977181 -0.30827765] [ 0. 0. 0. 1. ]] SLAMing on 200.013133365 meters Centerline goodness : 0.170206 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.21, Z:-0.31 [[ 0.99976311 0.00644263 -0.02078959 -1.51575588] [-0.00638857 0.99997604 0.00266551 -0.20984811] [ 0.02080627 -0.00253206 0.99978032 -0.30841973] [ 0. 0. 0. 1. ]] SLAMing on 200.043133365 meters Centerline goodness : 0.127998 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.20, Z:-0.31 [[ 9.99747838e-01 1.82056505e-04 -2.24549962e-02 -1.49769933e+00] [-1.06199731e-04 9.99994284e-01 3.37931534e-03 -2.04950130e-01] [ 2.24554830e-02 -3.37607849e-03 9.99742143e-01 -3.06577251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.073133365 meters Centerline goodness : 0.152796 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.20, Z:-0.31 [[ 9.99745585e-01 1.03976968e-04 -2.25555944e-02 -1.49711117e+00] [-3.08821817e-05 9.99994748e-01 3.24097409e-03 -2.04525407e-01] [ 2.25558129e-02 -3.23945297e-03 9.99740337e-01 -3.07085516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.103133365 meters SLAMing on 200.133133365 meters Centerline goodness : 0.130906 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.20, Z:-0.31 [[ 9.99736507e-01 3.88186281e-05 -2.29546219e-02 -1.49558350e+00] [ 3.23893958e-05 9.99995189e-01 3.10174147e-03 -2.03963985e-01] [ 2.29546319e-02 -3.10166767e-03 9.99731696e-01 -3.07981292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.163133365 meters Centerline goodness : 0.158583 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99732235e-01 -2.44693247e-06 -2.31399718e-02 -1.49489012e+00] [ 7.18085160e-05 9.99995507e-01 2.99664871e-03 -2.03446710e-01] [ 2.31398605e-02 -2.99750796e-03 9.99727744e-01 -3.08385243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.193133365 meters Centerline goodness : 0.200806 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99728112e-01 -2.75591620e-05 -2.33173891e-02 -1.49422734e+00] [ 9.41429084e-05 9.99995922e-01 2.85444747e-03 -2.02555466e-01] [ 2.33172153e-02 -2.85586655e-03 9.99724038e-01 -3.08782137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.223133365 meters Centerline goodness : 0.203767 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99727591e-01 -5.37285188e-05 -2.33396741e-02 -1.49392243e+00] [ 1.16725679e-04 9.99996354e-01 2.69779084e-03 -2.01449789e-01] [ 2.33394440e-02 -2.69978027e-03 9.99723953e-01 -3.09204100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.253133365 meters Centerline goodness : 0.214595 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99727852e-01 -5.40371464e-05 -2.33285029e-02 -1.49368584e+00] [ 1.12777227e-04 9.99996827e-01 2.51664497e-03 -1.99970723e-01] [ 2.33282929e-02 -2.51859099e-03 9.99724686e-01 -3.09636314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.283133365 meters Centerline goodness : 0.153916 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99727694e-01 -1.03558327e-04 -2.33350952e-02 -1.49329351e+00] [ 1.53810573e-04 9.99997673e-01 2.15172055e-03 -1.97534010e-01] [ 2.33348181e-02 -2.15472381e-03 9.99725384e-01 -3.10230414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.313133365 meters Centerline goodness : 0.217265 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99725661e-01 -2.17805500e-04 -2.34212762e-02 -1.49289528e+00] [ 2.64014094e-04 9.99998025e-01 1.96985828e-03 -1.96968361e-01] [ 2.34208009e-02 -1.97550141e-03 9.99723744e-01 -3.10520353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.343133365 meters Centerline goodness : 0.205208 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99722262e-01 -2.64129302e-04 -2.35654231e-02 -1.49253368e+00] [ 3.09734336e-04 9.99998086e-01 1.93162305e-03 -1.97022682e-01] [ 2.35648678e-02 -1.93838559e-03 9.99720431e-01 -3.10569309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.373133365 meters Centerline goodness : 0.092239 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99717715e-01 -2.84815651e-04 -2.37573105e-02 -1.49192885e+00] [ 3.31944147e-04 9.99997985e-01 1.97982709e-03 -1.97484802e-01] [ 2.37566987e-02 -1.98715431e-03 9.99715795e-01 -3.10873057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.403133365 meters Centerline goodness : 0.154336 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99713624e-01 -2.91220329e-04 -2.39287633e-02 -1.49148491e+00] [ 3.40337062e-04 9.99997844e-01 2.04857625e-03 -1.98028666e-01] [ 2.39281151e-02 -2.05613343e-03 9.99711567e-01 -3.10927677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43313336499997 meters Centerline goodness : 0.200624 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99712852e-01 -2.82578810e-04 -2.39610708e-02 -1.49147616e+00] [ 3.34164098e-04 9.99997635e-01 2.14890238e-03 -1.98687618e-01] [ 2.39604069e-02 -2.15629226e-03 9.99710583e-01 -3.10853648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46313336499998 meters Centerline goodness : 0.167193 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99725393e-01 -1.52941976e-04 -2.34331868e-02 -1.49321432e+00] [ 2.05599058e-04 9.99997459e-01 2.24472294e-03 -1.98635461e-01] [ 2.34327840e-02 -2.24892436e-03 9.99722885e-01 -3.10063388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49313336499998 meters Centerline goodness : 0.200908 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99739944e-01 -3.43146667e-05 -2.28044403e-02 -1.49492586e+00] [ 8.39205806e-05 9.99997633e-01 2.17432090e-03 -1.97401465e-01] [ 2.28043117e-02 -2.17566922e-03 9.99737580e-01 -3.09644843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52313336499998 meters Centerline goodness : 0.174661 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.20, Z:-0.31 [[ 9.99752729e-01 8.90573880e-05 -2.22367628e-02 -1.49639875e+00] [-4.37536031e-05 9.99997923e-01 2.03781546e-03 -1.95709431e-01] [ 2.22368981e-02 -2.03633862e-03 9.99750656e-01 -3.09403533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55313336499998 meters Centerline goodness : 0.170754 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99754392e-01 4.83102432e-05 -2.21619675e-02 -1.49648033e+00] [-1.05506784e-05 9.99998548e-01 1.70391397e-03 -1.93623856e-01] [ 2.21620177e-02 -1.70326165e-03 9.99752941e-01 -3.09550145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58313336499998 meters Centerline goodness : 0.161611 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99751572e-01 -5.99866095e-05 -2.22887942e-02 -1.49588437e+00] [ 8.89729114e-05 9.99999152e-01 1.29949827e-03 -1.91560105e-01] [ 2.22886973e-02 -1.30115854e-03 9.99750729e-01 -3.10033204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61313336499998 meters Centerline goodness : 0.196800 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99746081e-01 -1.53576694e-04 -2.25332909e-02 -1.49500966e+00] [ 1.75420796e-04 9.99999517e-01 9.67441205e-04 -1.89836637e-01] [ 2.25331314e-02 -9.71148362e-04 9.99745625e-01 -3.10511609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64313336499998 meters Centerline goodness : 0.145460 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99746484e-01 -1.34327066e-04 -2.25155244e-02 -1.49509629e+00] [ 1.49971516e-04 9.99999749e-01 6.93142373e-04 -1.87654892e-01] [ 2.25154256e-02 -6.96343338e-04 9.99746253e-01 -3.10501795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67313336499998 meters Centerline goodness : 0.158045 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99751654e-01 -1.30300225e-04 -2.22848297e-02 -1.49604373e+00] [ 1.46001970e-04 9.99999742e-01 7.02967843e-04 -1.87649555e-01] [ 2.22847324e-02 -7.06046892e-04 9.99751415e-01 -3.09901814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70313336499999 meters Centerline goodness : 0.153514 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99757491e-01 -1.88463342e-04 -2.20209647e-02 -1.49719490e+00] [ 2.03559324e-04 9.99999746e-01 6.83288190e-04 -1.87967376e-01] [ 2.20208304e-02 -6.87605060e-04 9.99757276e-01 -3.09094207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.733133365 meters Centerline goodness : 0.097629 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.19, Z:-0.31 [[ 9.99819144e-01 3.94349838e-04 -1.90137672e-02 -1.45687740e+00] [-4.04643269e-04 9.99999774e-01 -5.37523054e-04 -1.85548426e-01] [ 1.90135509e-02 5.45119633e-04 9.99819077e-01 -3.07422256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.763133365 meters Centerline goodness : 0.194478 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99790988e-01 -1.36173755e-03 -2.03991671e-02 -1.50323870e+00] [ 1.36344954e-03 9.99999068e-01 7.00166780e-05 -1.88815755e-01] [ 2.03990527e-02 -9.78152787e-05 9.99791913e-01 -3.06943410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.793133365 meters Centerline goodness : 0.152517 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99795927e-01 -1.25190756e-03 -2.01627836e-02 -1.50369052e+00] [ 1.25512912e-03 9.99999202e-01 1.47123700e-04 -1.88510648e-01] [ 2.01625833e-02 -1.72400573e-04 9.99796700e-01 -3.07084880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.823133365 meters Centerline goodness : 0.149793 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99798133e-01 -1.20898640e-03 -2.00557149e-02 -1.50372441e+00] [ 1.21103724e-03 9.99999263e-01 9.01124410e-05 -1.87793450e-01] [ 2.00555912e-02 -1.14382468e-04 9.99798860e-01 -3.07413447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.853133365 meters Centerline goodness : 0.153093 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99796208e-01 -1.23557115e-03 -2.01498298e-02 -1.50328951e+00] [ 1.23392130e-03 9.99999234e-01 -9.43113540e-05 -1.86698106e-01] [ 2.01499309e-02 6.94288298e-05 9.99796967e-01 -3.07770331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.883133365 meters SLAMing on 200.913133365 meters Centerline goodness : 0.162839 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:-0.31 [[ 9.99785338e-01 -1.09475561e-03 -2.06900837e-02 -1.50154610e+00] [ 1.08775692e-03 9.99999347e-01 -3.49514116e-04 -1.84570907e-01] [ 2.06904528e-02 3.26933307e-04 9.99785876e-01 -3.08638739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.943133365 meters Centerline goodness : 0.164666 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:-0.31 [[ 9.99773142e-01 -8.74498815e-04 -2.12814421e-02 -1.49987980e+00] [ 8.65303926e-04 9.99999528e-01 -4.41266047e-04 -1.83630030e-01] [ 2.12818179e-02 4.22751027e-04 9.99773427e-01 -3.08824309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.973133365 meters Centerline goodness : 0.199301 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:-0.31 [[ 9.99743108e-01 6.48319837e-04 -2.26560687e-02 -1.49538338e+00] [-6.43477715e-04 9.99999769e-01 2.21012584e-04 -1.78830672e-01] [ 2.26562067e-02 -2.06377133e-04 9.99743294e-01 -3.09793356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.003133365 meters Centerline goodness : 0.203818 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:-0.31 [[ 9.99736052e-01 7.32222926e-04 -2.29628114e-02 -1.49434542e+00] [-7.32962433e-04 9.99999731e-01 -2.37880406e-05 -1.77191488e-01] [ 2.29627878e-02 4.06126399e-05 9.99736320e-01 -3.10082522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.033133365 meters Centerline goodness : 0.195796 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:-0.31 [[ 9.99731680e-01 7.10682734e-04 -2.31530233e-02 -1.49366624e+00] [-7.21174404e-04 9.99999641e-01 -4.44798085e-04 -1.75077771e-01] [ 2.31526988e-02 4.61376104e-04 9.99731834e-01 -3.10342972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.063133365 meters Centerline goodness : 0.155492 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:-0.31 [[ 9.99738281e-01 6.84273733e-04 -2.28670294e-02 -1.49428231e+00] [-7.03319343e-04 9.99999412e-01 -8.24853074e-04 -1.72372560e-01] [ 2.28664516e-02 8.40720019e-04 9.99738175e-01 -3.10497538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.093133365 meters Centerline goodness : 0.132419 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:-0.31 [[ 0.99972786 0.00446387 -0.02289704 -1.49431489] [-0.00441273 0.99998766 0.00228359 -0.16774071] [ 0.02290695 -0.00218193 0.99973522 -0.31040139] [ 0. 0. 0. 1. ]] SLAMing on 201.123133365 meters Centerline goodness : 0.079933 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-0.31 [[ 0.99969579 0.00640101 -0.02381928 -1.45540268] [-0.00633163 0.99997549 0.0029872 -0.1623441 ] [ 0.02383782 -0.00283548 0.99971182 -0.30878134] [ 0. 0. 0. 1. ]] SLAMing on 201.153133365 meters Centerline goodness : 0.079933 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-0.31 [[ 0.99969579 0.00640101 -0.02381928 -1.45540268] [-0.00633163 0.99997549 0.0029872 -0.1623441 ] [ 0.02383782 -0.00283548 0.99971182 -0.30878134] [ 0. 0. 0. 1. ]] SLAMing on 201.18313336499997 meters Centerline goodness : 0.142715 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-0.31 [[ 0.99969958 0.00624651 -0.0237007 -1.45558231] [-0.00618768 0.99997759 0.00255452 -0.15987408] [ 0.02371613 -0.0024071 0.99971584 -0.30899613] [ 0. 0. 0. 1. ]] SLAMing on 201.21313336499998 meters Centerline goodness : 0.133501 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-0.31 [[ 0.9997028 0.00595882 -0.02363907 -1.45581942] [-0.0059134 0.99998053 0.00199091 -0.15763794] [ 0.02365047 -0.00185053 0.99971858 -0.3088978 ] [ 0. 0. 0. 1. ]] SLAMing on 201.24313336499998 meters Centerline goodness : 0.155135 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-0.31 [[ 9.99707232e-01 5.67735537e-03 -2.35205643e-02 -1.45641669e+00] [-5.64320028e-03 9.99982924e-01 1.51825844e-03 -1.55989090e-01] [ 2.35287823e-02 -1.38508269e-03 9.99722200e-01 -3.08553467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27313336499998 meters Centerline goodness : 0.141290 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.16, Z:-0.31 [[ 9.99661552e-01 3.82579695e-03 -2.57321727e-02 -1.50152060e+00] [-3.79270499e-03 9.99991917e-01 1.33469772e-03 -1.58473939e-01] [ 2.57370709e-02 -1.23665146e-03 9.99667982e-01 -3.08461101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30313336499998 meters Centerline goodness : 0.080454 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.15, Z:-0.31 [[ 9.99701286e-01 3.83474518e-03 -2.41378024e-02 -1.45966297e+00] [-3.82168944e-03 9.99992525e-01 5.86991009e-04 -1.53580440e-01] [ 2.41398729e-02 -4.94568482e-04 9.99708468e-01 -3.08432108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33313336499998 meters Centerline goodness : 0.144856 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.15, Z:-0.31 [[ 9.99704465e-01 3.80333963e-03 -2.40107882e-02 -1.46009819e+00] [-3.78891275e-03 9.99992613e-01 6.46315390e-04 -1.54046902e-01] [ 2.40130690e-02 -5.55149599e-04 9.99711491e-01 -3.08233263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36313336499998 meters SLAMing on 201.39313336499998 meters Centerline goodness : 0.153261 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.15, Z:-0.31 [[ 9.99753667e-01 -5.71405903e-03 -2.14465587e-02 -1.44372345e+00] [ 5.74061589e-03 9.99982830e-01 1.17691900e-03 -1.50809031e-01] [ 2.14394655e-02 -1.29974554e-03 9.99769303e-01 -3.07949576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42313336499998 meters Centerline goodness : 0.151475 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:-0.31 [[ 9.99789351e-01 -1.02018663e-03 -2.04990815e-02 -1.46565927e+00] [ 9.85694240e-04 9.99998082e-01 -1.69266451e-03 -1.57177643e-01] [ 2.05007690e-02 1.67210213e-03 9.99788439e-01 -3.09052576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45313336499999 meters Centerline goodness : 0.210747 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-0.31 [[ 0.99977651 -0.00411507 -0.02073647 -1.46443171] [ 0.00404132 0.99998536 -0.00359725 -0.16326764] [ 0.02075097 0.00351265 0.9997785 -0.31058852] [ 0. 0. 0. 1. ]] SLAMing on 201.483133365 meters Centerline goodness : 0.151222 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:-0.31 [[ 0.99977066 -0.00380042 -0.02107578 -1.46325384] [ 0.00374484 0.99998941 -0.00267608 -0.16658259] [ 0.02108573 0.00259654 0.9997743 -0.31154339] [ 0. 0. 0. 1. ]] SLAMing on 201.513133365 meters Centerline goodness : 0.208102 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:-0.31 [[ 0.99976513 -0.00354026 -0.02138092 -1.46218579] [ 0.00350118 0.99999213 -0.00186499 -0.1696952 ] [ 0.02138735 0.0017897 0.99976966 -0.3123703 ] [ 0. 0. 0. 1. ]] SLAMing on 201.543133365 meters Centerline goodness : 0.160398 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:-0.31 [[ 9.99759118e-01 -3.48481623e-03 -2.16693968e-02 -1.46123286e+00] [ 3.45476620e-03 9.99993018e-01 -1.42403118e-03 -1.72138885e-01] [ 2.16742080e-02 1.34882546e-03 9.99764177e-01 -3.12923172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.573133365 meters Centerline goodness : 0.146857 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:-0.31 [[ 9.99756323e-01 -3.47768615e-03 -2.17991026e-02 -1.46064758e+00] [ 3.45204479e-03 9.99993305e-01 -1.21377789e-03 -1.73481663e-01] [ 2.18031777e-02 1.13823064e-03 9.99761635e-01 -3.13388454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.603133365 meters Centerline goodness : 0.147080 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:-0.31 [[ 9.99750205e-01 -3.32567243e-03 -2.21012823e-02 -1.45972852e+00] [ 3.30590977e-03 9.99994102e-01 -9.30662776e-04 -1.74777333e-01] [ 2.21042470e-02 8.57365457e-04 9.99755304e-01 -3.13666059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.633133365 meters Centerline goodness : 0.155918 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99761161e-01 -2.82423013e-03 -2.16713065e-02 -1.46079792e+00] [ 2.81732239e-03 9.99995970e-01 -3.49275251e-04 -1.76414629e-01] [ 2.16722057e-02 2.88136774e-04 9.99765089e-01 -3.13585108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.663133365 meters Centerline goodness : 0.089370 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99765439e-01 -2.68437004e-03 -2.14909419e-02 -1.46134646e+00] [ 2.67987567e-03 9.99996381e-01 -2.37925638e-04 -1.76529241e-01] [ 2.14915028e-02 1.80276777e-04 9.99769015e-01 -3.13427212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.693133365 meters Centerline goodness : 0.159203 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99767292e-01 -2.64461322e-03 -2.14095457e-02 -1.46146103e+00] [ 2.63995015e-03 9.99996485e-01 -2.46063745e-04 -1.76436867e-01] [ 2.14101212e-02 1.89486351e-04 9.99770759e-01 -3.13564554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.723133365 meters Centerline goodness : 0.149278 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99765611e-01 -2.51485880e-03 -2.15034521e-02 -1.46060236e+00] [ 2.50975763e-03 9.99996816e-01 -2.64209825e-04 -1.75886782e-01] [ 2.15040481e-02 2.10179444e-04 9.99768739e-01 -3.14623657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.753133365 meters Centerline goodness : 0.145833 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99764981e-01 -2.47802807e-03 -2.15370179e-02 -1.46029935e+00] [ 2.47347390e-03 9.99996913e-01 -2.38093919e-04 -1.75843027e-01] [ 2.15375415e-02 1.84766711e-04 9.99768023e-01 -3.14999349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.783133365 meters Centerline goodness : 0.079676 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.32 [[ 9.99762444e-01 -2.49119146e-03 -2.16529542e-02 -1.45980495e+00] [ 2.48663902e-03 9.99996880e-01 -2.37167614e-04 -1.75976766e-01] [ 2.16534775e-02 1.83268192e-04 9.99765519e-01 -3.15320468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.813133365 meters Centerline goodness : 0.162336 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.32 [[ 9.99759680e-01 -2.46447386e-03 -2.17832367e-02 -1.45952144e+00] [ 2.46233387e-03 9.99996961e-01 -1.25061512e-04 -1.76747877e-01] [ 2.17834787e-02 7.13938558e-05 9.99762709e-01 -3.15290164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.843133365 meters Centerline goodness : 0.151185 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.32 [[ 9.99755033e-01 -2.49225367e-03 -2.19923444e-02 -1.45907761e+00] [ 2.49157476e-03 9.99996894e-01 -5.82712115e-05 -1.77469296e-01] [ 2.19924213e-02 3.46136681e-06 9.99758137e-01 -3.15224321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.873133365 meters Centerline goodness : 0.146462 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.32 [[ 9.99753480e-01 -2.46597549e-03 -2.20657533e-02 -1.45899426e+00] [ 2.46877837e-03 9.99996948e-01 9.97840249e-05 -1.78413220e-01] [ 2.20654399e-02 -1.54234881e-04 9.99756517e-01 -3.15132935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.903133365 meters Centerline goodness : 0.162942 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99769173e-01 -2.71614703e-03 -2.13125003e-02 -1.46127088e+00] [ 2.72880364e-03 9.99996117e-01 5.64798758e-04 -1.80679473e-01] [ 2.13108835e-02 -6.22826016e-04 9.99772703e-01 -3.14951183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93313336499997 meters Centerline goodness : 0.154968 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99779497e-01 -2.96603037e-03 -2.07884695e-02 -1.46293895e+00] [ 2.98054158e-03 9.99995336e-01 6.67092344e-04 -1.81847879e-01] [ 2.07863939e-02 -7.28906146e-04 9.99783674e-01 -3.14570634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96313336499998 meters Centerline goodness : 0.158388 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99788543e-01 -3.20206586e-03 -2.03129771e-02 -1.46431939e+00] [ 3.21904406e-03 9.99994496e-01 8.03187514e-04 -1.83061755e-01] [ 2.03102935e-02 -8.68406042e-04 9.99793348e-01 -3.14483331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99313336499998 meters Centerline goodness : 0.144469 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99788844e-01 -3.20617992e-03 -2.02974710e-02 -1.46447209e+00] [ 3.22681497e-03 9.99994310e-01 9.83961566e-04 -1.84478791e-01] [ 2.02942007e-02 -1.04924998e-03 9.99793501e-01 -3.14292141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02313336499998 meters Centerline goodness : 0.156446 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.19, Z:-0.31 [[ 9.99794256e-01 -3.15710190e-03 -2.00369150e-02 -1.46512060e+00] [ 3.18597749e-03 9.99993932e-01 1.40936142e-03 -1.85933976e-01] [ 2.00323439e-02 -1.47290861e-03 9.99798248e-01 -3.14511446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05313336499998 meters Centerline goodness : 0.147939 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.19, Z:-0.31 [[ 0.99979981 -0.0031415 -0.01976031 -1.46598766] [ 0.00317782 0.99999332 0.00180718 -0.18761077] [ 0.0197545 -0.00186962 0.99980311 -0.31448076] [ 0. 0. 0. 1. ]] SLAMing on 202.08313336499998 meters Centerline goodness : 0.154285 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.19, Z:-0.31 [[ 0.99980584 -0.00314863 -0.01945188 -1.46700336] [ 0.0031962 0.99999198 0.00241526 -0.1906601 ] [ 0.01944412 -0.00247697 0.99980788 -0.31440191] [ 0. 0. 0. 1. ]] SLAMing on 202.11313336499998 meters Centerline goodness : 0.170015 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.19, Z:-0.31 [[ 0.99980584 -0.00319054 -0.01944475 -1.46704265] [ 0.003242 0.99999133 0.00261513 -0.19202168] [ 0.01943624 -0.00267766 0.99980751 -0.31448726] [ 0. 0. 0. 1. ]] SLAMing on 202.14313336499998 meters Centerline goodness : 0.142538 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.19, Z:-0.31 [[ 0.99980492 -0.00315348 -0.01949801 -1.46693038] [ 0.00320976 0.99999077 0.00285573 -0.19372867] [ 0.01948883 -0.00291775 0.99980582 -0.31446862] [ 0. 0. 0. 1. ]] SLAMing on 202.17313336499998 meters Centerline goodness : 0.151375 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.20, Z:-0.31 [[ 9.99822923e-01 4.49568303e-03 -1.82732712e-02 -1.44654968e+00] [-4.48396059e-03 9.99989714e-01 6.82428582e-04 -1.96718875e-01] [ 1.82761512e-02 -6.00371111e-04 9.99832797e-01 -3.14174305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20313336499999 meters Centerline goodness : 0.160672 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.20, Z:-0.31 [[ 9.99825175e-01 4.59898026e-03 -1.81236992e-02 -1.44717051e+00] [-4.58331848e-03 9.99989086e-01 9.05602741e-04 -1.97753752e-01] [ 1.81276662e-02 -8.22377734e-04 9.99835342e-01 -3.13748130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.233133365 meters Centerline goodness : 0.127557 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.20, Z:-0.31 [[ 9.99826747e-01 4.68161168e-03 -1.80155147e-02 -1.44748461e+00] [-4.66263701e-03 9.99988530e-01 1.09510031e-03 -1.98677556e-01] [ 1.80204349e-02 -1.01091078e-03 9.99837108e-01 -3.13630783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.263133365 meters Centerline goodness : 0.152424 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.20, Z:-0.31 [[ 0.9998438 -0.00245964 -0.01750193 -1.42878728] [ 0.00249689 0.99999466 0.00210697 -0.19690307] [ 0.01749665 -0.00215034 0.99984461 -0.3122373 ] [ 0. 0. 0. 1. ]] SLAMing on 202.293133365 meters Centerline goodness : 0.157858 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.20, Z:-0.31 [[ 0.99984581 -0.00240128 -0.01739529 -1.42901398] [ 0.00244082 0.99999449 0.00225198 -0.19771726] [ 0.01738978 -0.00229409 0.99984615 -0.31228788] [ 0. 0. 0. 1. ]] SLAMing on 202.323133365 meters Centerline goodness : 0.155003 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.20, Z:-0.31 [[ 0.99984543 -0.0023338 -0.01742605 -1.4287796 ] [ 0.00237599 0.9999943 0.00240042 -0.19849164] [ 0.01742035 -0.00244145 0.99984527 -0.31251311] [ 0. 0. 0. 1. ]] SLAMing on 202.353133365 meters Centerline goodness : 0.150921 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.20, Z:-0.31 [[ 0.99984552 -0.00229154 -0.01742657 -1.42846708] [ 0.00233527 0.99999418 0.00248899 -0.19901225] [ 0.01742076 -0.0025293 0.99984505 -0.31299695] [ 0. 0. 0. 1. ]] SLAMing on 202.383133365 meters Centerline goodness : 0.194943 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.20, Z:-0.31 [[ 9.99848333e-01 5.68526986e-03 -1.64617194e-02 -1.40735366e+00] [-5.67820943e-03 9.99983766e-01 4.75608619e-04 -2.01325739e-01] [ 1.64641561e-02 -3.82063395e-04 9.99864384e-01 -3.13188457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.413133365 meters Centerline goodness : 0.170385 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.20, Z:-0.31 [[ 9.99848332e-01 5.75881185e-03 -1.64362311e-02 -1.40752477e+00] [-5.74866046e-03 9.99983255e-01 6.64802802e-04 -2.02509126e-01] [ 1.64397844e-02 -5.70215661e-04 9.99864695e-01 -3.12988922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.443133365 meters Centerline goodness : 0.167647 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.20, Z:-0.31 [[ 0.99985205 -0.00289914 -0.01695518 -1.42863298] [ 0.0029457 0.99999196 0.00272175 -0.2036063 ] [ 0.01694716 -0.00277129 0.99985255 -0.31296151] [ 0. 0. 0. 1. ]] SLAMing on 202.473133365 meters Centerline goodness : 0.195831 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.20, Z:-0.31 [[ 0.99988521 -0.00224084 -0.01498452 -1.3864849 ] [ 0.00228958 0.99999214 0.00323644 -0.20411761] [ 0.01497715 -0.00327038 0.99988249 -0.31369383] [ 0. 0. 0. 1. ]] SLAMing on 202.503133365 meters Centerline goodness : 0.159275 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.21, Z:-0.31 [[ 0.99984333 -0.00301782 -0.01744132 -1.42796246] [ 0.00307802 0.9999894 0.00342571 -0.20956111] [ 0.0174308 -0.00347886 0.99984202 -0.31331951] [ 0. 0. 0. 1. ]] SLAMing on 202.533133365 meters Centerline goodness : 0.192002 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.21, Z:-0.31 [[ 0.99982941 -0.00318951 -0.01819257 -1.42567517] [ 0.00325741 0.99998784 0.00370371 -0.213417 ] [ 0.01818053 -0.00376234 0.99982764 -0.3139552 ] [ 0. 0. 0. 1. ]] SLAMing on 202.563133365 meters Centerline goodness : 0.160416 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.21, Z:-0.31 [[ 0.99982713 -0.00312284 -0.01832928 -1.42531256] [ 0.00319565 0.99998711 0.0039445 -0.21492354] [ 0.01831673 -0.00400239 0.99982422 -0.31395311] [ 0. 0. 0. 1. ]] SLAMing on 202.593133365 meters Centerline goodness : 0.177200 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.22, Z:-0.31 [[ 0.99982588 -0.00299039 -0.01841919 -1.4251224 ] [ 0.00306899 0.9999863 0.00424034 -0.2162921 ] [ 0.01840626 -0.00429613 0.99982136 -0.31392513] [ 0. 0. 0. 1. ]] SLAMing on 202.623133365 meters Centerline goodness : 0.162019 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.22, Z:-0.31 [[ 0.99982425 -0.00290124 -0.01852163 -1.42472941] [ 0.00298457 0.99998554 0.00447301 -0.21745042] [ 0.01850839 -0.0045275 0.99981845 -0.31413745] [ 0. 0. 0. 1. ]] SLAMing on 202.653133365 meters Centerline goodness : 0.172402 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.22, Z:-0.31 [[ 0.99981851 -0.00286229 -0.01883487 -1.4237917 ] [ 0.00295046 0.99998481 0.00465525 -0.21873713] [ 0.01882126 -0.00470997 0.99981177 -0.31444088] [ 0. 0. 0. 1. ]] SLAMing on 202.68313336499997 meters Centerline goodness : 0.181678 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.22, Z:-0.31 [[ 0.99979652 0.00459204 -0.01964246 -1.40188116] [-0.00455057 0.99998732 0.00215527 -0.22258008] [ 0.01965211 -0.00206544 0.99980475 -0.31412244] [ 0. 0. 0. 1. ]] SLAMing on 202.71313336499998 meters Centerline goodness : 0.157220 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.23, Z:-0.31 [[ 0.9997822 0.00449668 -0.02037995 -1.39960735] [-0.00444585 0.9999869 0.00253853 -0.22681129] [ 0.0203911 -0.00244737 0.99978908 -0.31481406] [ 0. 0. 0. 1. ]] SLAMing on 202.74313336499998 meters Centerline goodness : 0.172547 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.23, Z:-0.31 [[ 0.99977922 0.00455665 -0.02051229 -1.39925899] [-0.00449891 0.99998579 0.00286061 -0.22901255] [ 0.02052503 -0.0027677 0.99978551 -0.31482265] [ 0. 0. 0. 1. ]] SLAMing on 202.77313336499998 meters Centerline goodness : 0.298430 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.23, Z:-0.31 [[ 0.99977998 0.00470305 -0.02044178 -1.39964268] [-0.00463722 0.99998391 0.00326671 -0.23127802] [ 0.02045681 -0.0031712 0.99978571 -0.31445949] [ 0. 0. 0. 1. ]] SLAMing on 202.80313336499998 meters Centerline goodness : 0.157769 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.23, Z:-0.31 [[ 0.99978213 0.00487797 -0.02029511 -1.40037881] [-0.00480353 0.99998156 0.00371476 -0.23364806] [ 0.02031286 -0.00361646 0.99978713 -0.31381864] [ 0. 0. 0. 1. ]] SLAMing on 202.83313336499998 meters Centerline goodness : 0.174654 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.23, Z:-0.31 [[ 0.99984592 -0.00195984 -0.0174443 -1.38183655] [ 0.00205211 0.99998399 0.00527294 -0.2346959 ] [ 0.01743369 -0.00530792 0.99983393 -0.3125711 ] [ 0. 0. 0. 1. ]] SLAMing on 202.86313336499998 meters Centerline goodness : 0.173924 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.24, Z:-0.31 [[ 0.99985065 -0.0017799 -0.01719057 -1.38275442] [ 0.00187747 0.99998221 0.00566151 -0.23654673] [ 0.01718018 -0.00569294 0.9998362 -0.31207142] [ 0. 0. 0. 1. ]] SLAMing on 202.89313336499998 meters Centerline goodness : 0.156608 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.24, Z:-0.31 [[ 0.99985054 -0.00165808 -0.01720905 -1.38284573] [ 0.00176094 0.99998067 0.00596319 -0.23788516] [ 0.01719883 -0.0059926 0.99983413 -0.31182876] [ 0. 0. 0. 1. ]] SLAMing on 202.92313336499998 meters Centerline goodness : 0.105472 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.24, Z:-0.31 [[ 0.99985107 -0.00157374 -0.01718618 -1.38276337] [ 0.00168009 0.99997952 0.00617535 -0.23910118] [ 0.01717611 -0.0062033 0.99983324 -0.31198092] [ 0. 0. 0. 1. ]] SLAMing on 202.95313336499999 meters Centerline goodness : 0.146260 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.24, Z:-0.31 [[ 0.99983776 0.00727459 -0.01647845 -1.36315793] [-0.00719712 0.99996279 0.00475571 -0.24311808] [ 0.01651243 -0.00463634 0.99985291 -0.31100133] [ 0. 0. 0. 1. ]] SLAMing on 202.983133365 meters Centerline goodness : 0.323318 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.25, Z:-0.31 [[ 0.99983824 0.00738365 -0.01640046 -1.36376253] [-0.00730194 0.99996066 0.00503646 -0.24503068] [ 0.016437 -0.00491589 0.99985282 -0.31034432] [ 0. 0. 0. 1. ]] SLAMing on 203.013133365 meters Centerline goodness : 0.119922 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.25, Z:-0.31 [[ 0.99983812 0.00741979 -0.0163917 -1.36387782] [-0.00733624 0.99995982 0.00515119 -0.2458132 ] [ 0.01642926 -0.0050301 0.99985238 -0.3101989 ] [ 0. 0. 0. 1. ]] SLAMing on 203.043133365 meters Centerline goodness : 0.137113 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.25, Z:-0.31 [[ 0.99983827 0.00741078 -0.01638619 -1.36372776] [-0.00732694 0.99995979 0.00517063 -0.24609737] [ 0.01642385 -0.00504973 0.99985237 -0.3104571 ] [ 0. 0. 0. 1. ]] SLAMing on 203.073133365 meters Centerline goodness : 0.137113 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.25, Z:-0.31 [[ 0.99983827 0.00741078 -0.01638619 -1.36372776] [-0.00732694 0.99995979 0.00517063 -0.24609737] [ 0.01642385 -0.00504973 0.99985237 -0.3104571 ] [ 0. 0. 0. 1. ]] SLAMing on 203.103133365 meters Centerline goodness : 0.333571 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.25, Z:-0.31 [[ 0.9998367 0.00745069 -0.01646401 -1.3634238 ] [-0.00736479 0.99995898 0.00527182 -0.24665751] [ 0.01650261 -0.0051497 0.99985056 -0.31063026] [ 0. 0. 0. 1. ]] SLAMing on 203.133133365 meters Centerline goodness : 0.098140 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.25, Z:-0.31 [[ 0.99983789 0.00744157 -0.01639566 -1.36363622] [-0.00735613 0.99995908 0.0052651 -0.24669862] [ 0.01643417 -0.00514364 0.99985172 -0.31053157] [ 0. 0. 0. 1. ]] SLAMing on 203.163133365 meters Centerline goodness : 0.117869 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.24, Z:-0.31 [[ 9.99849021e-01 8.96004541e-04 -1.73531922e-02 -1.34525754e+00] [-7.94304091e-04 9.99982476e-01 5.86662504e-03 -2.41513294e-01] [ 1.73581446e-02 -5.85195559e-03 9.99832211e-01 -3.08714529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.193133365 meters Centerline goodness : 0.097382 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.24, Z:-0.31 [[ 9.99849657e-01 8.92184612e-04 -1.73166513e-02 -1.34532555e+00] [-7.90458930e-04 9.99982398e-01 5.88039892e-03 -2.41682633e-01] [ 1.73215929e-02 -5.86582675e-03 9.99832763e-01 -3.08749759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.223133365 meters Centerline goodness : 0.147075 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99847586e-01 8.11229529e-04 -1.74397803e-02 -1.34482664e+00] [-7.10698735e-04 9.99983102e-01 5.76987804e-03 -2.41385649e-01] [ 1.74441663e-02 -5.75660420e-03 9.99831267e-01 -3.09045347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.253133365 meters Centerline goodness : 0.239414 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99843980e-01 7.57383500e-04 -1.76477222e-02 -1.34404843e+00] [-6.57278099e-04 9.99983667e-01 5.67753606e-03 -2.41057240e-01] [ 1.76517340e-02 -5.66505079e-03 9.99828147e-01 -3.09499458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.283133365 meters Centerline goodness : 0.097094 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99834952e-01 6.49063840e-04 -1.81562047e-02 -1.34227678e+00] [-5.50102120e-04 9.99984970e-01 5.45503638e-03 -2.40158599e-01] [ 1.81594725e-02 -5.44414827e-03 9.99820281e-01 -3.10423408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.313133365 meters Centerline goodness : 0.121038 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99834712e-01 6.03354150e-04 -1.81709623e-02 -1.34214716e+00] [-5.05566114e-04 9.99985369e-01 5.38566812e-03 -2.39867312e-01] [ 1.81739459e-02 -5.37559131e-03 9.99820389e-01 -3.10585636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.343133365 meters Centerline goodness : 0.131013 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99837082e-01 6.12474695e-04 -1.80398096e-02 -1.34264580e+00] [-5.14664166e-04 9.99985146e-01 5.42607056e-03 -2.40002024e-01] [ 1.80428650e-02 -5.41590211e-03 9.99822546e-01 -3.10345741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.373133365 meters SLAMing on 203.403133365 meters Centerline goodness : 0.329731 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99840675e-01 6.52378769e-04 -1.78381394e-02 -1.34318256e+00] [-5.51625905e-04 9.99983872e-01 5.65250827e-03 -2.41192396e-01] [ 1.78415393e-02 -5.64176770e-03 9.99824910e-01 -3.10238038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43313336499997 meters Centerline goodness : 0.337858 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99837966e-01 5.45527763e-04 -1.79929076e-02 -1.34267524e+00] [-4.45307301e-04 9.99984369e-01 5.57353440e-03 -2.41490180e-01] [ 1.79956669e-02 -5.56461893e-03 9.99822580e-01 -3.10387162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46313336499998 meters Centerline goodness : 0.328948 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99834702e-01 4.29087005e-04 -1.81764567e-02 -1.34223151e+00] [-3.29558614e-04 9.99984940e-01 5.47831764e-03 -2.41698076e-01] [ 1.81785336e-02 -5.47142188e-03 9.99819786e-01 -3.10370590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49313336499998 meters Centerline goodness : 0.097436 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99830122e-01 4.10437671e-04 -1.84271215e-02 -1.34147529e+00] [-3.10516930e-04 9.99985236e-01 5.42501608e-03 -2.41299836e-01] [ 1.84290761e-02 -5.41837256e-03 9.99815488e-01 -3.10663091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52313336499998 meters Centerline goodness : 0.108495 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99831776e-01 4.68166565e-04 -1.83357516e-02 -1.34150585e+00] [-3.68153099e-04 9.99985040e-01 5.45755616e-03 -2.40980701e-01] [ 1.83380323e-02 -5.44988770e-03 9.99816991e-01 -3.10993565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55313336499998 meters Centerline goodness : 0.148919 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.24, Z:-0.31 [[ 0.99982244 0.00849633 -0.01681968 -1.32079891] [-0.00844206 0.99995894 0.00329472 -0.24198833] [ 0.01684698 -0.00315214 0.99985311 -0.31148245] [ 0. 0. 0. 1. ]] SLAMing on 203.58313336499998 meters Centerline goodness : 0.160415 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.24, Z:-0.31 [[ 0.99982299 0.00838571 -0.01684231 -1.32094375] [-0.0083319 0.99995997 0.00326215 -0.24260603] [ 0.01686899 -0.00312124 0.99985284 -0.31118574] [ 0. 0. 0. 1. ]] SLAMing on 203.61313336499998 meters Centerline goodness : 0.108594 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.24, Z:-0.31 [[ 0.99982124 0.00832249 -0.01697688 -1.32101215] [-0.00826722 0.99996031 0.00332272 -0.24368072] [ 0.01700386 -0.00318177 0.99985036 -0.31059841] [ 0. 0. 0. 1. ]] SLAMing on 203.64313336499998 meters Centerline goodness : 0.330968 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.24, Z:-0.31 [[ 0.99981753 0.00827975 -0.01721502 -1.32047709] [-0.0082222 0.99996038 0.00341132 -0.2446644 ] [ 0.01724258 -0.00326915 0.99984599 -0.31058837] [ 0. 0. 0. 1. ]] SLAMing on 203.67313336499998 meters Centerline goodness : 0.124738 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 0.99981271 0.00828008 -0.01749268 -1.31962964] [-0.00821894 0.99995987 0.00356412 -0.24582239] [ 0.01752149 -0.00341968 0.99984064 -0.31081563] [ 0. 0. 0. 1. ]] SLAMing on 203.70313336499999 meters Centerline goodness : 0.329434 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 0.99981394 0.00832904 -0.01739863 -1.32005601] [-0.00826622 0.99995907 0.00367933 -0.24638687] [ 0.01742856 -0.00353483 0.99984186 -0.31051969] [ 0. 0. 0. 1. ]] SLAMing on 203.733133365 meters SLAMing on 203.763133365 meters SLAMing on 203.793133365 meters Centerline goodness : 0.124178 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 0.99981932 0.00848902 -0.01700765 -1.32138788] [-0.00842479 0.99995712 0.00384476 -0.24681951] [ 0.01703956 -0.00370077 0.99984797 -0.30985568] [ 0. 0. 0. 1. ]] SLAMing on 203.823133365 meters Centerline goodness : 0.284738 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99833167e-01 -8.81233989e-04 -1.82445029e-02 -1.33974593e+00] [ 9.71800196e-04 9.99987248e-01 4.95575665e-03 -2.43167108e-01] [ 1.82399030e-02 -4.97265988e-03 9.99821273e-01 -3.11136014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.853133365 meters Centerline goodness : 0.205078 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.24, Z:-0.31 [[ 0.99980601 0.00711814 -0.01836476 -1.31788606] [-0.00707538 0.99997211 0.00239225 -0.24468511] [ 0.01838128 -0.00226184 0.99982849 -0.31079648] [ 0. 0. 0. 1. ]] SLAMing on 203.883133365 meters Centerline goodness : 0.224461 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 0.99980462 0.00717102 -0.01841996 -1.31791908] [-0.00712602 0.99997147 0.00250737 -0.24523917] [ 0.01843742 -0.00237562 0.99982719 -0.31056548] [ 0. 0. 0. 1. ]] SLAMing on 203.913133365 meters Centerline goodness : 0.325439 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 0.99980364 0.00725019 -0.01844225 -1.31797962] [-0.00720096 0.99997033 0.00273461 -0.24634891] [ 0.01846153 -0.00260127 0.99982619 -0.31036811] [ 0. 0. 0. 1. ]] SLAMing on 203.943133365 meters Centerline goodness : 0.146040 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 0.99980252 0.00731702 -0.01847671 -1.31798095] [-0.00726243 0.99996907 0.00302001 -0.24803008] [ 0.01849823 -0.00288522 0.99982473 -0.31024894] [ 0. 0. 0. 1. ]] SLAMing on 203.973133365 meters Centerline goodness : 0.098122 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 9.99826315e-01 3.60750831e-03 -1.82845770e-02 -1.31810524e+00] [-3.61253677e-03 9.99993445e-01 -2.41988716e-04 -2.50649120e-01] [ 1.82835842e-02 3.08000393e-04 9.99832794e-01 -3.10640219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.003133365 meters Centerline goodness : 0.337147 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 9.99822127e-01 3.68571474e-03 -1.84967472e-02 -1.31789965e+00] [-3.68264460e-03 9.99993199e-01 2.00041428e-04 -2.53360866e-01] [ 1.84973587e-02 -1.31888900e-04 9.99828901e-01 -3.10182322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.033133365 meters Centerline goodness : 0.274071 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.26, Z:-0.31 [[ 9.99817313e-01 3.77473774e-03 -1.87374323e-02 -1.31744384e+00] [-3.76262034e-03 9.99992689e-01 6.81906633e-04 -2.56148180e-01] [ 1.87398693e-02 -6.11280214e-04 9.99824206e-01 -3.09977618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.063133365 meters Centerline goodness : 0.155567 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.25, Z:-0.31 [[ 0.9998216 -0.00315965 -0.01862193 -1.2973401 ] [ 0.00319422 0.99999323 0.00182694 -0.25477108] [ 0.01861603 -0.0018861 0.99982493 -0.30865372] [ 0. 0. 0. 1. ]] SLAMing on 204.093133365 meters Centerline goodness : 0.096890 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.27, Z:-0.31 [[ 0.99977994 -0.00589554 -0.02013221 -1.3397681 ] [ 0.00592726 0.99998128 0.00151609 -0.2651063 ] [ 0.0201229 -0.00163508 0.99979618 -0.30728381] [ 0. 0. 0. 1. ]] SLAMing on 204.123133365 meters Centerline goodness : 0.321159 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.27, Z:-0.31 [[ 9.99806864e-01 1.55160624e-03 -1.95915151e-02 -1.31932560e+00] [-1.57574195e-03 9.99998018e-01 -1.21656987e-03 -2.70152039e-01] [ 1.95895887e-02 1.24720607e-03 9.99807328e-01 -3.06871338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.153133365 meters Centerline goodness : 0.312323 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.27, Z:-0.31 [[ 9.99801157e-01 1.59999866e-03 -1.98767848e-02 -1.31860700e+00] [-1.61756621e-03 9.99998315e-01 -8.67775973e-04 -2.72554017e-01] [ 1.98753628e-02 8.99755437e-04 9.99802061e-01 -3.06869760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18313336499997 meters Centerline goodness : 0.320665 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.27, Z:-0.31 [[ 9.99798896e-01 1.73702454e-03 -1.99787689e-02 -1.31842371e+00] [-1.74654297e-03 9.99998369e-01 -4.58988395e-04 -2.74768990e-01] [ 1.99779391e-02 4.93789869e-04 9.99800299e-01 -3.06777676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21313336499998 meters Centerline goodness : 0.324265 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.28, Z:-0.31 [[ 9.99799485e-01 1.84892601e-03 -1.99392028e-02 -1.31871227e+00] [-1.85085392e-03 9.99998284e-01 -7.82354235e-05 -2.76817686e-01] [ 1.99390239e-02 1.15124288e-04 9.99801191e-01 -3.06473479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24313336499998 meters Centerline goodness : 0.313645 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.28, Z:-0.31 [[ 9.99799471e-01 1.94797386e-03 -1.99304654e-02 -1.31909369e+00] [-1.94219071e-03 9.99998066e-01 3.09518478e-04 -2.78963444e-01] [ 1.99310298e-02 -2.70747645e-04 9.99801321e-01 -3.05911382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27313336499998 meters Centerline goodness : 0.214018 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.28, Z:-0.31 [[ 9.99805950e-01 1.77998304e-03 -1.96187380e-02 -1.32034047e+00] [-1.76438454e-03 9.99998114e-01 8.12361833e-04 -2.82901926e-01] [ 1.96201469e-02 -7.77589196e-04 9.99807204e-01 -3.05077953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30313336499998 meters Centerline goodness : 0.301202 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.29, Z:-0.30 [[ 9.99808507e-01 1.76504693e-03 -1.94893212e-02 -1.32105453e+00] [-1.74282315e-03 9.99997812e-01 1.15723176e-03 -2.85133719e-01] [ 1.94913212e-02 -1.12304372e-03 9.99809395e-01 -3.04448306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33313336499998 meters Centerline goodness : 0.317496 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.28, Z:-0.30 [[ 0.99981033 -0.00559274 -0.01865531 -1.30103051] [ 0.00563277 0.99998194 0.00209381 -0.28391116] [ 0.01864327 -0.00219849 0.99982378 -0.30316038] [ 0. 0. 0. 1. ]] SLAMing on 204.36313336499998 meters Centerline goodness : 0.110512 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.29, Z:-0.30 [[ 0.99980492 -0.00569923 -0.01891147 -1.30064441] [ 0.00574535 0.99998065 0.00238482 -0.28638276] [ 0.01889751 -0.00249301 0.99981832 -0.302811 ] [ 0. 0. 0. 1. ]] SLAMing on 204.39313336499998 meters Centerline goodness : 0.326623 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.29, Z:-0.30 [[ 0.99979717 -0.00582998 -0.01927765 -1.29987027] [ 0.00588105 0.99997934 0.00259353 -0.2884284 ] [ 0.01926213 -0.00270638 0.99981081 -0.30269193] [ 0. 0. 0. 1. ]] SLAMing on 204.42313336499998 meters Centerline goodness : 0.111791 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.29, Z:-0.30 [[ 0.99979228 -0.00581192 -0.01953524 -1.29933484] [ 0.00586996 0.99997852 0.00291498 -0.29040759] [ 0.01951788 -0.00302905 0.99980492 -0.30260597] [ 0. 0. 0. 1. ]] SLAMing on 204.45313336499999 meters Centerline goodness : 0.110193 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.30, Z:-0.30 [[ 9.99833334e-01 1.90597650e-03 -1.81568359e-02 -1.27979736e+00] [-1.88959722e-03 9.99997792e-01 9.19213347e-04 -2.96350539e-01] [ 1.81585478e-02 -8.84751039e-04 9.99834729e-01 -3.02613311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.483133365 meters Centerline goodness : 0.259879 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.30, Z:-0.30 [[ 9.99833168e-01 1.93434164e-03 -1.81629771e-02 -1.27974836e+00] [-1.91483478e-03 9.99997571e-01 1.09131988e-03 -2.97520210e-01] [ 1.81650440e-02 -1.05635872e-03 9.99834444e-01 -3.02610266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.513133365 meters Centerline goodness : 0.328353 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 0.99979807 -0.00466104 -0.01954726 -1.26015168] [ 0.00469057 0.99998793 0.00146489 -0.29398367] [ 0.0195402 -0.00155628 0.99980786 -0.30124882] [ 0. 0. 0. 1. ]] SLAMing on 204.543133365 meters Centerline goodness : 0.273944 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 0.9997937 -0.00464319 -0.0197737 -1.25939469] [ 0.00467415 0.99998792 0.00151963 -0.29447237] [ 0.0197664 -0.00161174 0.99980333 -0.3015165 ] [ 0. 0. 0. 1. ]] SLAMing on 204.573133365 meters Centerline goodness : 0.101833 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 0.99979222 -0.00454738 -0.01987038 -1.2590548 ] [ 0.00457972 0.99998826 0.00158273 -0.29439112] [ 0.01986295 -0.0016734 0.99980131 -0.30166542] [ 0. 0. 0. 1. ]] SLAMing on 204.603133365 meters Centerline goodness : 0.102565 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 0.99979429 -0.00441573 -0.01979605 -1.25896926] [ 0.00444817 0.99998884 0.00159474 -0.29371069] [ 0.01978878 -0.00168246 0.99980277 -0.30202307] [ 0. 0. 0. 1. ]] SLAMing on 204.633133365 meters Centerline goodness : 0.324146 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 0.99979183 -0.00423247 -0.01995948 -1.25824005] [ 0.00426184 0.9999899 0.0014295 -0.29225562] [ 0.01995323 -0.00151427 0.99979977 -0.3025018 ] [ 0. 0. 0. 1. ]] SLAMing on 204.663133365 meters Centerline goodness : 0.289385 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.29, Z:-0.30 [[ 9.99806045e-01 4.20403558e-03 -1.92405626e-02 -1.23749684e+00] [-4.22159008e-03 9.99990709e-01 -8.71843582e-04 -2.93113635e-01] [ 1.92367186e-02 9.52900252e-04 9.99814503e-01 -3.02743107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.693133365 meters Centerline goodness : 0.302021 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.29, Z:-0.30 [[ 9.99806749e-01 4.18895602e-03 -1.92072088e-02 -1.23739232e+00] [-4.21036249e-03 9.99990559e-01 -1.07419877e-03 -2.91811227e-01] [ 1.92025277e-02 1.15486049e-03 9.99814947e-01 -3.03011891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.723133365 meters Centerline goodness : 0.111220 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 0.9997951 -0.00381042 -0.0198807 -1.25750737] [ 0.00384016 0.99999156 0.00145808 -0.2881719 ] [ 0.01987498 -0.00153412 0.9998013 -0.30343034] [ 0. 0. 0. 1. ]] SLAMing on 204.753133365 meters Centerline goodness : 0.206729 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.29, Z:-0.30 [[ 9.99806631e-01 5.29319179e-03 -1.89389232e-02 -1.23817877e+00] [-5.29246388e-03 9.99985991e-01 8.85559882e-05 -2.90470079e-01] [ 1.89391267e-02 1.16947028e-05 9.99820639e-01 -3.03041506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.783133365 meters Centerline goodness : 0.199796 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.29, Z:-0.30 [[ 9.99803401e-01 5.19740621e-03 -1.91349443e-02 -1.23741816e+00] [-5.19933020e-03 9.99986482e-01 -5.08003675e-05 -2.89979384e-01] [ 1.91344216e-02 1.50279274e-04 9.99816909e-01 -3.03512172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.813133365 meters Centerline goodness : 0.299851 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.29, Z:-0.30 [[ 9.99785876e-01 4.88354087e-03 -2.01085190e-02 -1.23453479e+00] [-4.89068453e-03 9.99987994e-01 -3.06093247e-04 -2.89501859e-01] [ 2.01067828e-02 4.04372128e-04 9.99797756e-01 -3.04465642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.843133365 meters Centerline goodness : 0.323165 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.29, Z:-0.30 [[ 9.99775620e-01 -1.84612512e-03 -2.11021526e-02 -1.21472611e+00] [ 1.85544397e-03 9.99998190e-01 4.22036177e-04 -2.85420055e-01] [ 2.11013353e-02 -4.61095342e-04 9.99777236e-01 -3.02702261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.873133365 meters Centerline goodness : 0.111208 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 9.99724187e-01 -4.68169922e-03 -2.30137060e-02 -1.25993436e+00] [ 4.70264035e-03 9.99988576e-01 8.55905942e-04 -2.87972385e-01] [ 2.30094360e-02 -9.63895055e-04 9.99734783e-01 -3.01425944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.903133365 meters Centerline goodness : 0.117222 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 9.99727603e-01 -4.69234754e-03 -2.28626615e-02 -1.26085413e+00] [ 4.71606399e-03 9.99988396e-01 9.83536207e-04 -2.88741362e-01] [ 2.28577811e-02 -1.09109007e-03 9.99738131e-01 -3.00623497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93313336499997 meters Centerline goodness : 0.309711 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.29, Z:-0.30 [[ 9.99796019e-01 -3.39473293e-03 -1.99096843e-02 -1.22129475e+00] [ 3.39194395e-03 9.99994232e-01 -1.73849705e-04 -2.87432841e-01] [ 1.99101597e-02 1.06281710e-04 9.99801767e-01 -2.99434276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96313336499998 meters Centerline goodness : 0.309711 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.29, Z:-0.30 [[ 9.99796019e-01 -3.39473293e-03 -1.99096843e-02 -1.22129475e+00] [ 3.39194395e-03 9.99994232e-01 -1.73849705e-04 -2.87432841e-01] [ 1.99101597e-02 1.06281710e-04 9.99801767e-01 -2.99434276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99313336499998 meters Centerline goodness : 0.338248 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.29, Z:-0.30 [[ 9.99800761e-01 -3.34226387e-03 -1.96791288e-02 -1.22232560e+00] [ 3.34222349e-03 9.99994414e-01 -3.49411660e-05 -2.87832586e-01] [ 1.96791356e-02 -3.08378422e-05 9.99806347e-01 -2.98789681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02313336499998 meters Centerline goodness : 0.331220 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.29, Z:-0.30 [[ 9.99807159e-01 -3.47846570e-03 -1.93272954e-02 -1.22366921e+00] [ 3.48229596e-03 9.99993923e-01 1.64527102e-04 -2.89342860e-01] [ 1.93266057e-02 -2.31798737e-04 9.99813197e-01 -2.98018727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05313336499998 meters Centerline goodness : 0.111308 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.29, Z:-0.30 [[ 9.99809936e-01 -3.46063993e-03 -1.91863371e-02 -1.22450705e+00] [ 3.46706471e-03 9.99993944e-01 3.01609210e-04 -2.90102621e-01] [ 1.91851771e-02 -3.68072158e-04 9.99815880e-01 -2.97328523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08313336499998 meters Centerline goodness : 0.115298 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.30, Z:-0.30 [[ 9.99835330e-01 3.27113648e-03 -1.78497233e-02 -1.24514213e+00] [-3.27530567e-03 9.99994615e-01 -2.04342918e-04 -2.95240602e-01] [ 1.78489588e-02 2.62772569e-04 9.99840660e-01 -2.98320244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11313336499998 meters Centerline goodness : 0.096540 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 0.99986778 0.00435087 -0.01566802 -1.20370159] [-0.00437849 0.99998892 -0.0017292 -0.29406523] [ 0.01566032 0.00179758 0.99987575 -0.29807797] [ 0. 0. 0. 1. ]] SLAMing on 205.14313336499998 meters Centerline goodness : 0.097296 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 0.9998683 0.00434603 -0.01563656 -1.20368753] [-0.00437288 0.99998902 -0.00168343 -0.29434377] [ 0.01562908 0.00175159 0.99987632 -0.29822178] [ 0. 0. 0. 1. ]] SLAMing on 205.17313336499998 meters Centerline goodness : 0.332654 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 0.99986665 0.00428789 -0.0157575 -1.20328626] [-0.00431507 0.99998926 -0.00169101 -0.29471269] [ 0.01575008 0.00175878 0.99987441 -0.29839542] [ 0. 0. 0. 1. ]] SLAMing on 205.20313336499999 meters Centerline goodness : 0.133738 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.29, Z:-0.30 [[ 9.99853491e-01 -1.92274909e-03 -1.70088008e-02 -1.18491430e+00] [ 1.90832693e-03 9.99997806e-01 -8.64113031e-04 -2.89903306e-01] [ 1.70104250e-02 8.31528078e-04 9.99854966e-01 -2.95985563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.233133365 meters Centerline goodness : 0.095642 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.29, Z:-0.30 [[ 9.99853710e-01 -1.91365509e-03 -1.69969653e-02 -1.18499063e+00] [ 1.89718509e-03 9.99997715e-01 -9.85068244e-04 -2.88951116e-01] [ 1.69988115e-02 9.52677750e-04 9.99855056e-01 -2.95894522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.263133365 meters Centerline goodness : 0.114711 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.29, Z:-0.30 [[ 9.99852302e-01 -1.88740475e-03 -1.70824906e-02 -1.18487631e+00] [ 1.86853513e-03 9.99997627e-01 -1.12051045e-03 -2.87784707e-01] [ 1.70845649e-02 1.08842572e-03 9.99853456e-01 -2.95737244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.293133365 meters Centerline goodness : 0.116102 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.29, Z:-0.30 [[ 0.99985542 -0.00182359 -0.01690575 -1.18518914] [ 0.00179883 0.99999729 -0.00148006 -0.28551103] [ 0.01690841 0.00144944 0.99985599 -0.29575643] [ 0. 0. 0. 1. ]] SLAMing on 205.323133365 meters Centerline goodness : 0.112092 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.29, Z:-0.30 [[ 0.99985371 0.00668882 -0.01574253 -1.16548507] [-0.00674815 0.99997032 -0.00371869 -0.28609643] [ 0.01571719 0.00382438 0.99986916 -0.29550543] [ 0. 0. 0. 1. ]] SLAMing on 205.353133365 meters Centerline goodness : 0.109413 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.28, Z:-0.30 [[ 0.99985559 0.0066553 -0.01563682 -1.16561338] [-0.00671891 0.99996935 -0.00401892 -0.28421832] [ 0.01560959 0.0041234 0.99986966 -0.29562918] [ 0. 0. 0. 1. ]] SLAMing on 205.383133365 meters Centerline goodness : 0.105435 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 0.9998705 -0.00199435 -0.0159689 -1.18350925] [ 0.00195732 0.99999536 -0.00233412 -0.27796666] [ 0.01597348 0.00230256 0.99986976 -0.29743387] [ 0. 0. 0. 1. ]] SLAMing on 205.413133365 meters Centerline goodness : 0.209408 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 0.99986802 -0.00201723 -0.01612062 -1.18275791] [ 0.00197591 0.99999472 -0.00257871 -0.2763812 ] [ 0.01612573 0.00254652 0.99986673 -0.29803542] [ 0. 0. 0. 1. ]] SLAMing on 205.443133365 meters Centerline goodness : 0.212533 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 0.99986504 -0.00209716 -0.01629422 -1.18217582] [ 0.00205258 0.99999411 -0.00275214 -0.27563546] [ 0.0162999 0.00271832 0.99986345 -0.29829657] [ 0. 0. 0. 1. ]] SLAMing on 205.473133365 meters Centerline goodness : 0.093159 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 0.99986415 -0.00210228 -0.01634824 -1.18244166] [ 0.00206126 0.99999469 -0.00252543 -0.27721429] [ 0.01635346 0.00249139 0.99986317 -0.29776611] [ 0. 0. 0. 1. ]] SLAMing on 205.503133365 meters Centerline goodness : 0.186312 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 0.99986648 -0.00198082 -0.01622017 -1.18311349] [ 0.0019457 0.99999573 -0.00218054 -0.27885301] [ 0.01622442 0.00214869 0.99986607 -0.29725034] [ 0. 0. 0. 1. ]] SLAMing on 205.533133365 meters Centerline goodness : 0.104263 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 0.99986644 -0.00191232 -0.0162313 -1.18321994] [ 0.00188191 0.99999645 -0.00188842 -0.28041451] [ 0.01623486 0.00185762 0.99986648 -0.29704707] [ 0. 0. 0. 1. ]] SLAMing on 205.563133365 meters Centerline goodness : 0.111972 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 0.99986475 -0.00188124 -0.01633828 -1.18291152] [ 0.00185352 0.99999682 -0.0017117 -0.28158387] [ 0.01634145 0.00168118 0.99986506 -0.29715564] [ 0. 0. 0. 1. ]] SLAMing on 205.593133365 meters Centerline goodness : 0.121131 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.28, Z:-0.30 [[ 0.99986086 0.00555644 -0.01572859 -1.1617502 ] [-0.00562807 0.99997398 -0.00451377 -0.28453354] [ 0.0157031 0.00460166 0.99986611 -0.29763236] [ 0. 0. 0. 1. ]] SLAMing on 205.623133365 meters Centerline goodness : 0.279112 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.29, Z:-0.30 [[ 0.99986103 0.00561316 -0.01569757 -1.16191453] [-0.00568292 0.99997416 -0.00440282 -0.28509636] [ 0.01567245 0.00449142 0.99986709 -0.29751966] [ 0. 0. 0. 1. ]] SLAMing on 205.653133365 meters Centerline goodness : 0.113802 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 9.99890665e-01 -1.43235304e-03 -1.47175620e-02 -1.18381689e+00] [ 1.41763859e-03 9.99998485e-01 -1.01017314e-03 -2.82933297e-01] [ 1.47189867e-02 9.89198513e-04 9.99891181e-01 -2.97502940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68313336499997 meters Centerline goodness : 0.332235 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 9.99891054e-01 -1.35326149e-03 -1.46985806e-02 -1.18387009e+00] [ 1.33934252e-03 9.99998645e-01 -9.56762605e-04 -2.82925883e-01] [ 1.46998555e-02 9.36971936e-04 9.99891512e-01 -2.97445889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71313336499998 meters Centerline goodness : 0.197707 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 9.99888304e-01 -1.42605374e-03 -1.48776982e-02 -1.18314325e+00] [ 1.41060901e-03 9.99998455e-01 -1.04855559e-03 -2.83011987e-01] [ 1.48791705e-02 1.02745186e-03 9.99888771e-01 -2.97861569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74313336499998 meters Centerline goodness : 0.312813 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 9.99883072e-01 -1.48206932e-03 -1.52198999e-02 -1.18206340e+00] [ 1.46567168e-03 9.99998334e-01 -1.08847913e-03 -2.83339085e-01] [ 1.52214878e-02 1.06604448e-03 9.99883578e-01 -2.98189337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77313336499998 meters Centerline goodness : 0.098849 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 9.99883723e-01 -1.21367373e-03 -1.52008906e-02 -1.18213437e+00] [ 1.20386270e-03 9.99999061e-01 -6.54558028e-04 -2.84793443e-01] [ 1.52016708e-02 6.36182133e-04 9.99884246e-01 -2.98185742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80313336499998 meters Centerline goodness : 0.175650 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 9.99914053e-01 4.40942762e-03 -1.23467710e-02 -1.19965198e+00] [-4.42342137e-03 9.99989605e-01 -1.10631444e-03 -2.90164998e-01] [ 1.23417645e-02 1.16083432e-03 9.99923164e-01 -3.00775129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83313336499998 meters Centerline goodness : 0.197358 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 9.99915051e-01 4.39203533e-03 -1.22719347e-02 -1.19998636e+00] [-4.40509415e-03 9.99989760e-01 -1.03729261e-03 -2.91033480e-01] [ 1.22672532e-02 1.09126352e-03 9.99924159e-01 -3.00504594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86313336499998 meters Centerline goodness : 0.186140 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 9.99915852e-01 4.34456316e-03 -1.22234801e-02 -1.20015935e+00] [-4.35724037e-03 9.99989996e-01 -1.01067979e-03 -2.91806780e-01] [ 1.22189668e-02 1.06385538e-03 9.99924780e-01 -3.00374156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89313336499998 meters Centerline goodness : 0.103080 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 9.99915826e-01 4.37559933e-03 -1.22145622e-02 -1.20015092e+00] [-4.38730838e-03 9.99989941e-01 -9.31982854e-04 -2.92317959e-01] [ 1.22103613e-02 9.85493456e-04 9.99924965e-01 -3.00393834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92313336499998 meters Centerline goodness : 0.109040 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 9.99916591e-01 4.42762516e-03 -1.21328950e-02 -1.20002416e+00] [-4.43848675e-03 9.99989773e-01 -8.68437374e-04 -2.92451840e-01] [ 1.21289258e-02 9.22216632e-04 9.99926017e-01 -3.00903045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95313336499999 meters Centerline goodness : 0.206911 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.29, Z:-0.30 [[ 9.99918886e-01 -2.45982587e-03 -1.24968384e-02 -1.18048797e+00] [ 2.45561630e-03 9.99996923e-01 -3.52183812e-04 -2.88837960e-01] [ 1.24976662e-02 3.21467805e-04 9.99921849e-01 -2.99638243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.983133365 meters Centerline goodness : 0.110880 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.29, Z:-0.30 [[ 9.99918145e-01 -2.44983665e-03 -1.25578969e-02 -1.18071021e+00] [ 2.44772004e-03 9.99996987e-01 -1.83915227e-04 -2.90113269e-01] [ 1.25583096e-02 1.53161957e-04 9.99921130e-01 -2.99101471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.013133365 meters Centerline goodness : 0.109498 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.29, Z:-0.30 [[ 0.99991962 0.00552676 -0.01141058 -1.16193935] [-0.00555585 0.99998139 -0.00251896 -0.29433167] [ 0.01139644 0.00258215 0.99993172 -0.29859098] [ 0. 0. 0. 1. ]] SLAMing on 206.043133365 meters Centerline goodness : 0.109585 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.30, Z:-0.30 [[ 0.99991983 0.00562428 -0.01134505 -1.16223457] [-0.00564891 0.99998176 -0.00213972 -0.29627496] [ 0.01133281 0.00220363 0.99993335 -0.29841758] [ 0. 0. 0. 1. ]] SLAMing on 206.073133365 meters Centerline goodness : 0.124503 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.30, Z:-0.30 [[ 0.99991641 0.00568995 -0.01161037 -1.16156011] [-0.00571019 0.99998223 -0.00171123 -0.29866807] [ 0.01160043 0.00177738 0.99993113 -0.29857238] [ 0. 0. 0. 1. ]] SLAMing on 206.103133365 meters Centerline goodness : 0.111012 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.30, Z:-0.30 [[ 0.99989054 -0.00604558 -0.01350378 -1.18041855] [ 0.00602177 0.99998024 -0.0018034 -0.3032896 ] [ 0.01351442 0.00172189 0.99990719 -0.29894181] [ 0. 0. 0. 1. ]] SLAMing on 206.133133365 meters Centerline goodness : 0.207019 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.31, Z:-0.30 [[ 0.99988133 -0.00614024 -0.01412875 -1.17935627] [ 0.00612292 0.99998045 -0.00126907 -0.30759735] [ 0.01413626 0.00118241 0.99989938 -0.29844773] [ 0. 0. 0. 1. ]] SLAMing on 206.163133365 meters Centerline goodness : 0.111732 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.31, Z:-0.30 [[ 9.99876949e-01 -6.02033752e-03 -1.44859248e-02 -1.17907432e+00] [ 6.01396114e-03 9.99981799e-01 -4.83698914e-04 -3.12241245e-01] [ 1.44885732e-02 3.96521606e-04 9.99894956e-01 -2.97693958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.193133365 meters Centerline goodness : 0.111288 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.33, Z:-0.30 [[ 9.99896478e-01 9.11837963e-04 -1.43597529e-02 -1.15867974e+00] [-9.44162224e-04 9.99997036e-01 -2.24441344e-03 -3.25004568e-01] [ 1.43576638e-02 2.25773903e-03 9.99894374e-01 -2.97658631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.223133365 meters Centerline goodness : 0.255854 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.33, Z:-0.30 [[ 9.99889378e-01 9.97714536e-04 -1.48403789e-02 -1.15751775e+00] [-1.02150064e-03 9.99998206e-01 -1.59530270e-03 -3.29284721e-01] [ 1.48387606e-02 1.61028568e-03 9.99888603e-01 -2.97714199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.253133365 meters Centerline goodness : 0.112851 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.33, Z:-0.30 [[ 9.99884620e-01 1.14633098e-03 -1.51470486e-02 -1.15686377e+00] [-1.16122720e-03 9.99998851e-01 -9.74682195e-04 -3.33142453e-01] [ 1.51459138e-02 9.92158901e-04 9.99884802e-01 -2.97630840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.283133365 meters Centerline goodness : 0.110644 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.33, Z:-0.30 [[ 9.99865543e-01 -5.40767495e-03 -1.54807318e-02 -1.13779756e+00] [ 5.41221628e-03 9.99985322e-01 2.51473556e-04 -3.33939174e-01] [ 1.54791446e-02 -3.35224812e-04 9.99880135e-01 -2.95716639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.313133365 meters Centerline goodness : 0.129773 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.34, Z:-0.30 [[ 9.99865384e-01 -5.16939427e-03 -1.55721398e-02 -1.13795435e+00] [ 5.18279522e-03 9.99986233e-01 8.20338666e-04 -3.36832031e-01] [ 1.55676847e-02 -9.00935447e-04 9.99878410e-01 -2.95159989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.343133365 meters Centerline goodness : 0.129295 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.34, Z:-0.29 [[ 9.99871452e-01 4.11572293e-03 -1.54964592e-02 -1.12029555e+00] [-4.12134348e-03 9.99991453e-01 -3.30781292e-04 -3.43887434e-01] [ 1.54949653e-02 3.94605002e-04 9.99879868e-01 -2.93232867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.373133365 meters Centerline goodness : 0.116662 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.35, Z:-0.29 [[ 9.99868342e-01 4.43302449e-03 -1.56092117e-02 -1.12061794e+00] [-4.42386437e-03 9.99990022e-01 6.21320621e-04 -3.49149260e-01] [ 1.56118103e-02 -5.52185784e-04 9.99877976e-01 -2.92421217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.403133365 meters Centerline goodness : 0.117253 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.35, Z:-0.29 [[ 9.99867914e-01 4.50135482e-03 -1.56170446e-02 -1.12104566e+00] [-4.48525509e-03 9.99989373e-01 1.06577976e-03 -3.51928025e-01] [ 1.56216761e-02 -9.95592556e-04 9.99877479e-01 -2.91826643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43313336499997 meters Centerline goodness : 0.270885 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.35, Z:-0.29 [[ 0.99988638 -0.00246676 -0.01487077 -1.10231699] [ 0.00249927 0.99999453 0.0021684 -0.35202962] [ 0.01486534 -0.00220532 0.99988707 -0.28989911] [ 0. 0. 0. 1. ]] SLAMing on 206.46313336499998 meters Centerline goodness : 0.137381 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.36, Z:-0.29 [[ 0.99988686 -0.00245425 -0.0148406 -1.10293659] [ 0.00249379 0.99999339 0.00264656 -0.355262 ] [ 0.01483401 -0.00268327 0.99988637 -0.28914836] [ 0. 0. 0. 1. ]] SLAMing on 206.49313336499998 meters Centerline goodness : 0.117086 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.36, Z:-0.29 [[ 0.99988877 -0.00244018 -0.01471338 -1.10376927] [ 0.00248684 0.99999194 0.00315327 -0.35850777] [ 0.01470557 -0.00318951 0.99988678 -0.28840723] [ 0. 0. 0. 1. ]] SLAMing on 206.52313336499998 meters Centerline goodness : 0.134521 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.37, Z:-0.29 [[ 9.99886057e-01 -5.62726944e-03 -1.40073695e-02 -1.10575076e+00] [ 5.64146643e-03 9.99983612e-01 9.74230621e-04 -3.65266852e-01] [ 1.40016577e-02 -1.05314172e-03 9.99901417e-01 -2.87902914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55313336499998 meters Centerline goodness : 0.129588 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.37, Z:-0.29 [[ 0.9998839 -0.00558654 -0.01417686 -1.10583391] [ 0.00560975 0.99998299 0.00159826 -0.36908611] [ 0.01416769 -0.00167761 0.99989823 -0.28728653] [ 0. 0. 0. 1. ]] SLAMing on 206.58313336499998 meters Centerline goodness : 0.132951 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.37, Z:-0.29 [[ 0.99988108 -0.00553912 -0.01439252 -1.10579088] [ 0.00557043 0.9999822 0.00213611 -0.3724401 ] [ 0.01438044 -0.00221603 0.99989414 -0.28667569] [ 0. 0. 0. 1. ]] SLAMing on 206.61313336499998 meters Centerline goodness : 0.196407 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.38, Z:-0.29 [[ 9.99893967e-01 1.76772954e-03 -1.44544209e-02 -1.08642442e+00] [-1.77833582e-03 9.99998159e-01 -7.20953749e-04 -3.78966762e-01] [ 1.44531198e-02 7.46582118e-04 9.99895269e-01 -2.86310533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64313336499998 meters Centerline goodness : 0.328473 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.38, Z:-0.29 [[ 9.99890932e-01 1.88563312e-03 -1.46481810e-02 -1.08620582e+00] [-1.89013372e-03 9.99998171e-01 -2.93408121e-04 -3.81295618e-01] [ 1.46476009e-02 3.21063141e-04 9.99892667e-01 -2.86034487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67313336499998 meters Centerline goodness : 0.328204 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.38, Z:-0.29 [[ 9.99892522e-01 2.02869954e-03 -1.45199620e-02 -1.08668417e+00] [-2.02741078e-03 9.99997939e-01 1.03476949e-04 -3.83368548e-01] [ 1.45201420e-02 -7.40279003e-05 9.99894574e-01 -2.85785196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70313336499999 meters Centerline goodness : 0.127011 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.38, Z:-0.29 [[ 9.99895771e-01 2.06996424e-03 -1.42885443e-02 -1.08743242e+00] [-2.06837109e-03 9.99997853e-01 1.26274893e-04 -3.83413246e-01] [ 1.42887750e-02 -9.67077190e-05 9.99897906e-01 -2.85474370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.733133365 meters Centerline goodness : 0.207462 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.38, Z:-0.28 [[ 9.99882901e-01 -4.28204544e-03 -1.46917986e-02 -1.06910571e+00] [ 4.29380763e-03 9.99990486e-01 7.69145660e-04 -3.79266312e-01] [ 1.46883653e-02 -8.32139350e-04 9.99891774e-01 -2.83372993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.763133365 meters Centerline goodness : 0.327118 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.38, Z:-0.28 [[ 9.99882943e-01 -4.30535511e-03 -1.46821363e-02 -1.06900723e+00] [ 4.31579468e-03 9.99990456e-01 6.79428988e-04 -3.78608118e-01] [ 1.46790710e-02 -7.42714541e-04 9.99891981e-01 -2.83606271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.793133365 meters Centerline goodness : 0.328906 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.38, Z:-0.28 [[ 9.99882804e-01 -4.33467441e-03 -1.46829252e-02 -1.06873364e+00] [ 4.34348759e-03 9.99990405e-01 5.68397179e-04 -3.77756145e-01] [ 1.46803205e-02 -6.32105669e-04 9.99892038e-01 -2.84084132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.823133365 meters Centerline goodness : 0.323043 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.38, Z:-0.28 [[ 9.99883518e-01 -4.34105405e-03 -1.46323738e-02 -1.06861199e+00] [ 4.34894713e-03 9.99990414e-01 5.07648996e-04 -3.76997116e-01] [ 1.46300298e-02 -5.71225284e-04 9.99892812e-01 -2.84538761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.853133365 meters Centerline goodness : 0.111188 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.38, Z:-0.29 [[ 0.99989772 0.00307022 -0.01396872 -1.0473968 ] [-0.0031042 0.99999227 -0.00241176 -0.37737893] [ 0.01396121 0.00245487 0.99989952 -0.28595686] [ 0. 0. 0. 1. ]] SLAMing on 206.883133365 meters Centerline goodness : 0.111188 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.38, Z:-0.29 [[ 0.99989772 0.00307022 -0.01396872 -1.0473968 ] [-0.0031042 0.99999227 -0.00241176 -0.37737893] [ 0.01396121 0.00245487 0.99989952 -0.28595686] [ 0. 0. 0. 1. ]] SLAMing on 206.913133365 meters Centerline goodness : 0.323144 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.38, Z:-0.29 [[ 0.99989515 0.00283745 -0.01419981 -1.04672821] [-0.00287647 0.99999214 -0.00272835 -0.37638987] [ 0.01419196 0.00276891 0.99989546 -0.28613919] [ 0. 0. 0. 1. ]] SLAMing on 206.943133365 meters Centerline goodness : 0.304837 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.38, Z:-0.29 [[ 0.99989228 0.00269849 -0.01442747 -1.04588408] [-0.00274197 0.99999176 -0.00299468 -0.3751082 ] [ 0.01441927 0.00303391 0.99989143 -0.28665857] [ 0. 0. 0. 1. ]] SLAMing on 206.973133365 meters Centerline goodness : 0.254680 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.37, Z:-0.29 [[ 0.99988562 0.00251467 -0.01491397 -1.04399384] [-0.00256787 0.99999041 -0.00354896 -0.37125269] [ 0.0149049 0.00358686 0.99988248 -0.28779252] [ 0. 0. 0. 1. ]] SLAMing on 207.003133365 meters Centerline goodness : 0.112834 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.37, Z:-0.29 [[ 0.9998851 0.00241451 -0.01496505 -1.04383812] [-0.00247288 0.9999894 -0.00388302 -0.36925355] [ 0.01495552 0.00391958 0.99988048 -0.2878664 ] [ 0. 0. 0. 1. ]] SLAMing on 207.033133365 meters Centerline goodness : 0.186057 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.37, Z:-0.29 [[ 0.99988544 0.00232146 -0.01495696 -1.04398791] [-0.00238482 0.99998825 -0.00421976 -0.36719148] [ 0.01494698 0.00425495 0.99987923 -0.28767763] [ 0. 0. 0. 1. ]] SLAMing on 207.063133365 meters Centerline goodness : 0.192006 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.37, Z:-0.29 [[ 0.99988705 0.00223988 -0.01486181 -1.04435063] [-0.00230753 0.99998705 -0.00453574 -0.36518534] [ 0.01485146 0.00456952 0.99987927 -0.28746179] [ 0. 0. 0. 1. ]] SLAMing on 207.093133365 meters Centerline goodness : 0.096845 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.36, Z:-0.29 [[ 0.99987298 -0.0039002 -0.01545332 -1.0264738 ] [ 0.00384324 0.99998572 -0.00371448 -0.35877178] [ 0.01546759 0.00365461 0.99987369 -0.28510027] [ 0. 0. 0. 1. ]] SLAMing on 207.123133365 meters Centerline goodness : 0.194316 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.36, Z:-0.28 [[ 0.99987688 -0.00394979 -0.01518642 -1.027176 ] [ 0.00388885 0.99998428 -0.00404058 -0.35655522] [ 0.01520214 0.00398103 0.99987652 -0.28497544] [ 0. 0. 0. 1. ]] SLAMing on 207.153133365 meters Centerline goodness : 0.100165 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.35, Z:-0.28 [[ 0.99991903 -0.00148592 -0.01263831 -0.98954615] [ 0.00141953 0.99998516 -0.00526027 -0.35031727] [ 0.01264594 0.0052419 0.9999063 -0.28338311] [ 0. 0. 0. 1. ]] SLAMing on 207.18313336499997 meters Centerline goodness : 0.101196 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.35, Z:-0.28 [[ 0.99992336 -0.00152846 -0.0122859 -0.99051215] [ 0.00145914 0.99998298 -0.00564899 -0.34763997] [ 0.01229432 0.00563063 0.99990857 -0.28310769] [ 0. 0. 0. 1. ]] SLAMing on 207.21313336499998 meters Centerline goodness : 0.303208 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.34, Z:-0.28 [[ 0.99992727 -0.00155937 -0.01195929 -0.99123125] [ 0.00148716 0.99998062 -0.00604483 -0.34462862] [ 0.01196848 0.0060266 0.99991021 -0.2831191 ] [ 0. 0. 0. 1. ]] SLAMing on 207.24313336499998 meters Centerline goodness : 0.174851 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.34, Z:-0.28 [[ 0.99992986 -0.00169559 -0.01172204 -0.99147893] [ 0.0016186 0.99997708 -0.00657405 -0.3412305 ] [ 0.01173292 0.00655462 0.99990968 -0.28349142] [ 0. 0. 0. 1. ]] SLAMing on 207.27313336499998 meters Centerline goodness : 0.167024 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.34, Z:-0.28 [[ 0.99992987 -0.00188381 -0.01169173 -0.99119885] [ 0.00180046 0.99997292 -0.00713596 -0.33813801] [ 0.01170486 0.00711441 0.99990619 -0.28394901] [ 0. 0. 0. 1. ]] SLAMing on 207.30313336499998 meters Centerline goodness : 0.100329 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.33, Z:-0.28 [[ 0.99992893 -0.00215739 -0.01172481 -0.99066247] [ 0.00206602 0.99996745 -0.00779934 -0.33497631] [ 0.01174125 0.00777456 0.99990084 -0.28456785] [ 0. 0. 0. 1. ]] SLAMing on 207.33313336499998 meters Centerline goodness : 0.102062 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.32, Z:-0.28 [[ 0.99987311 -0.010289 -0.01216146 -1.01072817] [ 0.01021571 0.99992938 -0.00607283 -0.32440553] [ 0.01222308 0.00594782 0.99990761 -0.28476116] [ 0. 0. 0. 1. ]] SLAMing on 207.36313336499998 meters Centerline goodness : 0.168144 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.32, Z:-0.28 [[ 9.99930890e-01 -8.29732612e-04 -1.17272212e-02 -9.91756061e-01] [ 7.45259075e-04 9.99973761e-01 -7.20573690e-03 -3.24977835e-01] [ 1.17328923e-02 7.19649909e-03 9.99905270e-01 -2.84598296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39313336499998 meters Centerline goodness : 0.161166 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.32, Z:-0.29 [[ 9.99930285e-01 -1.02692066e-03 -1.17631236e-02 -9.91135602e-01] [ 9.35697161e-04 9.99969469e-01 -7.75792067e-03 -3.21861904e-01] [ 1.17707312e-02 7.74637310e-03 9.99900717e-01 -2.85397524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42313336499998 meters Centerline goodness : 0.100500 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.32, Z:-0.29 [[ 0.99992992 -0.00120594 -0.01177738 -0.99088195] [ 0.00110837 0.99996504 -0.00828749 -0.31891688] [ 0.01178696 0.00827386 0.9998963 -0.28572361] [ 0. 0. 0. 1. ]] SLAMing on 207.45313336499999 meters Centerline goodness : 0.151404 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.31, Z:-0.28 [[ 0.9998957 -0.00772188 -0.01220496 -0.97218318] [ 0.00762594 0.99993981 -0.00788769 -0.31147348] [ 0.01226513 0.00779379 0.99989441 -0.28394164] [ 0. 0. 0. 1. ]] SLAMing on 207.483133365 meters Centerline goodness : 0.098701 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.31, Z:-0.28 [[ 0.9998987 -0.00783914 -0.01188025 -0.97302641] [ 0.0077396 0.99993476 -0.00840136 -0.30818717] [ 0.01194534 0.00830856 0.99989413 -0.28378516] [ 0. 0. 0. 1. ]] SLAMing on 207.513133365 meters Centerline goodness : 0.101328 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.30, Z:-0.28 [[ 9.99940930e-01 5.99527723e-05 -1.08688660e-02 -9.96729677e-01] [-1.57784822e-04 9.99959482e-01 -9.00049365e-03 -3.04072518e-01] [ 1.08678860e-02 9.00167693e-03 9.99900424e-01 -2.84395285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.543133365 meters Centerline goodness : 0.101584 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.30, Z:-0.28 [[ 9.99941963e-01 -6.98707038e-05 -1.07733712e-02 -9.96725907e-01] [-3.22806456e-05 9.99955050e-01 -9.48137152e-03 -3.01467141e-01] [ 1.07735495e-02 9.48116902e-03 9.99897014e-01 -2.84621522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.573133365 meters Centerline goodness : 0.103707 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.30, Z:-0.29 [[ 9.99938383e-01 -7.91688197e-05 -1.11006636e-02 -9.95236493e-01] [-3.37552635e-05 9.99948262e-01 -1.01721763e-02 -2.95792453e-01] [ 1.11008946e-02 1.01719242e-02 9.99886645e-01 -2.85524443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.603133365 meters Centerline goodness : 0.172570 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.29, Z:-0.29 [[ 0.99992262 0.00353907 -0.01192609 -0.99343078] [-0.00362004 0.9999705 -0.0067747 -0.29461623] [ 0.01190176 0.00681735 0.99990593 -0.28551559] [ 0. 0. 0. 1. ]] SLAMing on 207.633133365 meters Centerline goodness : 0.138859 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.29, Z:-0.29 [[ 0.99991677 0.00354881 -0.01240383 -0.99183368] [-0.00363813 0.99996756 -0.00718627 -0.29170879] [ 0.01237793 0.0072308 0.99989725 -0.28611818] [ 0. 0. 0. 1. ]] SLAMing on 207.663133365 meters Centerline goodness : 0.140407 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.29, Z:-0.29 [[ 0.99991595 0.0035508 -0.01246909 -0.99152421] [-0.00364528 0.99996476 -0.00756267 -0.28924548] [ 0.0124418 0.00760749 0.99989366 -0.28622436] [ 0. 0. 0. 1. ]] SLAMing on 207.693133365 meters SLAMing on 207.723133365 meters Centerline goodness : 0.113969 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.29, Z:-0.29 [[ 0.99991889 0.00380028 -0.01215622 -0.99230885] [-0.00389705 0.99996083 -0.00794664 -0.28594867] [ 0.01212554 0.00799337 0.99989453 -0.28597063] [ 0. 0. 0. 1. ]] SLAMing on 207.753133365 meters Centerline goodness : 0.162938 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.28, Z:-0.29 [[ 0.99992984 -0.00199717 -0.01167592 -1.01200315] [ 0.0019482 0.99998926 -0.0042043 -0.27838038] [ 0.01168419 0.00418126 0.999923 -0.28587856] [ 0. 0. 0. 1. ]] SLAMing on 207.783133365 meters Centerline goodness : 0.098958 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.28, Z:-0.29 [[ 0.9999317 -0.00179308 -0.01154937 -1.01238434] [ 0.00174296 0.99998903 -0.00434769 -0.2764629 ] [ 0.01155704 0.00432726 0.99992385 -0.28567845] [ 0. 0. 0. 1. ]] SLAMing on 207.813133365 meters Centerline goodness : 0.100478 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.27, Z:-0.29 [[ 0.9999347 -0.00168911 -0.01130277 -1.01305674] [ 0.00163729 0.99998811 -0.00459241 -0.2745714 ] [ 0.01131039 0.0045736 0.99992558 -0.28540158] [ 0. 0. 0. 1. ]] SLAMing on 207.843133365 meters Centerline goodness : 0.101763 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.27, Z:-0.28 [[ 0.9999386 -0.00156442 -0.01097048 -1.01406369] [ 0.00151219 0.99998749 -0.00476773 -0.27299704] [ 0.0109778 0.00475085 0.99992846 -0.28490683] [ 0. 0. 0. 1. ]] SLAMing on 207.873133365 meters Centerline goodness : 0.100674 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 0.99994466 -0.00133618 -0.01043543 -1.01552461] [ 0.00128598 0.99998758 -0.00481584 -0.27161436] [ 0.01044174 0.00480215 0.99993395 -0.28454105] [ 0. 0. 0. 1. ]] SLAMing on 207.903133365 meters Centerline goodness : 0.118373 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 0.99995013 -0.00107602 -0.00992835 -1.01691214] [ 0.00102855 0.99998802 -0.00478506 -0.27033559] [ 0.00993338 0.00477461 0.99993926 -0.28414175] [ 0. 0. 0. 1. ]] SLAMing on 207.93313336499997 meters Centerline goodness : 0.114581 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99955151e-01 -6.44505501e-04 -9.44880612e-03 -1.01820260e+00] [ 6.00421696e-04 9.99988926e-01 -4.66763685e-03 -2.68818232e-01] [ 9.45170980e-03 4.66175425e-03 9.99944465e-01 -2.83837298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96313336499998 meters Centerline goodness : 0.331687 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99954073e-01 -7.13885409e-04 -9.55734080e-03 -1.01787905e+00] [ 6.68113126e-04 9.99988297e-01 -4.79156436e-03 -2.68443968e-01] [ 9.56064958e-03 4.78495892e-03 9.99942847e-01 -2.83918382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99313336499998 meters Centerline goodness : 0.221638 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99953675e-01 -7.36922087e-04 -9.59711929e-03 -1.01789086e+00] [ 6.90834078e-04 9.99988219e-01 -4.80470525e-03 -2.68647707e-01] [ 9.60054692e-03 4.79785266e-03 9.99942403e-01 -2.83793474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02313336499998 meters Centerline goodness : 0.098165 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99953804e-01 -7.11255269e-04 -9.58560164e-03 -1.01814094e+00] [ 6.65788382e-04 9.99988518e-01 -4.74560473e-03 -2.68905094e-01] [ 9.58886691e-03 4.73900352e-03 9.99942796e-01 -2.83486616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05313336499998 meters Centerline goodness : 0.115401 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99954256e-01 -6.15989222e-04 -9.54495464e-03 -1.01843194e+00] [ 5.72012603e-04 9.99989213e-01 -4.60936085e-03 -2.69134115e-01] [ 9.54769100e-03 4.60369016e-03 9.99943822e-01 -2.83214374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08313336499998 meters Centerline goodness : 0.179439 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99955216e-01 -5.22172428e-04 -9.44949201e-03 -1.01866118e+00] [ 4.79946658e-04 9.99989893e-01 -4.47029185e-03 -2.69385103e-01] [ 9.45173077e-03 4.46555640e-03 9.99945360e-01 -2.83234312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11313336499998 meters Centerline goodness : 0.113606 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99956908e-01 -4.80467174e-04 -9.27095080e-03 -1.01929076e+00] [ 4.40416836e-04 9.99990565e-01 -4.32153979e-03 -2.70487078e-01] [ 9.27293969e-03 4.31727048e-03 9.99947686e-01 -2.82888031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14313336499998 meters Centerline goodness : 0.095957 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99992691 -0.00706422 -0.00981204 -1.00103708] [ 0.00703141 0.99996959 -0.0033738 -0.26708855] [ 0.00983557 0.00330456 0.99994617 -0.28051068] [ 0. 0. 0. 1. ]] SLAMing on 208.17313336499998 meters Centerline goodness : 0.154563 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99992692 -0.00701482 -0.00984612 -1.00119954] [ 0.00698281 0.99997024 -0.00328163 -0.26757911] [ 0.00986885 0.00321263 0.99994614 -0.28015389] [ 0. 0. 0. 1. ]] SLAMing on 208.20313336499999 meters Centerline goodness : 0.093153 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99992904 -0.00689428 -0.00971496 -1.00163838] [ 0.00686409 0.99997152 -0.00313747 -0.26787537] [ 0.00973632 0.00307056 0.99994789 -0.27996486] [ 0. 0. 0. 1. ]] SLAMing on 208.233133365 meters Centerline goodness : 0.170237 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99993199 -0.00679848 -0.00947604 -1.0023072 ] [ 0.00676974 0.9999724 -0.00306084 -0.26777523] [ 0.00949658 0.00299648 0.99995042 -0.27979555] [ 0. 0. 0. 1. ]] SLAMing on 208.263133365 meters Centerline goodness : 0.179129 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.9999343 -0.00671061 -0.00929268 -1.00273952] [ 0.00668309 0.9999732 -0.00298882 -0.26781523] [ 0.00931248 0.00292652 0.99995236 -0.27978562] [ 0. 0. 0. 1. ]] SLAMing on 208.293133365 meters Centerline goodness : 0.204531 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99993357 -0.0067263 -0.00935965 -1.00218898] [ 0.00669776 0.99997284 -0.00307644 -0.26735656] [ 0.00938009 0.00301354 0.99995147 -0.28036753] [ 0. 0. 0. 1. ]] SLAMing on 208.323133365 meters Centerline goodness : 0.112395 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99935522e-01 6.78378091e-04 -1.13353913e-02 -1.02089311e+00] [-7.22705859e-04 9.99992107e-01 -3.90692504e-03 -2.70797635e-01] [ 1.13326514e-02 3.91486529e-03 9.99928120e-01 -2.82213207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.353133365 meters Centerline goodness : 0.199380 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99934908e-01 7.01016024e-04 -1.13881098e-02 -1.02058948e+00] [-7.45894809e-04 9.99991972e-01 -3.93707660e-03 -2.70382688e-01] [ 1.13852584e-02 3.94531466e-03 9.99927403e-01 -2.82462830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.383133365 meters Centerline goodness : 0.203799 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99935095e-01 7.55257039e-04 -1.13682073e-02 -1.02079476e+00] [-7.99254777e-04 9.99992207e-01 -3.86619860e-03 -2.70551528e-01] [ 1.13651987e-02 3.87503376e-03 9.99927906e-01 -2.82232991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.413133365 meters Centerline goodness : 0.124279 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99935728e-01 8.08577049e-04 -1.13086364e-02 -1.02115112e+00] [-8.51273730e-04 9.99992526e-01 -3.77127797e-03 -2.70928152e-01] [ 1.13055025e-02 3.78066233e-03 9.99928944e-01 -2.81879816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.443133365 meters Centerline goodness : 0.320625 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99991424 -0.00572595 -0.011778 -1.00264702] [ 0.0056928 0.99997975 -0.00284565 -0.2672407 ] [ 0.01179406 0.00277836 0.99992659 -0.27996163] [ 0. 0. 0. 1. ]] SLAMing on 208.473133365 meters Centerline goodness : 0.114421 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 0.99992201 0.00104642 -0.01244509 -1.0212135 ] [-0.00109185 0.99999277 -0.00364381 -0.27403403] [ 0.01244119 0.00365712 0.99991592 -0.28162491] [ 0. 0. 0. 1. ]] SLAMing on 208.503133365 meters Centerline goodness : 0.330138 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99989595 -0.00555355 -0.01331331 -1.00149173] [ 0.0055152 0.99998054 -0.00291594 -0.27000226] [ 0.01332925 0.00284221 0.99990712 -0.28051632] [ 0. 0. 0. 1. ]] SLAMing on 208.533133365 meters Centerline goodness : 0.196799 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99989592 -0.00549671 -0.01333936 -1.00141297] [ 0.00545984 0.99998118 -0.00279939 -0.27051667] [ 0.01335449 0.00272626 0.99990711 -0.28055006] [ 0. 0. 0. 1. ]] SLAMing on 208.563133365 meters Centerline goodness : 0.307596 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99989732 -0.00542178 -0.01326501 -1.00182887] [ 0.00538726 0.99998201 -0.00263644 -0.27127674] [ 0.01327907 0.00256471 0.99990854 -0.2802226 ] [ 0. 0. 0. 1. ]] SLAMing on 208.593133365 meters Centerline goodness : 0.263756 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99989624 -0.00541169 -0.01335021 -1.00191593] [ 0.00537769 0.99998221 -0.00258178 -0.27174075] [ 0.01336394 0.00250972 0.99990755 -0.27977949] [ 0. 0. 0. 1. ]] SLAMing on 208.623133365 meters Centerline goodness : 0.188878 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99989401 -0.00538135 -0.01352784 -1.00157862] [ 0.00534777 0.99998253 -0.00251706 -0.27199935] [ 0.01354114 0.00244445 0.99990533 -0.27969855] [ 0. 0. 0. 1. ]] SLAMing on 208.653133365 meters Centerline goodness : 0.313981 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.9998891 -0.005364 -0.0138928 -1.00042963] [ 0.0053304 0.99998278 -0.00245464 -0.27226496] [ 0.01390573 0.00238031 0.99990048 -0.28019308] [ 0. 0. 0. 1. ]] SLAMing on 208.68313336499997 meters Centerline goodness : 0.311643 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99988879 -0.00528637 -0.01394465 -1.0004829 ] [ 0.00525529 0.99998363 -0.00226445 -0.27305618] [ 0.0139564 0.00219091 0.9999002 -0.27998378] [ 0. 0. 0. 1. ]] SLAMing on 208.71313336499998 meters Centerline goodness : 0.172845 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:-0.28 [[ 0.99991953 0.00249172 -0.01243916 -0.9803829 ] [-0.00254954 0.99998601 -0.00463438 -0.27555435] [ 0.01242744 0.00466572 0.99991189 -0.28033824] [ 0. 0. 0. 1. ]] SLAMing on 208.74313336499998 meters Centerline goodness : 0.330017 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:-0.28 [[ 0.99991898 0.00258284 -0.01246431 -0.98068628] [-0.00263699 0.99998715 -0.00432957 -0.27717611] [ 0.01245297 0.00436209 0.99991294 -0.27984997] [ 0. 0. 0. 1. ]] SLAMing on 208.77313336499998 meters Centerline goodness : 0.330017 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:-0.28 [[ 0.99991898 0.00258284 -0.01246431 -0.98068628] [-0.00263699 0.99998715 -0.00432957 -0.27717611] [ 0.01245297 0.00436209 0.99991294 -0.27984997] [ 0. 0. 0. 1. ]] SLAMing on 208.80313336499998 meters Centerline goodness : 0.201497 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:-0.28 [[ 0.99991879 0.00266675 -0.01246215 -0.98099674] [-0.00271706 0.99998822 -0.00402155 -0.27881818] [ 0.01245128 0.00405508 0.99991426 -0.27946807] [ 0. 0. 0. 1. ]] SLAMing on 208.83313336499998 meters Centerline goodness : 0.221903 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:-0.28 [[ 0.99991727 0.00275064 -0.01256546 -0.98084807] [-0.00279719 0.99998929 -0.00368821 -0.28066954] [ 0.01255518 0.00372306 0.99991425 -0.27933565] [ 0. 0. 0. 1. ]] SLAMing on 208.86313336499998 meters Centerline goodness : 0.328056 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:-0.28 [[ 0.99990869 0.00254798 -0.01327115 -0.97917775] [-0.00259331 0.99999086 -0.00339953 -0.28407466] [ 0.01326237 0.00343364 0.99990616 -0.27933117] [ 0. 0. 0. 1. ]] SLAMing on 208.89313336499998 meters Centerline goodness : 0.113601 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 0.99992043 -0.00322377 -0.01219603 -1.01125575] [ 0.00320084 0.99999307 -0.00189942 -0.28646873] [ 0.01220207 0.00186023 0.99992382 -0.28102197] [ 0. 0. 0. 1. ]] SLAMing on 208.92313336499998 meters Centerline goodness : 0.299871 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 0.99992269 -0.00313705 -0.01203189 -1.01185441] [ 0.00311869 0.99999395 -0.00154381 -0.28857579] [ 0.01203666 0.00150617 0.99992642 -0.28071161] [ 0. 0. 0. 1. ]] SLAMing on 208.95313336499999 meters Centerline goodness : 0.110392 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 0.99992681 -0.00296345 -0.01172996 -1.01301223] [ 0.00294991 0.99999496 -0.00117189 -0.29014209] [ 0.01173337 0.0011372 0.99993051 -0.28008488] [ 0. 0. 0. 1. ]] SLAMing on 208.983133365 meters Centerline goodness : 0.208519 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 9.99933404e-01 -2.75861343e-03 -1.12061005e-02 -1.01498274e+00] [ 2.75165117e-03 9.99996012e-01 -6.36663294e-04 -2.92615459e-01] [ 1.12078121e-02 6.05785615e-04 9.99937007e-01 -2.78935337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.013133365 meters Centerline goodness : 0.112008 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.29, Z:-0.28 [[ 9.99933761e-01 -2.70032855e-03 -1.11884622e-02 -1.01512665e+00] [ 2.69523555e-03 9.99996257e-01 -4.70254017e-04 -2.93359227e-01] [ 1.11896901e-02 4.40067327e-04 9.99937297e-01 -2.78851319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.043133365 meters Centerline goodness : 0.197309 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 9.99932162e-01 -2.67940677e-03 -1.13354445e-02 -1.01477565e+00] [ 2.67526259e-03 9.99996349e-01 -3.80742050e-04 -2.93692766e-01] [ 1.13364233e-02 3.50390931e-04 9.99935679e-01 -2.78901831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.073133365 meters Centerline goodness : 0.114327 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 9.99932673e-01 -2.60045458e-03 -1.13086999e-02 -1.01490339e+00] [ 2.59807351e-03 9.99996600e-01 -2.25238039e-04 -2.94059256e-01] [ 1.13092471e-02 1.95842041e-04 9.99936029e-01 -2.78870468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.103133365 meters Centerline goodness : 0.111963 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.29, Z:-0.28 [[ 9.99934727e-01 -2.56065457e-03 -1.11348878e-02 -1.01553957e+00] [ 2.55925526e-03 9.99996715e-01 -1.39916432e-04 -2.94302318e-01] [ 1.11352095e-02 1.11410279e-04 9.99937995e-01 -2.78543571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.133133365 meters Centerline goodness : 0.267993 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.29, Z:-0.28 [[ 9.99937340e-01 -2.76701876e-03 -1.08470836e-02 -1.01678302e+00] [ 2.76446424e-03 9.99996147e-01 -2.50489706e-04 -2.94920197e-01] [ 1.08477350e-02 2.20487635e-04 9.99941137e-01 -2.77694822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.163133365 meters Centerline goodness : 0.220268 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.30, Z:-0.28 [[ 9.99935604e-01 -2.85403968e-03 -1.09837667e-02 -1.01654403e+00] [ 2.85074816e-03 9.99995887e-01 -3.15316113e-04 -2.95010249e-01] [ 1.09846215e-02 2.83983855e-04 9.99939627e-01 -2.77626318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.193133365 meters Centerline goodness : 0.305789 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.30, Z:-0.28 [[ 9.99934183e-01 -2.84040047e-03 -1.11158712e-02 -1.01599157e+00] [ 2.83754065e-03 9.99995937e-01 -2.73036131e-04 -2.95036030e-01] [ 1.11166016e-02 2.41476424e-04 9.99938180e-01 -2.78054056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.223133365 meters Centerline goodness : 0.169484 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.29, Z:-0.28 [[ 9.99931970e-01 -2.82857571e-03 -1.13160968e-02 -1.01510511e+00] [ 2.82536215e-03 9.99995964e-01 -2.99957372e-04 -2.94484917e-01] [ 1.13168995e-02 2.67964895e-04 9.99935926e-01 -2.78706909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.253133365 meters Centerline goodness : 0.112999 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 9.99930586e-01 -2.83438172e-03 -1.14363536e-02 -1.01433143e+00] [ 2.83060047e-03 9.99995934e-01 -3.46807758e-04 -2.94033051e-01] [ 1.14372901e-02 3.14411937e-04 9.99934543e-01 -2.79463940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.283133365 meters Centerline goodness : 0.096738 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 9.99927832e-01 -2.91799632e-03 -1.16540251e-02 -1.01354738e+00] [ 2.91263733e-03 9.99995645e-01 -4.76786581e-04 -2.93701665e-01] [ 1.16553656e-02 4.42808223e-04 9.99931976e-01 -2.79828491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.313133365 meters Centerline goodness : 0.129397 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 9.99924097e-01 -3.00140464e-03 -1.19495118e-02 -1.01274380e+00] [ 2.99270482e-03 9.99995244e-01 -7.45863204e-04 -2.92543906e-01] [ 1.19516936e-02 7.10045230e-04 9.99928324e-01 -2.79924264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.343133365 meters Centerline goodness : 0.115325 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 9.99922346e-01 -2.95512095e-03 -1.21065584e-02 -1.01225153e+00] [ 2.94466202e-03 9.99995276e-01 -8.81640448e-04 -2.91215623e-01] [ 1.21091066e-02 8.45922263e-04 9.99926324e-01 -2.80086070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.373133365 meters Centerline goodness : 0.214198 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.29, Z:-0.28 [[ 9.99904982e-01 7.76417293e-04 -1.37631731e-02 -9.73501372e-01] [-7.97621070e-04 9.99998503e-01 -1.53519467e-03 -2.88598599e-01] [ 1.37619606e-02 1.54602659e-03 9.99904105e-01 -2.77997751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.403133365 meters Centerline goodness : 0.328700 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.29, Z:-0.28 [[ 9.99901542e-01 7.40309682e-04 -1.40127688e-02 -9.72478835e-01] [-7.65795833e-04 9.99998062e-01 -1.81350216e-03 -2.86943104e-01] [ 1.40113991e-02 1.82405452e-03 9.99900172e-01 -2.78604460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43313336499997 meters Centerline goodness : 0.242056 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.29, Z:-0.28 [[ 9.99900935e-01 7.27676434e-04 -1.40566873e-02 -9.72098557e-01] [-7.56953261e-04 9.99997555e-01 -2.07756053e-03 -2.85406213e-01] [ 1.40551411e-02 2.08799498e-03 9.99899042e-01 -2.78940866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46313336499998 meters Centerline goodness : 0.268531 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.28, Z:-0.28 [[ 9.99903481e-01 7.18686303e-04 -1.38748804e-02 -9.72367727e-01] [-7.50831042e-04 9.99997046e-01 -2.31168783e-03 -2.84015664e-01] [ 1.38731780e-02 2.32188240e-03 9.99901067e-01 -2.79105369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49313336499998 meters Centerline goodness : 0.216380 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.28, Z:-0.28 [[ 0.9999166 0.00114187 -0.01286456 -0.97492884] [-0.00117024 0.9999969 -0.0021974 -0.28259933] [ 0.01286201 0.00221227 0.99991483 -0.27875804] [ 0. 0. 0. 1. ]] SLAMing on 209.52313336499998 meters Centerline goodness : 0.264903 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:-0.28 [[ 9.99902112e-01 -4.79352445e-03 -1.31449252e-02 -9.57095648e-01] [ 4.78065293e-03 9.99988062e-01 -1.01044826e-03 -2.77257266e-01] [ 1.31496118e-02 9.47508027e-04 9.99913091e-01 -2.76841025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55313336499998 meters Centerline goodness : 0.301594 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:-0.28 [[ 0.99990217 -0.0047763 -0.01314692 -0.95703243] [ 0.00476266 0.99998809 -0.00106913 -0.27675463] [ 0.01315187 0.00100641 0.999913 -0.27690777] [ 0. 0. 0. 1. ]] SLAMing on 209.58313336499998 meters Centerline goodness : 0.108024 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:-0.28 [[ 0.99990189 -0.00475873 -0.0131741 -0.9570112 ] [ 0.00474446 0.99998812 -0.00111408 -0.276333 ] [ 0.01317925 0.00105147 0.9999126 -0.27683271] [ 0. 0. 0. 1. ]] SLAMing on 209.61313336499998 meters Centerline goodness : 0.199909 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:-0.28 [[ 0.99990413 -0.00469353 -0.01302708 -0.95756041] [ 0.00467908 0.9999884 -0.00113997 -0.27574639] [ 0.01303228 0.0010789 0.99991449 -0.2765372 ] [ 0. 0. 0. 1. ]] SLAMing on 209.64313336499998 meters Centerline goodness : 0.277489 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:-0.27 [[ 9.99926148e-01 -3.24592671e-03 -1.17116768e-02 -9.62543028e-01] [ 3.24805205e-03 9.99994712e-01 1.62455655e-04 -2.75129793e-01] [ 1.17110876e-02 -2.00483793e-04 9.99931403e-01 -2.74315654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67313336499998 meters Centerline goodness : 0.109822 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:-0.28 [[ 9.99934886e-01 4.19946267e-03 -1.06108046e-02 -9.84240900e-01] [-4.20016817e-03 9.99991178e-01 -4.42055747e-05 -2.78737763e-01] [ 1.06105253e-02 8.87698600e-05 9.99943703e-01 -2.75173392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70313336499999 meters Centerline goodness : 0.106629 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.27 [[ 9.99945532e-01 -2.32031959e-03 -1.01758954e-02 -9.65902261e-01] [ 2.32650591e-03 9.99997116e-01 5.96143560e-04 -2.72834165e-01] [ 1.01744828e-02 -6.19785370e-04 9.99948047e-01 -2.73923506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.733133365 meters Centerline goodness : 0.240574 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.27 [[ 9.99947729e-01 -2.37984342e-03 -9.94360781e-03 -9.66379181e-01] [ 2.38297531e-03 9.99997115e-01 3.03128864e-04 -2.71106682e-01] [ 9.94285772e-03 -3.26808391e-04 9.99950515e-01 -2.74012698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.763133365 meters Centerline goodness : 0.101478 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.27 [[ 9.99951542e-01 -2.35357277e-03 -9.55902977e-03 -9.67347294e-01] [ 2.35451898e-03 9.99997224e-01 8.77333343e-05 -2.69256346e-01] [ 9.55879675e-03 -1.10236000e-04 9.99954308e-01 -2.73922205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.793133365 meters Centerline goodness : 0.176401 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.27 [[ 9.99955648e-01 -2.28779702e-03 -9.13611401e-03 -9.68189791e-01] [ 2.28639134e-03 9.99997373e-01 -1.64301139e-04 -2.66785055e-01] [ 9.13646589e-03 1.43405120e-04 9.99958251e-01 -2.74175026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.823133365 meters Centerline goodness : 0.105324 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.26, Z:-0.28 [[ 9.99957666e-01 -2.36905740e-03 -8.89126175e-03 -9.67988036e-01] [ 2.36198208e-03 9.99996886e-01 -8.06177306e-04 -2.61168988e-01] [ 8.89314394e-03 7.85142176e-04 9.99960147e-01 -2.75270204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.853133365 meters Centerline goodness : 0.190473 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.26, Z:-0.28 [[ 0.99995178 0.00522429 -0.00831561 -0.9465154 ] [-0.00525573 0.99997911 -0.00376327 -0.25947183] [ 0.00829577 0.00380679 0.99995834 -0.27618217] [ 0. 0. 0. 1. ]] SLAMing on 209.883133365 meters Centerline goodness : 0.179013 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.25, Z:-0.28 [[ 0.99994879 -0.00400286 -0.00929486 -0.96455416] [ 0.0039796 0.99998891 -0.00251933 -0.25359027] [ 0.00930484 0.00248221 0.99995363 -0.27780448] [ 0. 0. 0. 1. ]] SLAMing on 209.913133365 meters Centerline goodness : 0.169145 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.25, Z:-0.28 [[ 0.9999554 0.00393669 -0.00858442 -0.94447592] [-0.00398005 0.99997938 -0.00504055 -0.25332001] [ 0.0085644 0.0050745 0.99995045 -0.27809154] [ 0. 0. 0. 1. ]] SLAMing on 209.943133365 meters Centerline goodness : 0.185308 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.25, Z:-0.28 [[ 0.99995605 0.00358263 -0.00866351 -0.94396153] [-0.00363108 0.99997782 -0.00558315 -0.25087918] [ 0.00864331 0.00561436 0.99994688 -0.27869399] [ 0. 0. 0. 1. ]] SLAMing on 209.973133365 meters Centerline goodness : 0.108249 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.25, Z:-0.28 [[ 0.99995717 0.00347783 -0.00857637 -0.94411909] [-0.00352696 0.99997742 -0.00572058 -0.25025404] [ 0.00855628 0.00575058 0.99994686 -0.27883378] [ 0. 0. 0. 1. ]] SLAMing on 210.003133365 meters Centerline goodness : 0.173585 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.25, Z:-0.28 [[ 0.99995718 0.00324434 -0.00866635 -0.9437789 ] [-0.00329601 0.99997684 -0.00595415 -0.24974561] [ 0.00864683 0.00598246 0.99994472 -0.27906394] [ 0. 0. 0. 1. ]] SLAMing on 210.033133365 meters Centerline goodness : 0.210777 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.25, Z:-0.28 [[ 0.99995658 0.00310096 -0.00878757 -0.94334688] [-0.00315444 0.99997655 -0.00607884 -0.24954375] [ 0.00876851 0.0061063 0.99994291 -0.27935448] [ 0. 0. 0. 1. ]] SLAMing on 210.063133365 meters Centerline goodness : 0.181761 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.25, Z:-0.28 [[ 0.99993199 -0.00267906 -0.01135071 -0.92554526] [ 0.00261979 0.99998287 -0.00523351 -0.24525829] [ 0.01136454 0.00520342 0.99992188 -0.27682796] [ 0. 0. 0. 1. ]] SLAMing on 210.093133365 meters Centerline goodness : 0.208398 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.25, Z:-0.28 [[ 0.99992989 -0.00274007 -0.01151946 -0.92506182] [ 0.00268041 0.99998293 -0.00519099 -0.24574157] [ 0.01153349 0.00515975 0.99992017 -0.27702002] [ 0. 0. 0. 1. ]] SLAMing on 210.123133365 meters Centerline goodness : 0.228119 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.25, Z:-0.28 [[ 0.99992295 -0.0030476 -0.01203391 -0.92369256] [ 0.00298429 0.99998163 -0.00527537 -0.24664343] [ 0.01204976 0.00523905 0.99991367 -0.27734901] [ 0. 0. 0. 1. ]] SLAMing on 210.153133365 meters Centerline goodness : 0.112176 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.25, Z:-0.28 [[ 0.99992037 -0.00303392 -0.01224914 -0.92309612] [ 0.00297098 0.99998231 -0.00515381 -0.24724331] [ 0.01226456 0.00511701 0.99991169 -0.27756162] [ 0. 0. 0. 1. ]] SLAMing on 210.18313336499997 meters Centerline goodness : 0.213358 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.25, Z:-0.28 [[ 0.99991904 -0.0030038 -0.01236512 -0.92258764] [ 0.0029412 0.99998278 -0.00507759 -0.24751751] [ 0.01238016 0.00504081 0.99991066 -0.2779681 ] [ 0. 0. 0. 1. ]] SLAMing on 210.21313336499998 meters Centerline goodness : 0.193929 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.25, Z:-0.28 [[ 0.99991962 -0.00295242 -0.01233002 -0.92255402] [ 0.00289053 0.99998315 -0.00503377 -0.24733666] [ 0.01234467 0.00499772 0.99991131 -0.27818442] [ 0. 0. 0. 1. ]] SLAMing on 210.24313336499998 meters Centerline goodness : 0.191147 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.25, Z:-0.28 [[ 0.99992197 -0.00287665 -0.01215684 -0.92296954] [ 0.00281612 0.99998357 -0.00499309 -0.2470165 ] [ 0.01217101 0.00495847 0.99991364 -0.27816645] [ 0. 0. 0. 1. ]] SLAMing on 210.27313336499998 meters Centerline goodness : 0.111419 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.28 [[ 0.9999267 -0.00281966 -0.01177457 -0.9235492 ] [ 0.0027583 0.99998255 -0.00522404 -0.24496328] [ 0.01178909 0.00519117 0.99991703 -0.27859008] [ 0. 0. 0. 1. ]] SLAMing on 210.30313336499998 meters Centerline goodness : 0.208051 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.28 [[ 0.99992922 -0.00280921 -0.01156094 -0.92398603] [ 0.00274724 0.9999818 -0.00537225 -0.24382366] [ 0.01157582 0.00534011 0.99991874 -0.27864388] [ 0. 0. 0. 1. ]] SLAMing on 210.33313336499998 meters Centerline goodness : 0.168523 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.28 [[ 0.99993211 -0.00277313 -0.01131727 -0.92447301] [ 0.00271033 0.99998087 -0.00556048 -0.24220438] [ 0.01133248 0.00552943 0.9999205 -0.27872263] [ 0. 0. 0. 1. ]] SLAMing on 210.36313336499998 meters Centerline goodness : 0.257600 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.28 [[ 0.99993399 -0.00275517 -0.01115491 -0.92473462] [ 0.00269015 0.99997933 -0.00583959 -0.24004438] [ 0.01117077 0.0058092 0.99992073 -0.27889731] [ 0. 0. 0. 1. ]] SLAMing on 210.39313336499998 meters Centerline goodness : 0.231705 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.28 [[ 0.99993437 -0.00275596 -0.01111999 -0.92460296] [ 0.00268809 0.9999777 -0.00611323 -0.23798694] [ 0.01113659 0.00608294 0.99991948 -0.27919563] [ 0. 0. 0. 1. ]] SLAMing on 210.42313336499998 meters Centerline goodness : 0.111507 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.28 [[ 0.99993603 -0.00281704 -0.01095447 -0.92493765] [ 0.00274731 0.99997591 -0.00637497 -0.23636988] [ 0.01097217 0.00634447 0.99991968 -0.27930381] [ 0. 0. 0. 1. ]] SLAMing on 210.45313336499999 meters Centerline goodness : 0.111387 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99989782 -0.00992628 -0.01028654 -0.90628612] [ 0.00986412 0.99993288 -0.00607688 -0.22895413] [ 0.01034617 0.00597479 0.99992863 -0.27776191] [ 0. 0. 0. 1. ]] SLAMing on 210.483133365 meters Centerline goodness : 0.146563 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99989848 -0.0099603 -0.01018954 -0.90660556] [ 0.00989767 0.99993193 -0.00617806 -0.22809068] [ 0.01025038 0.00607658 0.999929 -0.27771626] [ 0. 0. 0. 1. ]] SLAMing on 210.513133365 meters Centerline goodness : 0.151571 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99989898 -0.01003306 -0.01006862 -0.90673759] [ 0.00997003 0.99993051 -0.00629127 -0.22732273] [ 0.01013104 0.00619025 0.99992952 -0.27803709] [ 0. 0. 0. 1. ]] SLAMing on 210.543133365 meters Centerline goodness : 0.204165 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99989939 -0.0101079 -0.00995232 -0.90705724] [ 0.01004511 0.99992945 -0.00633966 -0.22711181] [ 0.0100157 0.00623905 0.99993038 -0.27805817] [ 0. 0. 0. 1. ]] SLAMing on 210.573133365 meters Centerline goodness : 0.158485 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.23, Z:-0.28 [[ 0.99995287 -0.00203875 -0.00949241 -0.88921882] [ 0.00195845 0.99996229 -0.00846074 -0.2302101 ] [ 0.0095093 0.00844176 0.99991915 -0.27680676] [ 0. 0. 0. 1. ]] SLAMing on 210.603133365 meters Centerline goodness : 0.132515 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99986299 -0.01307081 -0.01015691 -0.90954514] [ 0.01298282 0.99987803 -0.00868178 -0.22698843] [ 0.01026915 0.00854873 0.99991073 -0.27755889] [ 0. 0. 0. 1. ]] SLAMing on 210.633133365 meters Centerline goodness : 0.131687 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99985668 -0.01325031 -0.01053836 -0.90856787] [ 0.01315943 0.99987602 -0.00864686 -0.22775559] [ 0.01065162 0.00850695 0.99990708 -0.27788222] [ 0. 0. 0. 1. ]] SLAMing on 210.663133365 meters Centerline goodness : 0.164012 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99985109 -0.01342097 -0.01084795 -0.90769568] [ 0.01332822 0.99987438 -0.00857756 -0.22870137] [ 0.01096171 0.0084317 0.99990437 -0.27827983] [ 0. 0. 0. 1. ]] SLAMing on 210.693133365 meters Centerline goodness : 0.164012 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99985109 -0.01342097 -0.01084795 -0.90769568] [ 0.01332822 0.99987438 -0.00857756 -0.22870137] [ 0.01096171 0.0084317 0.99990437 -0.27827983] [ 0. 0. 0. 1. ]] SLAMing on 210.723133365 meters Centerline goodness : 0.097427 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99984347 -0.0136341 -0.01127576 -0.90651365] [ 0.01353832 0.99987199 -0.008527 -0.22984977] [ 0.01139058 0.00837301 0.99990007 -0.27873964] [ 0. 0. 0. 1. ]] SLAMing on 210.753133365 meters Centerline goodness : 0.098503 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.28 [[ 0.99991364 -0.00709537 -0.0110619 -0.92466291] [ 0.00699007 0.99993017 -0.00952874 -0.23531057] [ 0.01112874 0.00945059 0.99989341 -0.28148095] [ 0. 0. 0. 1. ]] SLAMing on 210.783133365 meters Centerline goodness : 0.165225 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.24, Z:-0.28 [[ 0.99992615 -0.00746614 -0.00958942 -0.88144964] [ 0.00735891 0.99991055 -0.01116893 -0.23802444] [ 0.00967195 0.01109753 0.99989164 -0.28249027] [ 0. 0. 0. 1. ]] SLAMing on 210.813133365 meters Centerline goodness : 0.162551 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.24, Z:-0.28 [[ 0.99992719 -0.00738405 -0.00954406 -0.8814818 ] [ 0.00727953 0.99991366 -0.0109399 -0.2388819 ] [ 0.00962402 0.01086963 0.99989461 -0.28272175] [ 0. 0. 0. 1. ]] SLAMing on 210.843133365 meters Centerline goodness : 0.099789 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.24, Z:-0.28 [[ 0.99992854 -0.00731479 -0.00945586 -0.88160665] [ 0.00721264 0.99991575 -0.01079184 -0.23937653] [ 0.009534 0.01072287 0.99989706 -0.28288913] [ 0. 0. 0. 1. ]] SLAMing on 210.873133365 meters Centerline goodness : 0.126990 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.24, Z:-0.28 [[ 0.99985437 -0.01419423 -0.00947414 -0.86206525] [ 0.01410049 0.99985168 -0.00988885 -0.2361112 ] [ 0.0096131 0.00975382 0.99990622 -0.28137109] [ 0. 0. 0. 1. ]] SLAMing on 210.903133365 meters Centerline goodness : 0.144927 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.24, Z:-0.28 [[ 0.99985376 -0.01422873 -0.00948723 -0.8619981 ] [ 0.01413388 0.9998502 -0.00999086 -0.23565286] [ 0.00962797 0.00985531 0.99990508 -0.28137792] [ 0. 0. 0. 1. ]] SLAMing on 210.93313336499997 meters Centerline goodness : 0.153055 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.23, Z:-0.28 [[ 0.999898 -0.01049057 -0.00969209 -0.86163342] [ 0.01042857 0.99992498 -0.00642519 -0.23491635] [ 0.00975877 0.00632346 0.99993239 -0.28148092] [ 0. 0. 0. 1. ]] SLAMing on 210.96313336499998 meters Centerline goodness : 0.147989 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.23, Z:-0.28 [[ 0.99992859 -0.00680791 -0.00982206 -0.86155673] [ 0.00678096 0.99997316 -0.00277445 -0.23491576] [ 0.00984069 0.00270765 0.99994791 -0.28130911] [ 0. 0. 0. 1. ]] SLAMing on 210.99313336499998 meters SLAMing on 211.02313336499998 meters Centerline goodness : 0.146024 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.23, Z:-0.28 [[ 9.99948028e-01 -3.72672021e-03 -9.48957282e-03 -8.62463963e-01] [ 3.72622910e-03 9.99993055e-01 -6.94332890e-05 -2.32744277e-01] [ 9.48976567e-03 3.40693581e-05 9.99954971e-01 -2.81170486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05313336499998 meters Centerline goodness : 0.191949 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.23, Z:-0.28 [[ 9.99949261e-01 -3.84260778e-03 -9.31178965e-03 -8.62722720e-01] [ 3.83829026e-03 9.99992518e-01 -4.81489141e-04 -2.30541877e-01] [ 9.31357015e-03 4.45723360e-04 9.99956528e-01 -2.81356008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08313336499998 meters Centerline goodness : 0.120344 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.23, Z:-0.28 [[ 9.99949972e-01 -3.86999554e-03 -9.22368011e-03 -8.62771205e-01] [ 3.86253394e-03 9.99992199e-01 -8.26638033e-04 -2.28107248e-01] [ 9.22680724e-03 7.90969901e-04 9.99957119e-01 -2.81586677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11313336499998 meters Centerline goodness : 0.119555 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.22, Z:-0.28 [[ 9.99954710e-01 -1.60718070e-04 -9.51584910e-03 -8.61540033e-01] [ 1.82525781e-04 9.99997359e-01 2.29090113e-03 -2.23887755e-01] [ 9.51545578e-03 -2.29253427e-03 9.99952099e-01 -2.82388043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14313336499998 meters Centerline goodness : 0.203006 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.22, Z:-0.28 [[ 0.99995746 0.002299 -0.00893269 -0.81821545] [-0.00228641 0.99999638 0.00142015 -0.21935552] [ 0.00893592 -0.00139967 0.99995909 -0.28269157] [ 0. 0. 0. 1. ]] SLAMing on 211.17313336499998 meters Centerline goodness : 0.175865 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.22, Z:-0.28 [[ 9.99957690e-01 2.10153263e-03 -8.95556114e-03 -8.17801418e-01] [-2.09515142e-03 9.99997545e-01 7.21864187e-04 -2.15746021e-01] [ 8.95705617e-03 -7.03070389e-04 9.99959638e-01 -2.83161802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20313336499999 meters Centerline goodness : 0.167253 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.21, Z:-0.28 [[ 9.99958492e-01 1.91381926e-03 -8.90794731e-03 -8.17544118e-01] [-1.91347751e-03 9.99998168e-01 4.68879222e-05 -2.12120010e-01] [ 8.90802073e-03 -2.98408191e-05 9.99960322e-01 -2.83674814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.233133365 meters Centerline goodness : 0.197834 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.21, Z:-0.28 [[ 9.99958865e-01 1.76615791e-03 -8.89662304e-03 -8.17171955e-01] [-1.77164751e-03 9.99998245e-01 -6.09200036e-04 -2.08121553e-01] [ 8.89553148e-03 6.24936657e-04 9.99960239e-01 -2.84206263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.263133365 meters Centerline goodness : 0.144461 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.20, Z:-0.28 [[ 0.99996007 0.00170898 -0.00877169 -0.81710169] [-0.00171879 0.99999791 -0.00111064 -0.20457173] [ 0.00876977 0.00112567 0.99996091 -0.28473894] [ 0. 0. 0. 1. ]] SLAMing on 211.293133365 meters Centerline goodness : 0.122168 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.20, Z:-0.28 [[ 0.99996497 0.00140552 -0.00825074 -0.81814391] [-0.00142272 0.99999683 -0.00207928 -0.1994788 ] [ 0.00824779 0.00209094 0.9999638 -0.28487929] [ 0. 0. 0. 1. ]] SLAMing on 211.323133365 meters Centerline goodness : 0.124190 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.20, Z:-0.28 [[ 0.9999665 0.00119896 -0.00809748 -0.8185891 ] [-0.00121943 0.99999607 -0.00252358 -0.19758435] [ 0.00809443 0.00253337 0.99996403 -0.28471084] [ 0. 0. 0. 1. ]] SLAMing on 211.353133365 meters Centerline goodness : 0.144131 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.20, Z:-0.28 [[ 0.99996732 0.00104649 -0.00801589 -0.81871174] [-0.00106998 0.99999514 -0.00292678 -0.19544183] [ 0.00801279 0.00293526 0.99996359 -0.28482467] [ 0. 0. 0. 1. ]] SLAMing on 211.383133365 meters Centerline goodness : 0.167038 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.19, Z:-0.29 [[ 0.99996746 0.00100711 -0.00800429 -0.8183326 ] [-0.00103294 0.99999427 -0.00322351 -0.19314204] [ 0.00800099 0.00323167 0.99996277 -0.28543334] [ 0. 0. 0. 1. ]] SLAMing on 211.413133365 meters Centerline goodness : 0.152303 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.19, Z:-0.29 [[ 0.9999653 0.00113166 -0.0082528 -0.81664394] [-0.00116153 0.99999279 -0.00361447 -0.188199 ] [ 0.00824865 0.00362393 0.99995941 -0.28691119] [ 0. 0. 0. 1. ]] SLAMing on 211.443133365 meters Centerline goodness : 0.161793 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.19, Z:-0.29 [[ 0.99996557 0.00101625 -0.00823538 -0.81646544] [-0.00104913 0.99999149 -0.00398957 -0.18629229] [ 0.00823126 0.00399808 0.99995813 -0.28717477] [ 0. 0. 0. 1. ]] SLAMing on 211.473133365 meters Centerline goodness : 0.120978 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.18, Z:-0.29 [[ 9.99966193e-01 9.49801191e-04 -8.16765906e-03 -8.16670023e-01] [-9.85070016e-04 9.99990204e-01 -4.31516867e-03 -1.84426259e-01] [ 8.16348050e-03 4.32306850e-03 9.99957333e-01 -2.87037303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.503133365 meters Centerline goodness : 0.153599 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.18, Z:-0.29 [[ 9.99967083e-01 9.30921991e-04 -8.06017047e-03 -8.16848538e-01] [-9.68293553e-04 9.99988795e-01 -4.63391200e-03 -1.82253896e-01] [ 8.05576634e-03 4.64156408e-03 9.99956779e-01 -2.87143157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.533133365 meters Centerline goodness : 0.119070 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.18, Z:-0.29 [[ 9.99968201e-01 9.96650129e-04 -7.91219420e-03 -8.17022056e-01] [-1.03532264e-03 9.99987532e-01 -4.88511995e-03 -1.79967553e-01] [ 7.90722679e-03 4.89315628e-03 9.99956765e-01 -2.87388834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.563133365 meters Centerline goodness : 0.165040 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.18, Z:-0.29 [[ 0.99995776 0.00454191 -0.00799098 -0.8165047 ] [-0.00455738 0.99998777 -0.00191866 -0.1761309 ] [ 0.00798217 0.001955 0.99996623 -0.28774074] [ 0. 0. 0. 1. ]] SLAMing on 211.593133365 meters Centerline goodness : 0.139899 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.17, Z:-0.29 [[ 0.99995993 0.00446082 -0.00776099 -0.81694358] [-0.00447933 0.99998716 -0.00237038 -0.17347467] [ 0.00775032 0.00240505 0.99996707 -0.28784405] [ 0. 0. 0. 1. ]] SLAMing on 211.623133365 meters Centerline goodness : 0.096139 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.17, Z:-0.29 [[ 0.99996204 0.00442377 -0.00750649 -0.81739022] [-0.00444493 0.99998619 -0.00280535 -0.17059899] [ 0.00749398 0.0028386 0.99996789 -0.28803385] [ 0. 0. 0. 1. ]] SLAMing on 211.653133365 meters Centerline goodness : 0.164682 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.16, Z:-0.29 [[ 0.99996055 -0.00127169 -0.00879052 -0.79991004] [ 0.00125816 0.99999801 -0.00154543 -0.16306364] [ 0.00879247 0.00153431 0.99996017 -0.28596145] [ 0. 0. 0. 1. ]] SLAMing on 211.68313336499997 meters Centerline goodness : 0.099108 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.16, Z:-0.29 [[ 0.99996148 -0.00127007 -0.00868517 -0.79966705] [ 0.00125401 0.99999749 -0.00185477 -0.16052867] [ 0.0086875 0.00184381 0.99996056 -0.28673705] [ 0. 0. 0. 1. ]] SLAMing on 211.71313336499998 meters Centerline goodness : 0.251537 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.16, Z:-0.29 [[ 0.99996195 -0.00135287 -0.00861843 -0.79950771] [ 0.00133383 0.99999666 -0.00221499 -0.15835054] [ 0.00862139 0.00220341 0.99996041 -0.28720751] [ 0. 0. 0. 1. ]] SLAMing on 211.74313336499998 meters Centerline goodness : 0.147244 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995934 -0.00167498 -0.00886059 -0.79863365] [ 0.00164845 0.99999414 -0.00300092 -0.15480171] [ 0.00886557 0.00298619 0.99995624 -0.2877407 ] [ 0. 0. 0. 1. ]] SLAMing on 211.77313336499998 meters Centerline goodness : 0.234055 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995742 -0.00178563 -0.00905424 -0.79777917] [ 0.00175516 0.99999277 -0.00337201 -0.15256269] [ 0.00906019 0.00335598 0.99995332 -0.28840722] [ 0. 0. 0. 1. ]] SLAMing on 211.80313336499998 meters Centerline goodness : 0.353220 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995613 -0.00178824 -0.00919467 -0.79697942] [ 0.00175496 0.99999189 -0.00362601 -0.15048011] [ 0.00920108 0.00360971 0.99995115 -0.28919305] [ 0. 0. 0. 1. ]] SLAMing on 211.83313336499998 meters SLAMing on 211.86313336499998 meters Centerline goodness : 0.150770 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995765 -0.00190731 -0.00900375 -0.7971336 ] [ 0.00187058 0.9999899 -0.00408611 -0.14762852] [ 0.00901146 0.0040691 0.99995112 -0.28966397] [ 0. 0. 0. 1. ]] SLAMing on 211.89313336499998 meters Centerline goodness : 0.159794 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995961 -0.00195002 -0.00877314 -0.79786033] [ 0.00191286 0.99998917 -0.00424178 -0.1467351 ] [ 0.00878132 0.00422483 0.99995252 -0.28938736] [ 0. 0. 0. 1. ]] SLAMing on 211.92313336499998 meters Centerline goodness : 0.163859 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995895 -0.00199568 -0.00883816 -0.79745393] [ 0.00195689 0.99998843 -0.00439508 -0.1456865 ] [ 0.00884683 0.0043776 0.99995128 -0.28982742] [ 0. 0. 0. 1. ]] SLAMing on 211.95313336499999 meters Centerline goodness : 0.126339 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995711 -0.00198772 -0.00904624 -0.79656612] [ 0.00194818 0.99998852 -0.0043772 -0.14563416] [ 0.00905483 0.00435939 0.9999495 -0.29049326] [ 0. 0. 0. 1. ]] SLAMing on 211.983133365 meters Centerline goodness : 0.154348 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995581 -0.00196913 -0.00919288 -0.79593321] [ 0.00192943 0.99998879 -0.00432489 -0.14580005] [ 0.00920129 0.00430696 0.99994839 -0.29100263] [ 0. 0. 0. 1. ]] SLAMing on 212.013133365 meters Centerline goodness : 0.062381 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995534 -0.00196444 -0.00924416 -0.79568607] [ 0.00192432 0.9999887 -0.00434776 -0.14554224] [ 0.0092526 0.00432978 0.99994782 -0.29119356] [ 0. 0. 0. 1. ]] SLAMing on 212.043133365 meters Centerline goodness : 0.143918 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:-0.29 [[ 0.99995273 -0.00202065 -0.00951102 -0.79469468] [ 0.00197514 0.99998656 -0.00479267 -0.14312923] [ 0.00952058 0.00477366 0.99994328 -0.29176683] [ 0. 0. 0. 1. ]] SLAMing on 212.073133365 meters Centerline goodness : 0.166241 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:-0.29 [[ 0.99994919 -0.00209315 -0.00986073 -0.79343822] [ 0.00204209 0.99998447 -0.0051855 -0.14071542] [ 0.00987143 0.0051651 0.99993794 -0.29243915] [ 0. 0. 0. 1. ]] SLAMing on 212.103133365 meters Centerline goodness : 0.136009 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:-0.29 [[ 0.99994478 -0.00212843 -0.0102909 -0.79185441] [ 0.00207129 0.9999824 -0.00555973 -0.13832552] [ 0.01030255 0.0055381 0.99993159 -0.29336277] [ 0. 0. 0. 1. ]] SLAMing on 212.133133365 meters Centerline goodness : 0.145168 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:-0.29 [[ 0.99994351 -0.00214015 -0.01041175 -0.791023 ] [ 0.0020791 0.9999806 -0.00587116 -0.13610672] [ 0.01042411 0.00584918 0.99992856 -0.29422693] [ 0. 0. 0. 1. ]] SLAMing on 212.163133365 meters Centerline goodness : 0.133642 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.13, Z:-0.29 [[ 0.99994248 -0.0021738 -0.01050247 -0.79049497] [ 0.00210878 0.99997857 -0.00619818 -0.13386987] [ 0.01051572 0.00617568 0.99992564 -0.29476622] [ 0. 0. 0. 1. ]] SLAMing on 212.193133365 meters Centerline goodness : 0.159544 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.13, Z:-0.30 [[ 0.99994233 -0.00221184 -0.01050969 -0.79017116] [ 0.00214336 0.99997643 -0.00652221 -0.13154995] [ 0.01052387 0.00649931 0.9999235 -0.29522097] [ 0. 0. 0. 1. ]] SLAMing on 212.223133365 meters Centerline goodness : 0.136683 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.13, Z:-0.30 [[ 0.99994244 0.00145194 -0.01063093 -0.78980802] [-0.00148744 0.99999334 -0.00333141 -0.12850841] [ 0.01062603 0.00334703 0.99993794 -0.29542457] [ 0. 0. 0. 1. ]] SLAMing on 212.253133365 meters Centerline goodness : 0.130937 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.13, Z:-0.30 [[ 0.99994394 0.00133101 -0.01050455 -0.78988257] [-0.00137129 0.99999173 -0.00382794 -0.12555858] [ 0.01049937 0.00384213 0.9999375 -0.29575491] [ 0. 0. 0. 1. ]] SLAMing on 212.283133365 meters Centerline goodness : 0.140448 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.12, Z:-0.30 [[ 0.99994589 0.00114931 -0.01033947 -0.7900697 ] [-0.00119457 0.99998973 -0.00437205 -0.12264767] [ 0.01033434 0.00438417 0.99993699 -0.2960976 ] [ 0. 0. 0. 1. ]] SLAMing on 212.313133365 meters Centerline goodness : 0.132963 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.12, Z:-0.30 [[ 9.99947826e-01 8.45951299e-04 -1.01798373e-02 -7.90117572e-01] [-8.99682327e-04 9.99985684e-01 -5.27475999e-03 -1.17728269e-01] [ 1.01752294e-02 5.28364341e-03 9.99934272e-01 -2.96655055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.343133365 meters Centerline goodness : 0.126324 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.12, Z:-0.30 [[ 9.99947417e-01 6.93363355e-04 -1.02314363e-02 -7.89604490e-01] [-7.51887831e-04 9.99983373e-01 -5.71732716e-03 -1.15191172e-01] [ 1.02273020e-02 5.72471942e-03 9.99931313e-01 -2.97331055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.373133365 meters Centerline goodness : 0.147402 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:-0.30 [[ 9.99946487e-01 5.53102415e-04 -1.03304382e-02 -7.88933652e-01] [-6.16418574e-04 9.99981040e-01 -6.12690942e-03 -1.12868000e-01] [ 1.03268535e-02 6.13294942e-03 9.99927869e-01 -2.98052026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.403133365 meters Centerline goodness : 0.135359 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.11, Z:-0.30 [[ 0.99991434 -0.00599866 -0.01163333 -0.77036829] [ 0.00593607 0.99996776 -0.0054074 -0.10520521] [ 0.01166539 0.00533789 0.99991771 -0.29633756] [ 0. 0. 0. 1. ]] SLAMing on 212.43313336499997 meters Centerline goodness : 0.131712 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.10, Z:-0.30 [[ 0.99991523 -0.00606218 -0.01152327 -0.77045538] [ 0.00599745 0.99996609 -0.00564431 -0.10372723] [ 0.0115571 0.00557472 0.99991767 -0.29661053] [ 0. 0. 0. 1. ]] SLAMing on 212.46313336499998 meters Centerline goodness : 0.138470 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.10, Z:-0.30 [[ 0.99992289 -0.00645326 -0.01060978 -0.7729499 ] [ 0.0063873 0.99996014 -0.00623895 -0.10129039] [ 0.01064962 0.0061707 0.99992425 -0.29616409] [ 0. 0. 0. 1. ]] SLAMing on 212.49313336499998 meters Centerline goodness : 0.133052 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.10, Z:-0.30 [[ 0.99995004 0.0021887 -0.00975289 -0.75524173] [-0.00225478 0.99997455 -0.0067693 -0.10478951] [ 0.00973782 0.00679096 0.99992953 -0.29559058] [ 0. 0. 0. 1. ]] SLAMing on 212.52313336499998 meters Centerline goodness : 0.146382 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.10, Z:-0.30 [[ 0.99992917 -0.00676685 -0.00979142 -0.77454162] [ 0.00671208 0.99996171 -0.00561559 -0.10059929] [ 0.00982905 0.00554947 0.99993629 -0.29733014] [ 0. 0. 0. 1. ]] SLAMing on 212.55313336499998 meters Centerline goodness : 0.097090 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:-0.30 [[ 0.99995121 0.00190804 -0.00969237 -0.79119234] [-0.00197832 0.99997179 -0.00724642 -0.10574148] [ 0.00967827 0.00726524 0.99992677 -0.29884973] [ 0. 0. 0. 1. ]] SLAMing on 212.58313336499998 meters Centerline goodness : 0.097090 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:-0.30 [[ 0.99995121 0.00190804 -0.00969237 -0.79119234] [-0.00197832 0.99997179 -0.00724642 -0.10574148] [ 0.00967827 0.00726524 0.99992677 -0.29884973] [ 0. 0. 0. 1. ]] SLAMing on 212.61313336499998 meters SLAMing on 212.64313336499998 meters SLAMing on 212.67313336499998 meters SLAMing on 212.70313336499999 meters SLAMing on 212.733133365 meters SLAMing on 212.763133365 meters Centerline goodness : 0.158522 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.09, Z:-0.30 [[ 0.99990038 -0.00221307 -0.01394052 -0.76816836] [ 0.00212668 0.99997846 -0.00620881 -0.09305634] [ 0.01395396 0.00617855 0.99988355 -0.29974656] [ 0. 0. 0. 1. ]] SLAMing on 212.793133365 meters SLAMing on 212.823133365 meters SLAMing on 212.853133365 meters SLAMing on 212.883133365 meters SLAMing on 212.913133365 meters SLAMing on 212.943133365 meters Centerline goodness : 0.134383 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:-0.30 [[ 0.99974112 0.01566299 -0.01650335 -0.76201254] [-0.01571063 0.99987277 -0.00276099 -0.04435267] [ 0.01645801 0.00301955 0.99986 -0.30192962] [ 0. 0. 0. 1. ]] SLAMing on 212.973133365 meters Centerline goodness : 0.138752 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99985229 0.0091643 -0.01453985 -0.77780443] [-0.00919887 0.99995502 -0.00231243 -0.03161707] [ 0.014518 0.00244584 0.99989162 -0.30482725] [ 0. 0. 0. 1. ]] SLAMing on 213.003133365 meters Centerline goodness : 0.041143 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:-0.30 [[ 0.99987274 0.00264285 -0.01573243 -0.75954169] [-0.0026665 0.99999535 -0.00148211 -0.01821226] [ 0.01572844 0.00152387 0.99987514 -0.30362372] [ 0. 0. 0. 1. ]] SLAMing on 213.033133365 meters Centerline goodness : 0.119882 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.30 [[ 0.99987329 0.00226487 -0.01575664 -0.75935244] [-0.00230437 0.99999425 -0.00248902 -0.0128113 ] [ 0.01575091 0.00252502 0.99987276 -0.30394467] [ 0. 0. 0. 1. ]] SLAMing on 213.063133365 meters Centerline goodness : 0.116828 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.30 [[ 0.99987173 0.00185137 -0.01590902 -0.75899171] [-0.00190675 0.99999217 -0.00346692 -0.00806645] [ 0.01590247 0.00349681 0.99986743 -0.3040384 ] [ 0. 0. 0. 1. ]] SLAMing on 213.093133365 meters Centerline goodness : 0.112815 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.00, Z:-0.30 [[ 9.99869819e-01 1.17706845e-03 -1.60922374e-02 -7.58344440e-01] [-1.25659392e-03 9.99987045e-01 -4.93263489e-03 1.24212264e-04] [ 1.60862228e-02 4.95221416e-03 9.99858344e-01 -3.04492522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.123133365 meters Centerline goodness : 0.135109 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.00, Z:-0.30 [[ 9.99872189e-01 9.40526851e-04 -1.59599925e-02 -7.58575121e-01] [-1.02866137e-03 9.99984264e-01 -5.51490500e-03 3.43792106e-03] [ 1.59545544e-02 5.53061756e-03 9.99857422e-01 -3.04654030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.153133365 meters Centerline goodness : 0.136638 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.01, Z:-0.30 [[ 9.99875440e-01 6.96088999e-04 -1.57676762e-02 -7.59015309e-01] [-7.91787173e-04 9.99981301e-01 -6.06383363e-03 6.25663964e-03] [ 1.57631604e-02 6.07556297e-03 9.99857295e-01 -3.04724795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18313336499997 meters Centerline goodness : 0.109096 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.01, Z:-0.31 [[ 0.9998485 -0.00822783 -0.01533903 -0.7791931 ] [ 0.00814427 0.9999517 -0.00550209 0.01253616] [ 0.01538356 0.00537633 0.99986721 -0.30648482] [ 0. 0. 0. 1. ]] SLAMing on 213.21313336499998 meters Centerline goodness : 0.139250 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.01, Z:-0.31 [[ 0.99984601 -0.00844425 -0.01538375 -0.77935905] [ 0.00835394 0.99994755 -0.00592582 0.01447043] [ 0.01543298 0.00579639 0.9998641 -0.30609707] [ 0. 0. 0. 1. ]] SLAMing on 213.24313336499998 meters Centerline goodness : 0.121263 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.31 [[ 0.99984668 -0.00875383 -0.015165 -0.78022467] [ 0.00865281 0.99994002 -0.00671422 0.01918459] [ 0.01522287 0.00658197 0.99986246 -0.30571166] [ 0. 0. 0. 1. ]] SLAMing on 213.27313336499998 meters Centerline goodness : 0.144473 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.31 [[ 0.99986822 -0.00602671 -0.01507402 -0.78065827] [ 0.00596651 0.99997406 -0.00403496 0.02075421] [ 0.01509794 0.00394449 0.99987824 -0.30547732] [ 0. 0. 0. 1. ]] SLAMing on 213.30313336499998 meters Centerline goodness : 0.106773 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.31 [[ 0.99988561 0.00163442 -0.01503636 -0.80016917] [-0.00171763 0.99998327 -0.00552294 0.01915404] [ 0.01502708 0.00554814 0.99987169 -0.30739263] [ 0. 0. 0. 1. ]] SLAMing on 213.33313336499998 meters Centerline goodness : 0.128541 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.31 [[ 0.9998853 0.00143775 -0.01507743 -0.79987743] [-0.00152844 0.9999808 -0.00600528 0.02150852] [ 0.01506851 0.00602763 0.9998683 -0.30776065] [ 0. 0. 0. 1. ]] SLAMing on 213.36313336499998 meters Centerline goodness : 0.111040 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.03, Z:-0.31 [[ 0.99988224 0.00122686 -0.01529734 -0.79871191] [-0.00133005 0.99997642 -0.00673698 0.02584468] [ 0.01528872 0.00675654 0.99986029 -0.30878812] [ 0. 0. 0. 1. ]] SLAMing on 213.39313336499998 meters Centerline goodness : 0.150052 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.03, Z:-0.31 [[ 0.99987848 0.00107725 -0.01555177 -0.79773205] [-0.00118931 0.99997339 -0.00719797 0.02828936] [ 0.0155436 0.00721559 0.99985316 -0.30940656] [ 0. 0. 0. 1. ]] SLAMing on 213.42313336499998 meters Centerline goodness : 0.135274 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.03, Z:-0.31 [[ 9.99873493e-01 8.91567707e-04 -1.58809349e-02 -7.96599995e-01] [-1.01446892e-03 9.99969589e-01 -7.73254160e-03 3.10061074e-02] [ 1.58735579e-02 7.74767410e-03 9.99843990e-01 -3.10018165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45313336499999 meters Centerline goodness : 0.130128 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.03, Z:-0.31 [[ 9.99866333e-01 7.72984041e-04 -1.63315518e-02 -7.95322162e-01] [-9.08395060e-04 9.99965261e-01 -8.28558419e-03 3.41937060e-02] [ 1.63245799e-02 8.29931218e-03 9.99832301e-01 -3.10439514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.483133365 meters Centerline goodness : 0.148046 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:-0.31 [[ 9.99864633e-01 6.67191037e-04 -1.64399292e-02 -7.94848356e-01] [-8.12061656e-04 9.99960888e-01 -8.80702010e-03 3.72797806e-02] [ 1.64334103e-02 8.81917815e-03 9.99826067e-01 -3.10840351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.513133365 meters Centerline goodness : 0.147001 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.04, Z:-0.31 [[ 9.99868356e-01 5.87222104e-04 -1.62150143e-02 -7.95241061e-01] [-7.37821183e-04 9.99956638e-01 -9.28321178e-03 4.02641408e-02] [ 1.62088599e-02 9.29395348e-03 9.99825432e-01 -3.11122824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.543133365 meters Centerline goodness : 0.150428 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.05, Z:-0.31 [[ 0.99987445 -0.00418819 -0.01528211 -0.77442199] [ 0.00409454 0.99997268 -0.00615463 0.04823412] [ 0.01530747 0.00609128 0.99986428 -0.31101768] [ 0. 0. 0. 1. ]] SLAMing on 213.573133365 meters Centerline goodness : 0.153567 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.05, Z:-0.31 [[ 0.99987565 -0.00432813 -0.01516442 -0.7746853 ] [ 0.00422947 0.99996972 -0.00653219 0.05029806] [ 0.01519223 0.00646724 0.99986368 -0.31111112] [ 0. 0. 0. 1. ]] SLAMing on 213.603133365 meters Centerline goodness : 0.055016 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.05, Z:-0.31 [[ 0.99987477 -0.00443291 -0.01519185 -0.7744126 ] [ 0.00432902 0.99996707 -0.00686495 0.05223549] [ 0.01522178 0.00679832 0.99986103 -0.31148026] [ 0. 0. 0. 1. ]] SLAMing on 213.633133365 meters SLAMing on 213.663133365 meters Centerline goodness : 0.157723 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.06, Z:-0.31 [[ 0.99987126 -0.00463881 -0.01536055 -0.77332426] [ 0.00452262 0.99996097 -0.00759 0.05660073] [ 0.01539516 0.00751956 0.99985321 -0.31255133] [ 0. 0. 0. 1. ]] SLAMing on 213.693133365 meters Centerline goodness : 0.151226 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.06, Z:-0.31 [[ 0.99987127 -0.00482688 -0.01530211 -0.77334679] [ 0.00470338 0.99995616 -0.0080966 0.05921169] [ 0.01534052 0.00802359 0.99985013 -0.31280441] [ 0. 0. 0. 1. ]] SLAMing on 213.723133365 meters Centerline goodness : 0.157228 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.06, Z:-0.31 [[ 0.99987144 0.00351441 -0.01564448 -0.7957395 ] [-0.00366329 0.99994818 -0.00949799 0.06160039] [ 0.01561029 0.00955408 0.99983251 -0.31352904] [ 0. 0. 0. 1. ]] SLAMing on 213.753133365 meters Centerline goodness : 0.157200 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.06, Z:-0.31 [[ 0.99987312 0.0033398 -0.01557548 -0.79581465] [-0.00349738 0.99994287 -0.01010093 0.06495239] [ 0.01554085 0.01015412 0.99982767 -0.31372119] [ 0. 0. 0. 1. ]] SLAMing on 213.783133365 meters Centerline goodness : 0.158202 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.07, Z:-0.31 [[ 0.99987555 0.00320061 -0.01544825 -0.79598436] [-0.00336509 0.99993781 -0.01063302 0.06812297] [ 0.01541325 0.01068368 0.99982413 -0.31398989] [ 0. 0. 0. 1. ]] SLAMing on 213.813133365 meters Centerline goodness : 0.106233 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.07, Z:-0.31 [[ 0.99988341 -0.00210686 -0.01512393 -0.77513322] [ 0.00199407 0.99997012 -0.00746908 0.07369348] [ 0.01513922 0.00743805 0.99985773 -0.31351151] [ 0. 0. 0. 1. ]] SLAMing on 213.843133365 meters Centerline goodness : 0.156862 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.07, Z:-0.31 [[ 0.99984448 -0.00211328 -0.01750837 -0.82071989] [ 0.00198887 0.99997267 -0.00712017 0.07376107] [ 0.01752294 0.00708424 0.99982136 -0.31301793] [ 0. 0. 0. 1. ]] SLAMing on 213.873133365 meters Centerline goodness : 0.150378 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.08, Z:-0.31 [[ 0.99984284 -0.00224506 -0.01758583 -0.82038165] [ 0.00211364 0.99996973 -0.00748806 0.07565689] [ 0.01760211 0.00744971 0.99981732 -0.31331918] [ 0. 0. 0. 1. ]] SLAMing on 213.903133365 meters Centerline goodness : 0.167120 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.08, Z:-0.31 [[ 0.99983301 -0.00259178 -0.01808981 -0.81876601] [ 0.00244218 0.99996268 -0.00828692 0.07934128] [ 0.01811061 0.00824135 0.99980202 -0.31409611] [ 0. 0. 0. 1. ]] SLAMing on 213.93313336499997 meters Centerline goodness : 0.159699 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.08, Z:-0.31 [[ 0.99983205 -0.00268744 -0.01812866 -0.81852193] [ 0.00253178 0.99995978 -0.00860427 0.08128124] [ 0.01815105 0.00855693 0.99979864 -0.31437566] [ 0. 0. 0. 1. ]] SLAMing on 213.96313336499998 meters Centerline goodness : 0.151442 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.08, Z:-0.31 [[ 0.99983287 -0.00271796 -0.01807891 -0.81868051] [ 0.00255982 0.99995831 -0.00876485 0.08260699] [ 0.01810198 0.0087171 0.99979814 -0.31436663] [ 0. 0. 0. 1. ]] SLAMing on 213.99313336499998 meters Centerline goodness : 0.150237 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.08, Z:-0.31 [[ 0.99983132 -0.00278618 -0.01815404 -0.81831386] [ 0.0026233 0.99995615 -0.00898967 0.08401525] [ 0.01817829 0.00894053 0.99979479 -0.3146723 ] [ 0. 0. 0. 1. ]] SLAMing on 214.02313336499998 meters Centerline goodness : 0.146646 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.09, Z:-0.32 [[ 0.99982788 -0.00292116 -0.01832144 -0.81746203] [ 0.00275126 0.99995305 -0.00929153 0.08539987] [ 0.01834772 0.00923952 0.99978897 -0.31538213] [ 0. 0. 0. 1. ]] SLAMing on 214.05313336499998 meters Centerline goodness : 0.152843 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.09, Z:-0.32 [[ 0.99982299 -0.00310874 -0.01855595 -0.81646401] [ 0.00292889 0.99994855 -0.00971166 0.08721226] [ 0.01858518 0.0096556 0.99978066 -0.31610341] [ 0. 0. 0. 1. ]] SLAMing on 214.08313336499998 meters Centerline goodness : 0.155896 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.09, Z:-0.32 [[ 0.99979053 0.00562595 -0.01967857 -0.83737955] [-0.00583795 0.99992536 -0.01073247 0.08790591] [ 0.01961672 0.0108451 0.99974875 -0.31699111] [ 0. 0. 0. 1. ]] SLAMing on 214.11313336499998 meters Centerline goodness : 0.153996 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.09, Z:-0.32 [[ 0.99979633 0.00564574 -0.01937571 -0.83821702] [-0.00586221 0.99992084 -0.01113346 0.09102447] [ 0.01931132 0.01124478 0.99975028 -0.31683477] [ 0. 0. 0. 1. ]] SLAMing on 214.14313336499998 meters Centerline goodness : 0.143897 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.09, Z:-0.32 [[ 0.9998041 0.00560589 -0.01898274 -0.83945408] [-0.005828 0.99991497 -0.01166572 0.09463507] [ 0.01891573 0.01177406 0.99975175 -0.316429 ] [ 0. 0. 0. 1. ]] SLAMing on 214.17313336499998 meters Centerline goodness : 0.152450 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.10, Z:-0.31 [[ 9.99787916e-01 -1.15547448e-04 -2.05939405e-02 -8.25077290e-01] [-1.03617893e-04 9.99943379e-01 -1.06408398e-02 1.03418033e-01] [ 2.05940040e-02 1.06407170e-02 9.99731295e-01 -3.12878511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20313336499999 meters Centerline goodness : 0.152113 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.11, Z:-0.31 [[ 9.99787246e-01 -4.16848493e-04 -2.06225251e-02 -8.25091770e-01] [ 1.80708731e-04 9.99934418e-01 -1.14511132e-02 1.07393368e-01] [ 2.06259460e-02 1.14449503e-02 9.99721753e-01 -3.12843822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.233133365 meters Centerline goodness : 0.144763 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.12, Z:-0.32 [[ 0.99975733 0.00163653 -0.02196824 -0.81980756] [-0.00186634 0.99994371 -0.01044464 0.11619076] [ 0.02194991 0.01048311 0.99970411 -0.31548014] [ 0. 0. 0. 1. ]] SLAMing on 214.263133365 meters Centerline goodness : 0.147256 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.12, Z:-0.32 [[ 0.99975642 0.00147041 -0.02202112 -0.81959985] [-0.00171599 0.99993651 -0.01113712 0.12051064] [ 0.02200334 0.01117219 0.99969547 -0.31565151] [ 0. 0. 0. 1. ]] SLAMing on 214.293133365 meters Centerline goodness : 0.138430 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.12, Z:-0.32 [[ 0.9997633 0.00124586 -0.02172082 -0.82048542] [-0.00150342 0.99992871 -0.0118456 0.12452561] [ 0.02170451 0.01187545 0.9996939 -0.31542858] [ 0. 0. 0. 1. ]] SLAMing on 214.323133365 meters Centerline goodness : 0.150624 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.13, Z:-0.31 [[ 0.99977403 0.00101571 -0.02123357 -0.82219071] [-0.00128256 0.99992033 -0.01255757 0.12835857] [ 0.02121912 0.01258196 0.99969568 -0.31465777] [ 0. 0. 0. 1. ]] SLAMing on 214.353133365 meters Centerline goodness : 0.143861 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.13, Z:-0.31 [[ 9.99784303e-01 7.99556523e-04 -2.07535339e-02 -8.23835151e-01] [-1.07552194e-03 9.99911112e-01 -1.32895199e-02 1.32442335e-01] [ 2.07410634e-02 1.33089743e-02 9.99696294e-01 -3.13971036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.383133365 meters Centerline goodness : 0.154155 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.14, Z:-0.31 [[ 0.99978117 -0.00497626 -0.02031859 -0.84774172] [ 0.00476274 0.99993308 -0.01054328 0.13805818] [ 0.0203697 0.0104442 0.99973796 -0.31383727] [ 0. 0. 0. 1. ]] SLAMing on 214.413133365 meters Centerline goodness : 0.146389 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.14, Z:-0.31 [[ 0.9997807 -0.0016291 -0.02087833 -0.8462439 ] [ 0.00146082 0.99996635 -0.00807268 0.14457237] [ 0.02089078 0.00804041 0.99974943 -0.31430125] [ 0. 0. 0. 1. ]] SLAMing on 214.443133365 meters Centerline goodness : 0.107256 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.15, Z:-0.31 [[ 0.99977265 -0.0017715 -0.02124859 -0.84507351] [ 0.00158816 0.99996139 -0.00864214 0.14804057] [ 0.02126308 0.00860643 0.99973687 -0.31484978] [ 0. 0. 0. 1. ]] SLAMing on 214.473133365 meters Centerline goodness : 0.149020 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.15, Z:-0.32 [[ 0.99976419 -0.00191326 -0.02163116 -0.84387747] [ 0.00171401 0.99995597 -0.00922602 0.15157382] [ 0.02164786 0.00918677 0.99972345 -0.31540063] [ 0. 0. 0. 1. ]] SLAMing on 214.503133365 meters Centerline goodness : 0.149020 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.15, Z:-0.32 [[ 0.99976419 -0.00191326 -0.02163116 -0.84387747] [ 0.00171401 0.99995597 -0.00922602 0.15157382] [ 0.02164786 0.00918677 0.99972345 -0.31540063] [ 0. 0. 0. 1. ]] SLAMing on 214.533133365 meters Centerline goodness : 0.118069 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.16, Z:-0.32 [[ 0.99975492 -0.00204103 -0.02204397 -0.84259904] [ 0.00182518 0.99995024 -0.00980727 0.15511696] [ 0.02206289 0.00976463 0.9997089 -0.3159543 ] [ 0. 0. 0. 1. ]] SLAMing on 214.563133365 meters Centerline goodness : 0.151465 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.16, Z:-0.32 [[ 0.99975359 -0.00225703 -0.02208325 -0.84248246] [ 0.00202746 0.99994373 -0.01041252 0.15828775] [ 0.02210551 0.01036518 0.99970191 -0.3160805 ] [ 0. 0. 0. 1. ]] SLAMing on 214.593133365 meters SLAMing on 214.623133365 meters Centerline goodness : 0.126346 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.16, Z:-0.32 [[ 0.99976345 -0.00259287 -0.02159443 -0.84430902] [ 0.00234845 0.99993298 -0.01133626 0.16347949] [ 0.02162238 0.01128286 0.99970254 -0.3151632 ] [ 0. 0. 0. 1. ]] SLAMing on 214.653133365 meters Centerline goodness : 0.164378 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.17, Z:-0.31 [[ 0.99976896 -0.0027286 -0.02132101 -0.84513955] [ 0.00247779 0.99992753 -0.01178074 0.16619235] [ 0.02135161 0.01172519 0.99970327 -0.31492744] [ 0. 0. 0. 1. ]] SLAMing on 214.68313336499997 meters SLAMing on 214.71313336499998 meters SLAMing on 214.74313336499998 meters SLAMing on 214.77313336499998 meters SLAMing on 214.80313336499998 meters SLAMing on 214.83313336499998 meters Centerline goodness : 0.121170 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.20, Z:-0.32 [[ 0.99977374 0.00530462 -0.02059915 -0.87956892] [-0.00551925 0.99993093 -0.01037683 0.20465599] [ 0.02054268 0.01048817 0.99973396 -0.31564997] [ 0. 0. 0. 1. ]] SLAMing on 214.86313336499998 meters Centerline goodness : 0.115781 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.21, Z:-0.31 [[ 0.99977342 -0.00243249 -0.02114695 -0.86194389] [ 0.00222843 0.99995078 -0.00966795 0.21455407] [ 0.02116943 0.00961863 0.99972963 -0.31334861] [ 0. 0. 0. 1. ]] SLAMing on 214.89313336499998 meters Centerline goodness : 0.217798 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.21, Z:-0.31 [[ 0.99976307 0.00581958 -0.02097458 -0.88168179] [-0.00605022 0.99992175 -0.01094931 0.21189814] [ 0.02090922 0.01107361 0.99972005 -0.31435892] [ 0. 0. 0. 1. ]] SLAMing on 214.92313336499998 meters Centerline goodness : 0.126609 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.22, Z:-0.31 [[ 0.99978556 -0.0020503 -0.0206068 -0.86336049] [ 0.00185333 0.99995246 -0.00957304 0.219576 ] [ 0.02062545 0.00953279 0.99974183 -0.31225774] [ 0. 0. 0. 1. ]] SLAMing on 214.95313336499999 meters Centerline goodness : 0.099362 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.22, Z:-0.31 [[ 0.99978069 -0.00249374 -0.02079318 -0.86308306] [ 0.00228383 0.99994626 -0.01011282 0.22165344] [ 0.02081728 0.01006312 0.99973265 -0.31187915] [ 0. 0. 0. 1. ]] SLAMing on 214.983133365 meters SLAMing on 215.013133365 meters Centerline goodness : 0.107699 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.22, Z:-0.31 [[ 0.99977421 -0.00284091 -0.0210583 -0.86251792] [ 0.00261487 0.99993876 -0.01075374 0.22432064] [ 0.02108756 0.01069625 0.99972041 -0.31178603] [ 0. 0. 0. 1. ]] SLAMing on 215.043133365 meters SLAMing on 215.073133365 meters Centerline goodness : 0.093480 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.23, Z:-0.31 [[ 9.99777202e-01 6.79826637e-04 -2.10970397e-02 -8.62064125e-01] [-8.42386499e-04 9.99970020e-01 -7.69740981e-03 2.27363575e-01] [ 2.10911743e-02 7.71346671e-03 9.99747801e-01 -3.12243672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.103133365 meters Centerline goodness : 0.100662 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.23, Z:-0.31 [[ 9.99777104e-01 5.29330442e-04 -2.11059895e-02 -8.62137340e-01] [-7.03758405e-04 9.99965656e-01 -8.25781122e-03 2.30502105e-01] [ 2.11008936e-02 8.27082410e-03 9.99743140e-01 -3.12226106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.133133365 meters SLAMing on 215.163133365 meters SLAMing on 215.193133365 meters SLAMing on 215.223133365 meters Centerline goodness : 0.093382 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99763483e-01 2.30988065e-04 -2.17468519e-02 -8.60908735e-01] [-4.38329076e-04 9.99954492e-01 -9.53001613e-03 2.39783736e-01] [ 2.17436610e-02 9.53729439e-03 9.99718087e-01 -3.12012625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.253133365 meters Centerline goodness : 0.095565 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99766803e-01 2.05671056e-04 -2.15939176e-02 -8.61624298e-01] [-4.13659432e-04 9.99953566e-01 -9.62777879e-03 2.40595329e-01] [ 2.15909348e-02 9.63446615e-03 9.99720465e-01 -3.11459440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.283133365 meters Centerline goodness : 0.097717 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99768101e-01 1.93516230e-04 -2.15338373e-02 -8.62136235e-01] [-4.01228626e-04 9.99953435e-01 -9.64195837e-03 2.40810567e-01] [ 2.15309687e-02 9.64836241e-03 9.99721624e-01 -3.10858350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.313133365 meters Centerline goodness : 0.118043 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99766053e-01 6.54660345e-05 -2.16294715e-02 -8.62002346e-01] [-2.74974401e-04 9.99953077e-01 -9.68341312e-03 2.40600592e-01] [ 2.16278227e-02 9.68709527e-03 9.99719159e-01 -3.10615466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.343133365 meters SLAMing on 215.373133365 meters Centerline goodness : 0.124250 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99759984e-01 2.22318709e-05 -2.19082949e-02 -8.61174726e-01] [-2.35138868e-04 9.99952775e-01 -9.71557168e-03 2.40575675e-01] [ 2.19070443e-02 9.71839128e-03 9.99712776e-01 -3.10840963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.403133365 meters Centerline goodness : 0.103106 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99758905e-01 3.26415674e-05 -2.19574551e-02 -8.61108908e-01] [-2.45296778e-04 9.99953096e-01 -9.68225145e-03 2.40409395e-01] [ 2.19561092e-02 9.68530320e-03 9.99712021e-01 -3.10755381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43313336499997 meters Centerline goodness : 0.211413 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.25, Z:-0.31 [[ 0.99974158 -0.00817903 -0.02121021 -0.84210883] [ 0.00799863 0.99993123 -0.0085764 0.24537943] [ 0.0212789 0.00840453 0.99973825 -0.30929452] [ 0. 0. 0. 1. ]] SLAMing on 215.46313336499998 meters Centerline goodness : 0.096073 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99773493e-01 5.26152722e-04 -2.12764144e-02 -8.62710091e-01] [-7.24873139e-04 9.99956181e-01 -9.33330588e-03 2.39498831e-01] [ 2.12705713e-02 9.34661452e-03 9.99730065e-01 -3.09963330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49313336499998 meters Centerline goodness : 0.117970 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99771881e-01 5.63636883e-04 -2.13510578e-02 -8.62575079e-01] [-7.62284762e-04 9.99956492e-01 -9.29689348e-03 2.39483919e-01] [ 2.13448888e-02 9.31104827e-03 9.99728813e-01 -3.09924900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52313336499998 meters Centerline goodness : 0.095341 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99767778e-01 6.44543763e-04 -2.15400664e-02 -8.61760435e-01] [-8.43694668e-04 9.99956975e-01 -9.23779477e-03 2.39504522e-01] [ 2.15331854e-02 9.25382279e-03 9.99725307e-01 -3.10505690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55313336499998 meters SLAMing on 215.58313336499998 meters SLAMing on 215.61313336499998 meters SLAMing on 215.64313336499998 meters Centerline goodness : 0.107806 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99767403e-01 6.50194185e-04 -2.15572827e-02 -8.62067627e-01] [-8.49308558e-04 9.99957054e-01 -9.22865612e-03 2.39216808e-01] [ 2.15503565e-02 9.24481836e-03 9.99725020e-01 -3.09988835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67313336499998 meters SLAMing on 215.70313336499999 meters SLAMing on 215.733133365 meters SLAMing on 215.763133365 meters Centerline goodness : 0.142519 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.25, Z:-0.31 [[ 0.99972655 0.00550866 -0.02272617 -0.85833872] [-0.00565043 0.99996495 -0.00617865 0.25145373] [ 0.02269133 0.00630538 0.99972263 -0.31173638] [ 0. 0. 0. 1. ]] SLAMing on 215.793133365 meters Centerline goodness : 0.090581 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.26, Z:-0.31 [[ 0.99974408 -0.00154481 -0.02256955 -0.84160001] [ 0.0014417 0.99998845 -0.00458416 0.26081532] [ 0.02257637 0.00455045 0.99973477 -0.30951743] [ 0. 0. 0. 1. ]] SLAMing on 215.823133365 meters SLAMing on 215.853133365 meters Centerline goodness : 0.097217 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 0.99973683 0.0019232 -0.02285982 -0.84107412] [-0.0019728 0.99999575 -0.00214746 0.26832792] [ 0.02285559 0.00219199 0.99973637 -0.30952346] [ 0. 0. 0. 1. ]] SLAMing on 215.883133365 meters Centerline goodness : 0.093528 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 0.99973765 0.00177839 -0.02283549 -0.8413325 ] [-0.0018365 0.99999513 -0.00252409 0.27035847] [ 0.02283089 0.00256536 0.99973605 -0.30926819] [ 0. 0. 0. 1. ]] SLAMing on 215.913133365 meters SLAMing on 215.943133365 meters SLAMing on 215.973133365 meters Centerline goodness : 0.090522 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 0.99973255 0.00141856 -0.02308281 -0.84087583] [-0.00149109 0.999994 -0.00312529 0.27325693] [ 0.02307824 0.00315887 0.99972867 -0.30902429] [ 0. 0. 0. 1. ]] SLAMing on 216.003133365 meters SLAMing on 216.033133365 meters Centerline goodness : 0.217777 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.27, Z:-0.31 [[ 0.99965443 -0.00817953 -0.02498222 -0.86158338] [ 0.00810278 0.99996214 -0.00317174 0.27391349] [ 0.02500722 0.00296822 0.99968286 -0.30946608] [ 0. 0. 0. 1. ]] SLAMing on 216.063133365 meters SLAMing on 216.093133365 meters Centerline goodness : 0.143067 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.27, Z:-0.31 [[ 0.99965698 -0.00852187 -0.02476481 -0.86228169] [ 0.00844801 0.99995955 -0.00308559 0.27183749] [ 0.02479011 0.00287532 0.99968854 -0.30901527] [ 0. 0. 0. 1. ]] SLAMing on 216.123133365 meters Centerline goodness : 0.155650 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.27, Z:-0.31 [[ 0.99965813 -0.0084776 -0.02473377 -0.86246157] [ 0.00840853 0.99996046 -0.00289537 0.2708242 ] [ 0.02475734 0.00268641 0.99968988 -0.30876526] [ 0. 0. 0. 1. ]] SLAMing on 216.153133365 meters Centerline goodness : 0.170660 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 9.99724261e-01 -6.12533836e-04 -2.34739622e-02 -8.42671880e-01] [ 5.29083332e-04 9.99993519e-01 -3.56107004e-03 2.68120611e-01] [ 2.34759913e-02 3.54766844e-03 9.99718106e-01 -3.07633055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18313336499997 meters Centerline goodness : 0.093812 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 9.99727142e-01 -5.71260415e-04 -2.33519935e-02 -8.43156369e-01] [ 4.85387522e-04 9.99993101e-01 -3.68282878e-03 2.69318969e-01] [ 2.33539363e-02 3.67048913e-03 9.99720522e-01 -3.07375494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21313336499998 meters Centerline goodness : 0.112436 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 9.99727759e-01 -6.28651972e-04 -2.33240913e-02 -8.43277444e-01] [ 5.36723504e-04 9.99992065e-01 -3.94740343e-03 2.70829278e-01] [ 2.33263877e-02 3.93381019e-03 9.99720163e-01 -3.07383565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24313336499998 meters Centerline goodness : 0.164717 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 9.99726420e-01 -6.83779801e-04 -2.33798560e-02 -8.43274674e-01] [ 5.85235510e-04 9.99990918e-01 -4.22150549e-03 2.72452559e-01] [ 2.33825303e-02 4.20666785e-03 9.99717741e-01 -3.07294129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27313336499998 meters Centerline goodness : 0.144050 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 9.99724517e-01 -7.51032025e-04 -2.34590299e-02 -8.43048216e-01] [ 6.44812772e-04 9.99989508e-01 -4.53509839e-03 2.74242765e-01] [ 2.34621898e-02 4.51872237e-03 9.99714513e-01 -3.07439223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30313336499998 meters Centerline goodness : 0.148267 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.28, Z:-0.31 [[ 9.99724751e-01 -7.35275969e-04 -2.34495578e-02 -8.43170808e-01] [ 6.23774890e-04 9.99988468e-01 -4.76189333e-03 2.75989790e-01] [ 2.34527886e-02 4.74595538e-03 9.99713680e-01 -3.07389892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33313336499998 meters Centerline goodness : 0.095276 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.28, Z:-0.31 [[ 9.99727753e-01 -7.61233721e-04 -2.33203763e-02 -8.43846199e-01] [ 6.45363409e-04 9.99987413e-01 -4.97575279e-03 2.77474182e-01] [ 2.33238705e-02 4.95934804e-03 9.99715661e-01 -3.06924819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36313336499998 meters Centerline goodness : 0.095183 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.28, Z:-0.31 [[ 9.99726269e-01 -9.62739585e-04 -2.33764948e-02 -8.44196360e-01] [ 8.34462643e-04 9.99984546e-01 -5.49656752e-03 2.79929251e-01] [ 2.33814253e-02 5.47555613e-03 9.99711622e-01 -3.06228089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39313336499998 meters Centerline goodness : 0.095183 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.28, Z:-0.31 [[ 9.99726269e-01 -9.62739585e-04 -2.33764948e-02 -8.44196360e-01] [ 8.34462643e-04 9.99984546e-01 -5.49656752e-03 2.79929251e-01] [ 2.33814253e-02 5.47555613e-03 9.99711622e-01 -3.06228089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42313336499998 meters SLAMing on 216.45313336499999 meters Centerline goodness : 0.145653 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.28, Z:-0.31 [[ 0.99971728 -0.00115251 -0.0237492 -0.84316769] [ 0.00100849 0.99998104 -0.00607535 0.28273167] [ 0.02375575 0.00604968 0.99969949 -0.30657012] [ 0. 0. 0. 1. ]] SLAMing on 216.483133365 meters Centerline goodness : 0.157976 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.29, Z:-0.31 [[ 0.99971531 -0.00124644 -0.02382737 -0.84295727] [ 0.00109183 0.99997828 -0.00650048 0.28530663] [ 0.02383496 0.00647262 0.99969495 -0.30671474] [ 0. 0. 0. 1. ]] SLAMing on 216.513133365 meters Centerline goodness : 0.144069 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.29, Z:-0.31 [[ 0.99971521 -0.00135602 -0.02382574 -0.84301215] [ 0.00118886 0.99997459 -0.00702899 0.28844068] [ 0.02383466 0.00699866 0.99969142 -0.30673907] [ 0. 0. 0. 1. ]] SLAMing on 216.543133365 meters SLAMing on 216.573133365 meters SLAMing on 216.603133365 meters Centerline goodness : 0.094794 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.30, Z:-0.31 [[ 0.99970687 0.00185628 -0.0241399 -0.84247291] [-0.00198247 0.99998449 -0.00520434 0.30020908] [ 0.02412987 0.00525068 0.99969504 -0.30674118] [ 0. 0. 0. 1. ]] SLAMing on 216.633133365 meters Centerline goodness : 0.228622 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.30, Z:-0.31 [[ 0.99970901 0.00172513 -0.02406056 -0.84303078] [-0.00186132 0.99998237 -0.00563905 0.30278467] [ 0.0240504 0.00568219 0.9996946 -0.30624796] [ 0. 0. 0. 1. ]] SLAMing on 216.663133365 meters Centerline goodness : 0.315879 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.31, Z:-0.31 [[ 0.99971167 0.00159689 -0.02395889 -0.84351855] [-0.00174208 0.99998024 -0.00604051 0.30503737] [ 0.02394877 0.00608051 0.9996947 -0.30591764] [ 0. 0. 0. 1. ]] SLAMing on 216.693133365 meters Centerline goodness : 0.224793 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.31, Z:-0.31 [[ 0.99971343 0.0014132 -0.02389705 -0.84386706] [-0.0015678 0.99997796 -0.006452 0.30695309] [ 0.0238874 0.00648762 0.9996936 -0.30564505] [ 0. 0. 0. 1. ]] SLAMing on 216.723133365 meters Centerline goodness : 0.259448 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.32, Z:-0.30 [[ 0.99967009 -0.00687025 -0.02474895 -0.82482784] [ 0.00672567 0.99995986 -0.00592032 0.31661305] [ 0.02478863 0.00575192 0.99967617 -0.30356121] [ 0. 0. 0. 1. ]] SLAMing on 216.753133365 meters Centerline goodness : 0.278290 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.32, Z:-0.30 [[ 0.99966225 -0.006915 -0.02505133 -0.82422048] [ 0.00676394 0.99995846 -0.00610942 0.31787663] [ 0.02509253 0.00593791 0.9996675 -0.30341649] [ 0. 0. 0. 1. ]] SLAMing on 216.783133365 meters Centerline goodness : 0.243951 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.32, Z:-0.30 [[ 0.9996579 -0.00693038 -0.02521993 -0.82380672] [ 0.00677627 0.99995788 -0.00619063 0.31856466] [ 0.02526177 0.00601762 0.99966276 -0.30342169] [ 0. 0. 0. 1. ]] SLAMing on 216.813133365 meters Centerline goodness : 0.260079 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.32, Z:-0.30 [[ 0.99965754 -0.00697473 -0.02522218 -0.8238985 ] [ 0.00681929 0.99995726 -0.00624372 0.31864069] [ 0.02526465 0.00606959 0.99966237 -0.3032369 ] [ 0. 0. 0. 1. ]] SLAMing on 216.843133365 meters Centerline goodness : 0.154767 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.32, Z:-0.30 [[ 0.99966247 -0.00702802 -0.0250111 -0.82466457] [ 0.00687576 0.99995734 -0.00616827 0.3177983 ] [ 0.02505339 0.00599422 0.99966814 -0.30277565] [ 0. 0. 0. 1. ]] SLAMing on 216.873133365 meters Centerline goodness : 0.297597 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.32, Z:-0.30 [[ 0.99967088 -0.00704283 -0.02466836 -0.82577002] [ 0.00689847 0.99995861 -0.00593236 0.31631804] [ 0.02470912 0.00576024 0.99967809 -0.30220622] [ 0. 0. 0. 1. ]] SLAMing on 216.903133365 meters Centerline goodness : 0.098212 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.31, Z:-0.30 [[ 0.99968855 -0.00708844 -0.02392817 -0.82782405] [ 0.00696493 0.99996201 -0.00524101 0.31204846] [ 0.02396441 0.00507272 0.99969994 -0.30147464] [ 0. 0. 0. 1. ]] SLAMing on 216.93313336499997 meters Centerline goodness : 0.245355 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.31, Z:-0.30 [[ 0.99968731 -0.00698646 -0.02400967 -0.82740544] [ 0.00687461 0.99996514 -0.00473804 0.30912619] [ 0.02404193 0.0045715 0.9997005 -0.30167583] [ 0. 0. 0. 1. ]] SLAMing on 216.96313336499998 meters Centerline goodness : 0.169650 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.30, Z:-0.30 [[ 0.99961867 -0.00721416 -0.02665476 -0.8717576 ] [ 0.00706112 0.99995807 -0.00583102 0.30329742] [ 0.02669571 0.00564059 0.99962769 -0.30149886] [ 0. 0. 0. 1. ]] SLAMing on 216.99313336499998 meters SLAMing on 217.02313336499998 meters Centerline goodness : 0.092991 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.30, Z:-0.30 [[ 0.99961394 -0.00702498 -0.02688149 -0.87095928] [ 0.00689037 0.99996327 -0.00509694 0.29856095] [ 0.02691631 0.00490975 0.99962563 -0.30177165] [ 0. 0. 0. 1. ]] SLAMing on 217.05313336499998 meters Centerline goodness : 0.160138 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.29, Z:-0.30 [[ 0.99963975 0.00186858 -0.02677469 -0.89040678] [-0.00202243 0.99998159 -0.00572038 0.2913085 ] [ 0.02676351 0.00577247 0.99962513 -0.30308679] [ 0. 0. 0. 1. ]] SLAMing on 217.08313336499998 meters Centerline goodness : 0.140839 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.29, Z:-0.30 [[ 0.99965867 -0.00412838 -0.02579726 -0.86935558] [ 0.004067 0.99998877 -0.0024315 0.29333533] [ 0.02580701 0.00232575 0.99966424 -0.30320259] [ 0. 0. 0. 1. ]] SLAMing on 217.11313336499998 meters Centerline goodness : 0.143160 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.29, Z:-0.30 [[ 0.99967347 -0.00365393 -0.02529054 -0.87056451] [ 0.00360069 0.99999121 -0.00215005 0.2930154 ] [ 0.02529817 0.00205829 0.99967783 -0.30331888] [ 0. 0. 0. 1. ]] SLAMing on 217.14313336499998 meters Centerline goodness : 0.153537 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.29, Z:-0.30 [[ 0.999676 -0.00355217 -0.02520466 -0.87072737] [ 0.00349695 0.99999139 -0.00223462 0.29378175] [ 0.02521238 0.00214576 0.99967981 -0.30352614] [ 0. 0. 0. 1. ]] SLAMing on 217.17313336499998 meters SLAMing on 217.20313336499999 meters Centerline goodness : 0.316018 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.30, Z:-0.30 [[ 9.99681864e-01 4.43659289e-04 -2.52185421e-02 -8.70211511e-01] [-4.10488268e-04 9.99999044e-01 1.32050411e-03 2.95303822e-01] [ 2.52191038e-02 -1.30973210e-03 9.99681090e-01 -3.04467211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.233133365 meters SLAMing on 217.263133365 meters Centerline goodness : 0.096583 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.30, Z:-0.30 [[ 9.99678428e-01 5.44429590e-04 -2.53523828e-02 -8.69761043e-01] [-5.13994092e-04 9.99999139e-01 1.20699958e-03 2.96349481e-01] [ 2.53530181e-02 -1.19358047e-03 9.99677848e-01 -3.04862262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.293133365 meters Centerline goodness : 0.106187 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.29, Z:-0.30 [[ 9.99683952e-01 5.74909093e-04 -2.51329697e-02 -8.70612028e-01] [-5.36080524e-04 9.99998653e-01 1.55163601e-03 2.94090408e-01] [ 2.51338279e-02 -1.53767233e-03 9.99682913e-01 -3.04287768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.323133365 meters SLAMing on 217.353133365 meters Centerline goodness : 0.147363 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.29, Z:-0.30 [[ 0.99967412 -0.0031195 -0.02533628 -0.87035322] [ 0.00308218 0.99999411 -0.00151209 0.29050657] [ 0.02534085 0.00143351 0.99967784 -0.30385675] [ 0. 0. 0. 1. ]] SLAMing on 217.383133365 meters Centerline goodness : 0.138594 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.28, Z:-0.30 [[ 0.99965462 -0.00672161 -0.02540603 -0.87017257] [ 0.00661833 0.9999695 -0.00414717 0.28469742] [ 0.02543313 0.00397759 0.99966861 -0.30359109] [ 0. 0. 0. 1. ]] SLAMing on 217.413133365 meters Centerline goodness : 0.323721 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.28, Z:-0.30 [[ 0.99966353 -0.0068174 -0.02502699 -0.87121483] [ 0.00673002 0.99997097 -0.00357421 0.28079249] [ 0.02505063 0.00340457 0.99968039 -0.30313021] [ 0. 0. 0. 1. ]] SLAMing on 217.443133365 meters Centerline goodness : 0.320559 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.28, Z:-0.30 [[ 0.99967087 -0.00687036 -0.02471752 -0.87193136] [ 0.00679882 0.99997246 -0.00297696 0.27678743] [ 0.02473729 0.00280793 0.99969004 -0.30291671] [ 0. 0. 0. 1. ]] SLAMing on 217.473133365 meters Centerline goodness : 0.145216 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.27, Z:-0.30 [[ 0.99960787 -0.00734288 -0.02702199 -0.91684473] [ 0.00724076 0.99996628 -0.00387478 0.26960415] [ 0.02704953 0.0036776 0.99962733 -0.30266141] [ 0. 0. 0. 1. ]] SLAMing on 217.503133365 meters Centerline goodness : 0.096292 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.27, Z:-0.30 [[ 0.99960302 -0.00717754 -0.02724476 -0.91596808] [ 0.00709253 0.99996968 -0.00321561 0.26588254] [ 0.02726701 0.0030211 0.99962362 -0.30305647] [ 0. 0. 0. 1. ]] SLAMing on 217.533133365 meters Centerline goodness : 0.164151 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.26, Z:-0.30 [[ 0.99959744 -0.00683957 -0.02753491 -0.91454734] [ 0.00678072 0.99997452 -0.00223043 0.26025624] [ 0.02754946 0.00204283 0.99961835 -0.30397516] [ 0. 0. 0. 1. ]] SLAMing on 217.563133365 meters SLAMing on 217.593133365 meters Centerline goodness : 0.233260 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.26, Z:-0.30 [[ 0.99959229 -0.00655158 -0.02779099 -0.91374037] [ 0.00651118 0.99997761 -0.00154413 0.25643682] [ 0.02780048 0.00136254 0.99961256 -0.30422159] [ 0. 0. 0. 1. ]] SLAMing on 217.623133365 meters Centerline goodness : 0.142652 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.25, Z:-0.30 [[ 0.99958951 -0.00643089 -0.02791855 -0.91327755] [ 0.00639808 0.99997873 -0.00126453 0.2548223 ] [ 0.02792609 0.00108539 0.9996094 -0.3044848 ] [ 0. 0. 0. 1. ]] SLAMing on 217.653133365 meters Centerline goodness : 0.212974 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.25, Z:-0.30 [[ 9.99588300e-01 -6.30853829e-03 -2.79898670e-02 -9.13084966e-01] [ 6.28156033e-03 9.99979718e-01 -1.05167084e-03 2.53710321e-01] [ 2.79959338e-02 8.75417831e-04 9.99607654e-01 -3.04602349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68313336499997 meters Centerline goodness : 0.142356 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.25, Z:-0.30 [[ 9.99585885e-01 -6.09304389e-03 -2.81235349e-02 -9.12698071e-01] [ 6.07454279e-03 9.99981274e-01 -7.43240834e-04 2.52572803e-01] [ 2.81275368e-02 5.72095430e-04 9.99604179e-01 -3.04729546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71313336499998 meters SLAMing on 217.74313336499998 meters Centerline goodness : 0.102323 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.24, Z:-0.31 [[ 0.99964101 0.00280862 -0.0266452 -0.93527364] [-0.00283797 0.99999541 -0.00106372 0.2445833 ] [ 0.02664209 0.00113896 0.99964439 -0.30548791] [ 0. 0. 0. 1. ]] SLAMing on 217.77313336499998 meters Centerline goodness : 0.125092 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.25, Z:-0.30 [[ 9.99671237e-01 -5.60749389e-03 -2.50194820e-02 -9.16722351e-01] [ 5.60606954e-03 9.99984278e-01 -1.27071507e-04 2.48574011e-01] [ 2.50198011e-02 -1.32312254e-05 9.99686956e-01 -3.04345372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80313336499998 meters SLAMing on 217.83313336499998 meters SLAMing on 217.86313336499998 meters SLAMing on 217.89313336499998 meters Centerline goodness : 0.246495 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.25, Z:-0.31 [[ 0.99963021 -0.00363362 -0.02694889 -0.9089972 ] [ 0.003681 0.99999176 0.00170887 0.24753452] [ 0.02694246 -0.00180743 0.99963535 -0.30833508] [ 0. 0. 0. 1. ]] SLAMing on 217.92313336499998 meters Centerline goodness : 0.125691 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.25, Z:-0.31 [[ 0.99962354 -0.00355107 -0.02720596 -0.90834221] [ 0.00360474 0.99999165 0.00192387 0.24649571] [ 0.0271989 -0.00202122 0.999628 -0.30835173] [ 0. 0. 0. 1. ]] SLAMing on 217.95313336499999 meters Centerline goodness : 0.142030 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.25, Z:-0.31 [[ 0.99962192 -0.00351004 -0.02727092 -0.90823485] [ 0.00356964 0.99999135 0.00213693 0.24520279] [ 0.02726318 -0.00223347 0.9996258 -0.30819824] [ 0. 0. 0. 1. ]] SLAMing on 217.983133365 meters SLAMing on 218.013133365 meters SLAMing on 218.043133365 meters SLAMing on 218.073133365 meters Centerline goodness : 0.104819 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.24, Z:-0.31 [[ 0.99964763 -0.00495375 -0.02607846 -0.91219713] [ 0.00500324 0.9999858 0.00183281 0.23812312] [ 0.02606901 -0.00196264 0.99965822 -0.30634283] [ 0. 0. 0. 1. ]] SLAMing on 218.103133365 meters Centerline goodness : 0.151140 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.23, Z:-0.31 [[ 9.99662073e-01 2.65615117e-03 -2.58589423e-02 -8.91862159e-01] [-2.63227958e-03 9.99996077e-01 9.57142264e-04 2.34806212e-01] [ 2.58613832e-02 -8.88750853e-04 9.99665143e-01 -3.05114794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.133133365 meters SLAMing on 218.163133365 meters Centerline goodness : 0.123223 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.23, Z:-0.30 [[ 0.99965686 0.00261038 -0.0260643 -0.89167638] [-0.00258212 0.99999604 0.00111797 0.23327153] [ 0.02606712 -0.00105029 0.99965964 -0.30462667] [ 0. 0. 0. 1. ]] SLAMing on 218.193133365 meters SLAMing on 218.223133365 meters Centerline goodness : 0.104559 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.23, Z:-0.30 [[ 0.99965794 0.00282655 -0.02600012 -0.89186273] [-0.00279348 0.99999524 0.0013082 0.23337145] [ 0.0260037 -0.00123512 0.99966108 -0.30459369] [ 0. 0. 0. 1. ]] SLAMing on 218.253133365 meters SLAMing on 218.283133365 meters Centerline goodness : 0.131498 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.23, Z:-0.30 [[ 0.99965491 0.00270173 -0.0261299 -0.89150659] [-0.00267466 0.99999585 0.00107072 0.23378933] [ 0.02613268 -0.00100047 0.99965798 -0.30474837] [ 0. 0. 0. 1. ]] SLAMing on 218.313133365 meters Centerline goodness : 0.131498 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.23, Z:-0.30 [[ 0.99965491 0.00270173 -0.0261299 -0.89150659] [-0.00267466 0.99999585 0.00107072 0.23378933] [ 0.02613268 -0.00100047 0.99965798 -0.30474837] [ 0. 0. 0. 1. ]] SLAMing on 218.343133365 meters Centerline goodness : 0.126119 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.23, Z:-0.31 [[ 9.99648682e-01 2.70656751e-03 -2.63664179e-02 -8.90838478e-01] [-2.68261366e-03 9.99995956e-01 9.43827984e-04 2.34512867e-01] [ 2.63688658e-02 -8.72765487e-04 9.99651900e-01 -3.05024413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.373133365 meters Centerline goodness : 0.100507 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.24, Z:-0.30 [[ 0.99965225 0.00340171 -0.02614953 -0.89151355] [-0.0033723 0.99999363 0.00116875 0.23605956] [ 0.02615334 -0.00108016 0.99965736 -0.3049616 ] [ 0. 0. 0. 1. ]] SLAMing on 218.403133365 meters SLAMing on 218.43313336499997 meters Centerline goodness : 0.096870 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.24, Z:-0.31 [[ 9.99664349e-01 3.62464650e-03 -2.56524930e-02 -8.92736002e-01] [-3.60555389e-03 9.99993188e-01 7.90493500e-04 2.38991698e-01] [ 2.56551835e-02 -6.97736724e-04 9.99670608e-01 -3.05126448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46313336499998 meters SLAMing on 218.49313336499998 meters SLAMing on 218.52313336499998 meters SLAMing on 218.55313336499998 meters Centerline goodness : 0.148052 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.24, Z:-0.30 [[ 0.99970472 0.00543938 -0.02368285 -0.90071013] [-0.00538045 0.99998227 0.00255114 0.23862198] [ 0.0236963 -0.00242296 0.99971627 -0.30099998] [ 0. 0. 0. 1. ]] SLAMing on 218.58313336499998 meters Centerline goodness : 0.220859 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.24, Z:-0.30 [[ 0.99971347 0.00551116 -0.02329375 -0.90196586] [-0.00544536 0.99998101 0.00288732 0.23691841] [ 0.02330922 -0.00275965 0.99972449 -0.30036073] [ 0. 0. 0. 1. ]] SLAMing on 218.61313336499998 meters SLAMing on 218.64313336499998 meters SLAMing on 218.67313336499998 meters Centerline goodness : 0.101514 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.23, Z:-0.30 [[ 9.99741441e-01 2.10405895e-03 -2.26412232e-02 -9.03626290e-01] [-2.10834753e-03 9.99997764e-01 -1.65545259e-04 2.34775251e-01] [ 2.26408243e-02 2.13238023e-04 9.99743641e-01 -3.00085042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70313336499999 meters SLAMing on 218.733133365 meters Centerline goodness : 0.106294 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.23, Z:-0.30 [[ 9.99746299e-01 2.22093000e-03 -2.24143911e-02 -9.04591858e-01] [-2.21288232e-03 9.99997478e-01 3.83837604e-04 2.31246280e-01] [ 2.24151871e-02 -3.34139814e-04 9.99748692e-01 -2.99433002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.763133365 meters SLAMing on 218.793133365 meters Centerline goodness : 0.124240 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.23, Z:-0.30 [[ 9.99743156e-01 2.37164601e-03 -2.25388068e-02 -9.04351311e-01] [-2.35357665e-03 9.99996887e-01 8.28192984e-04 2.28803057e-01] [ 2.25407008e-02 -7.74933458e-04 9.99745626e-01 -2.99330928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.823133365 meters SLAMing on 218.853133365 meters Centerline goodness : 0.099189 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.23, Z:-0.30 [[ 0.99972759 0.00242049 -0.02321391 -0.90240437] [-0.00239153 0.99999633 0.00127538 0.22563266] [ 0.02321691 -0.00121952 0.99972971 -0.29985757] [ 0. 0. 0. 1. ]] SLAMing on 218.883133365 meters Centerline goodness : 0.108774 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.30 [[ 0.99974892 -0.0062046 -0.02153141 -0.88292418] [ 0.00625958 0.99997732 0.00248732 0.2255247 ] [ 0.02151549 -0.00262147 0.99976508 -0.29878926] [ 0. 0. 0. 1. ]] SLAMing on 218.913133365 meters SLAMing on 218.943133365 meters Centerline goodness : 0.108535 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.22, Z:-0.30 [[ 0.99975631 -0.00844273 -0.02039706 -0.88803237] [ 0.00846871 0.99996343 0.00118779 0.21838041] [ 0.02038628 -0.00136023 0.99979125 -0.29568065] [ 0. 0. 0. 1. ]] SLAMing on 218.973133365 meters Centerline goodness : 0.112961 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.22, Z:-0.30 [[ 0.9997574 -0.00831918 -0.02039465 -0.88791145] [ 0.00835629 0.99996358 0.00173521 0.21531764] [ 0.02037947 -0.00190521 0.9997905 -0.29571382] [ 0. 0. 0. 1. ]] SLAMing on 219.003133365 meters SLAMing on 219.033133365 meters Centerline goodness : 0.098704 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.21, Z:-0.30 [[ 9.99700201e-01 -9.88116880e-03 -2.24024868e-02 -8.80309720e-01] [ 9.90235499e-03 9.99950622e-01 8.34968853e-04 2.08611632e-01] [ 2.23931302e-02 -1.05655591e-03 9.99748684e-01 -2.99021001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.063133365 meters Centerline goodness : 0.106035 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.21, Z:-0.30 [[ 0.99969645 -0.0097628 -0.02262076 -0.8796216 ] [ 0.00978869 0.99995156 0.00103381 0.20757063] [ 0.02260958 -0.00125493 0.99974358 -0.29931954] [ 0. 0. 0. 1. ]] SLAMing on 219.093133365 meters Centerline goodness : 0.110150 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.21, Z:-0.30 [[ 0.99969764 -0.00968833 -0.02259991 -0.87986971] [ 0.00971628 0.99995216 0.00112731 0.20712719] [ 0.0225879 -0.00134655 0.99974395 -0.29904426] [ 0. 0. 0. 1. ]] SLAMing on 219.123133365 meters Centerline goodness : 0.222532 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.21, Z:-0.30 [[ 0.99970187 -0.00958179 -0.02245813 -0.88058072] [ 0.00961161 0.99995306 0.00122007 0.20698568] [ 0.02244538 -0.00143556 0.99974704 -0.29853593] [ 0. 0. 0. 1. ]] SLAMing on 219.153133365 meters Centerline goodness : 0.218403 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.21, Z:-0.30 [[ 0.99970539 -0.00943912 -0.02236136 -0.88095757] [ 0.00947072 0.9999543 0.00130767 0.20721988] [ 0.022348 -0.00151906 0.9997491 -0.29836986] [ 0. 0. 0. 1. ]] SLAMing on 219.18313336499997 meters Centerline goodness : 0.097361 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.20, Z:-0.30 [[ 9.99747892e-01 -5.69591866e-04 -2.24461279e-02 -9.00997463e-01] [ 5.84778208e-04 9.99999605e-01 6.70010427e-04 2.01904431e-01] [ 2.24457374e-02 -6.82967519e-04 9.99747829e-01 -2.99768820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21313336499998 meters Centerline goodness : 0.042651 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.20, Z:-0.30 [[ 9.99742905e-01 -5.60594606e-04 -2.26673697e-02 -9.00276397e-01] [ 5.71371151e-04 9.99999727e-01 4.68947266e-04 2.02952908e-01] [ 2.26671007e-02 -4.81778183e-04 9.99742952e-01 -3.00197783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24313336499998 meters Centerline goodness : 0.092986 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.20, Z:-0.30 [[ 9.99743973e-01 -5.93499634e-04 -2.26193741e-02 -9.00499781e-01] [ 6.03627840e-04 9.99999721e-01 4.40941752e-04 2.02838533e-01] [ 2.26191061e-02 -4.54482543e-04 9.99744052e-01 -3.00075997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27313336499998 meters Centerline goodness : 0.096605 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.20, Z:-0.30 [[ 9.99717293e-01 -8.22841291e-04 -2.37624933e-02 -9.48948621e-01] [ 8.31824535e-04 9.99999586e-01 3.68160947e-04 1.97730175e-01] [ 2.37621805e-02 -3.87823090e-04 9.99717564e-01 -2.98629339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30313336499998 meters Centerline goodness : 0.093299 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.20, Z:-0.30 [[ 9.99719006e-01 -8.20225938e-04 -2.36904435e-02 -9.49086715e-01] [ 8.34863623e-04 9.99999467e-01 6.07989058e-04 1.96224324e-01] [ 2.36899321e-02 -6.27596506e-04 9.99719157e-01 -2.98600108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33313336499998 meters SLAMing on 219.36313336499998 meters SLAMing on 219.39313336499998 meters SLAMing on 219.42313336499998 meters Centerline goodness : 0.102317 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.19, Z:-0.30 [[ 0.99968455 -0.00363004 -0.02485197 -0.94487708] [ 0.00359959 0.99999272 -0.00126975 0.18972672] [ 0.0248564 0.00117989 0.99969034 -0.30018361] [ 0. 0. 0. 1. ]] SLAMing on 219.45313336499999 meters Centerline goodness : 0.105391 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.19, Z:-0.30 [[ 9.99685514e-01 -3.53598034e-03 -2.48267951e-02 -9.45267220e-01] [ 3.51184289e-03 9.99993318e-01 -1.01576748e-03 1.88404892e-01] [ 2.48302209e-02 9.28260234e-04 9.99691252e-01 -2.99601890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.483133365 meters SLAMing on 219.513133365 meters Centerline goodness : 0.100825 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.9997008 0.00439015 -0.02406317 -0.92603287] [-0.00444923 0.99998722 -0.0024025 0.18652768] [ 0.02405231 0.00250884 0.99970755 -0.29744211] [ 0. 0. 0. 1. ]] SLAMing on 219.543133365 meters SLAMing on 219.573133365 meters Centerline goodness : 0.096782 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.19, Z:-0.30 [[ 0.99969601 -0.00302661 -0.0244689 -0.94547538] [ 0.00299766 0.99999476 -0.00121959 0.19194882] [ 0.02447246 0.00114587 0.99969985 -0.29926179] [ 0. 0. 0. 1. ]] SLAMing on 219.603133365 meters Centerline goodness : 0.195249 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.19, Z:-0.30 [[ 0.99969719 -0.00305315 -0.02441731 -0.94544597] [ 0.00301983 0.99999446 -0.00140158 0.19311321] [ 0.02442146 0.00132742 0.99970087 -0.29958322] [ 0. 0. 0. 1. ]] SLAMing on 219.633133365 meters Centerline goodness : 0.209742 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99971674 0.00534706 -0.02319174 -0.92574371] [-0.00540066 0.99998289 -0.0022492 0.19278433] [ 0.02317931 0.00237382 0.99972851 -0.29791104] [ 0. 0. 0. 1. ]] SLAMing on 219.663133365 meters Centerline goodness : 0.144515 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99971832 0.0053194 -0.02312953 -0.92616534] [-0.00537308 0.99998301 -0.00225948 0.19267878] [ 0.02311711 0.00238312 0.99972992 -0.2975091 ] [ 0. 0. 0. 1. ]] SLAMing on 219.693133365 meters Centerline goodness : 0.216417 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.19, Z:-0.30 [[ 0.99971242 -0.00304477 -0.02378675 -0.94644667] [ 0.00301215 0.99999447 -0.00140733 0.19485231] [ 0.0237909 0.00133527 0.99971606 -0.29878451] [ 0. 0. 0. 1. ]] SLAMing on 219.723133365 meters Centerline goodness : 0.100411 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.19, Z:-0.30 [[ 0.99970835 -0.00306863 -0.02395391 -0.9459801 ] [ 0.0030382 0.99999453 -0.00130656 0.19396295] [ 0.02395779 0.0012334 0.99971221 -0.29886635] [ 0. 0. 0. 1. ]] SLAMing on 219.753133365 meters Centerline goodness : 0.097869 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.19, Z:-0.30 [[ 0.99971464 0.00286696 -0.02371538 -0.92295308] [-0.00295721 0.99998852 -0.00377112 0.19263981] [ 0.02370429 0.00384017 0.99971164 -0.29876553] [ 0. 0. 0. 1. ]] SLAMing on 219.783133365 meters Centerline goodness : 0.114142 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.19, Z:-0.30 [[ 0.99971533 0.00291167 -0.02368067 -0.9230405 ] [-0.00299533 0.9999894 -0.00349795 0.19105343] [ 0.02367024 0.00356788 0.99971345 -0.29868809] [ 0. 0. 0. 1. ]] SLAMing on 219.813133365 meters SLAMing on 219.843133365 meters Centerline goodness : 0.114135 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99975511 0.00132945 -0.02208965 -0.92907954] [-0.00142795 0.99998911 -0.00444374 0.18686009] [ 0.0220835 0.0044742 0.99974612 -0.29587098] [ 0. 0. 0. 1. ]] SLAMing on 219.873133365 meters Centerline goodness : 0.104496 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99975392 0.00135065 -0.02214233 -0.92888672] [-0.00144654 0.99998964 -0.00431529 0.1858962 ] [ 0.02213627 0.00434626 0.99974552 -0.29595593] [ 0. 0. 0. 1. ]] SLAMing on 219.903133365 meters Centerline goodness : 0.110555 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99975071 0.00136774 -0.02228556 -0.92833976] [-0.00146242 0.99998997 -0.00423263 0.18528883] [ 0.02227954 0.00426416 0.99974269 -0.29628882] [ 0. 0. 0. 1. ]] SLAMing on 219.93313336499997 meters Centerline goodness : 0.142341 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99974846 0.00135024 -0.02238732 -0.92778339] [-0.00144656 0.99998976 -0.00428716 0.18547707] [ 0.0223813 0.00431847 0.99974018 -0.29681589] [ 0. 0. 0. 1. ]] SLAMing on 219.96313336499998 meters Centerline goodness : 0.110724 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99974827 0.00136869 -0.02239468 -0.92764229] [-0.00146489 0.99998977 -0.00428014 0.18546597] [ 0.0223886 0.00431186 0.99974005 -0.29704992] [ 0. 0. 0. 1. ]] SLAMing on 219.99313336499998 meters Centerline goodness : 0.172521 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99975025 0.00147226 -0.02229949 -0.9281506 ] [-0.00156577 0.99999005 -0.00417668 0.18533092] [ 0.02229312 0.00421056 0.99974261 -0.29661839] [ 0. 0. 0. 1. ]] SLAMing on 220.02313336499998 meters Centerline goodness : 0.104019 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99975318 0.00153416 -0.02216353 -0.92869616] [-0.0016253 0.9999903 -0.00409483 0.18517515] [ 0.02215703 0.00412985 0.99974597 -0.29628334] [ 0. 0. 0. 1. ]] SLAMing on 220.05313336499998 meters Centerline goodness : 0.209747 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.19, Z:-0.30 [[ 0.9997529 -0.00641888 -0.02128253 -0.90971523] [ 0.00635931 0.99997567 -0.00286567 0.18957075] [ 0.02130041 0.00272962 0.99976939 -0.29516582] [ 0. 0. 0. 1. ]] SLAMing on 220.08313336499998 meters SLAMing on 220.11313336499998 meters Centerline goodness : 0.116197 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.19, Z:-0.30 [[ 0.99975565 -0.00638754 -0.02116228 -0.90951425] [ 0.00633674 0.99997688 -0.0024669 0.18617551] [ 0.02117755 0.0023322 0.99977301 -0.29582307] [ 0. 0. 0. 1. ]] SLAMing on 220.14313336499998 meters Centerline goodness : 0.099216 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.18, Z:-0.30 [[ 0.99975477 -0.00628643 -0.02123419 -0.90932838] [ 0.0062424 0.99997823 -0.00213926 0.18431867] [ 0.02124717 0.00200619 0.99977224 -0.29581705] [ 0. 0. 0. 1. ]] SLAMing on 220.17313336499998 meters SLAMing on 220.20313336499999 meters SLAMing on 220.233133365 meters Centerline goodness : 0.184370 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.18, Z:-0.30 [[ 0.99975429 -0.00605952 -0.02132234 -0.90918017] [ 0.00603064 0.99998081 -0.00141836 0.18053744] [ 0.02133052 0.00128943 0.99977165 -0.29556301] [ 0. 0. 0. 1. ]] SLAMing on 220.263133365 meters Centerline goodness : 0.107294 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.18, Z:-0.30 [[ 0.99975404 -0.00598539 -0.02135484 -0.9091011 ] [ 0.00596107 0.99998151 -0.00120226 0.17938702] [ 0.02136164 0.00107467 0.99977124 -0.29551833] [ 0. 0. 0. 1. ]] SLAMing on 220.293133365 meters Centerline goodness : 0.090968 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.18, Z:-0.29 [[ 0.9997685 0.00187618 -0.0214342 -0.88956901] [-0.00192477 0.99999562 -0.00224623 0.17509296] [ 0.02142989 0.00228697 0.99976774 -0.29378108] [ 0. 0. 0. 1. ]] SLAMing on 220.323133365 meters SLAMing on 220.353133365 meters Centerline goodness : 0.184072 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.17, Z:-0.29 [[ 0.99977719 0.00203325 -0.0210103 -0.89069092] [-0.00207815 0.9999956 -0.0021153 0.17497153] [ 0.02100591 0.00215849 0.99977702 -0.29366225] [ 0. 0. 0. 1. ]] SLAMing on 220.383133365 meters Centerline goodness : 0.049653 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.17, Z:-0.29 [[ 0.99978051 0.00207641 -0.02084736 -0.89112112] [-0.00211995 0.99999562 -0.00206676 0.17485611] [ 0.02084298 0.0021105 0.99978053 -0.29362233] [ 0. 0. 0. 1. ]] SLAMing on 220.413133365 meters Centerline goodness : 0.092503 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.17, Z:-0.29 [[ 0.99978002 0.00209469 -0.02086917 -0.89097119] [-0.00213843 0.99999556 -0.00207384 0.17498781] [ 0.02086473 0.00211801 0.99978006 -0.29380485] [ 0. 0. 0. 1. ]] SLAMing on 220.443133365 meters Centerline goodness : 0.098124 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.18, Z:-0.29 [[ 0.99977301 0.00210973 -0.02120108 -0.88981013] [-0.0021564 0.9999953 -0.00217838 0.17566007] [ 0.02119638 0.0022236 0.99977286 -0.29447545] [ 0. 0. 0. 1. ]] SLAMing on 220.473133365 meters Centerline goodness : 0.097651 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.18, Z:-0.29 [[ 0.99977174 0.00208284 -0.02126343 -0.88958171] [-0.00213123 0.99999519 -0.00225326 0.17601084] [ 0.02125864 0.00229806 0.99977137 -0.29462737] [ 0. 0. 0. 1. ]] SLAMing on 220.503133365 meters Centerline goodness : 0.097281 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.18, Z:-0.29 [[ 0.99977377 0.00206648 -0.02116927 -0.88982555] [-0.00211686 0.99999498 -0.00235771 0.17673077] [ 0.02116429 0.00240199 0.99977313 -0.2946609 ] [ 0. 0. 0. 1. ]] SLAMing on 220.533133365 meters Centerline goodness : 0.094816 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.18, Z:-0.29 [[ 9.99777669e-01 -5.31137130e-03 -2.04059463e-02 -8.71882771e-01] [ 5.29827060e-03 9.99985722e-01 -6.96014540e-04 1.83406887e-01] [ 2.04093518e-02 5.87743569e-04 9.99791535e-01 -2.92804167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.563133365 meters Centerline goodness : 0.163062 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.18, Z:-0.29 [[ 9.99781579e-01 -5.34860531e-03 -2.02036417e-02 -8.72595941e-01] [ 5.33173740e-03 9.99985391e-01 -8.88668589e-04 1.84730302e-01] [ 2.02080996e-02 7.80753973e-04 9.99795491e-01 -2.92502636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.593133365 meters Centerline goodness : 0.098860 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.19, Z:-0.29 [[ 0.99978735 -0.00555621 -0.01985894 -0.87380097] [ 0.00552821 0.99998365 -0.0014648 0.18765651] [ 0.01986675 0.0013547 0.99980172 -0.29206075] [ 0. 0. 0. 1. ]] SLAMing on 220.623133365 meters Centerline goodness : 0.076066 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.19, Z:-0.29 [[ 0.99978832 -0.00568277 -0.01977451 -0.87418889] [ 0.00564782 0.99998239 -0.0018229 0.18948476] [ 0.01978452 0.00171083 0.9998028 -0.29186841] [ 0. 0. 0. 1. ]] SLAMing on 220.653133365 meters Centerline goodness : 0.094208 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.19, Z:-0.29 [[ 0.99979005 -0.00581286 -0.0196486 -0.87458208] [ 0.00577064 0.99998092 -0.00220445 0.1915577 ] [ 0.01966104 0.0020906 0.99980452 -0.29181605] [ 0. 0. 0. 1. ]] SLAMing on 220.68313336499997 meters Centerline goodness : 0.176751 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.19, Z:-0.29 [[ 0.99979021 -0.00592539 -0.01960657 -0.87482331] [ 0.00587516 0.99997931 -0.0026185 0.19399754] [ 0.01962168 0.00250275 0.99980434 -0.29167167] [ 0. 0. 0. 1. ]] SLAMing on 220.71313336499998 meters Centerline goodness : 0.132562 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.20, Z:-0.29 [[ 0.99979175 -0.00611477 -0.01946957 -0.87523952] [ 0.00605475 0.99997674 -0.00314028 0.19675737] [ 0.01948832 0.00302174 0.99980552 -0.29163796] [ 0. 0. 0. 1. ]] SLAMing on 220.74313336499998 meters Centerline goodness : 0.111034 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.20, Z:-0.29 [[ 0.99979137 -0.00631917 -0.01942373 -0.87526448] [ 0.0062491 0.99997376 -0.00366572 0.19940271] [ 0.01944639 0.00354357 0.99980462 -0.29186397] [ 0. 0. 0. 1. ]] SLAMing on 220.77313336499998 meters Centerline goodness : 0.098794 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.20, Z:-0.29 [[ 0.9997923 -0.00664002 -0.01926804 -0.87588273] [ 0.00655587 0.99996871 -0.00442727 0.20333132] [ 0.01929683 0.00430003 0.99980455 -0.29161767] [ 0. 0. 0. 1. ]] SLAMing on 220.80313336499998 meters Centerline goodness : 0.103843 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.20, Z:-0.29 [[ 0.99980988 0.00159751 -0.01943347 -0.89525656] [-0.00170675 0.99998283 -0.005606 0.19897106] [ 0.01942418 0.00563811 0.99979544 -0.29263739] [ 0. 0. 0. 1. ]] SLAMing on 220.83313336499998 meters Centerline goodness : 0.111555 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.20, Z:-0.29 [[ 0.99980495 0.00148463 -0.01969425 -0.89483016] [-0.00159899 0.99998195 -0.00579229 0.19983762] [ 0.0196853 0.00582266 0.99978927 -0.29235212] [ 0. 0. 0. 1. ]] SLAMing on 220.86313336499998 meters Centerline goodness : 0.108302 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.20, Z:-0.29 [[ 0.99980009 0.00140362 -0.01994514 -0.89431579] [-0.00152045 0.99998177 -0.00584368 0.1997278 ] [ 0.01993657 0.00587284 0.999784 -0.29217547] [ 0. 0. 0. 1. ]] SLAMing on 220.89313336499998 meters Centerline goodness : 0.110795 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.20, Z:-0.29 [[ 0.99979807 0.00135572 -0.02004953 -0.89411172] [-0.00147267 0.99998198 -0.00581981 0.19924643] [ 0.02004128 0.00584817 0.99978205 -0.29208518] [ 0. 0. 0. 1. ]] SLAMing on 220.92313336499998 meters Centerline goodness : 0.095188 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.20, Z:-0.29 [[ 0.99981109 0.00115555 -0.01940247 -0.89608555] [-0.0012679 0.9999825 -0.00577917 0.19801776] [ 0.01939545 0.00580268 0.99979505 -0.29127404] [ 0. 0. 0. 1. ]] SLAMing on 220.95313336499999 meters Centerline goodness : 0.110824 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.20, Z:-0.29 [[ 0.99981245 -0.00694197 -0.01807945 -0.87727525] [ 0.00685976 0.99996587 -0.00460523 0.20200326] [ 0.0181108 0.00448034 0.99982595 -0.29002354] [ 0. 0. 0. 1. ]] SLAMing on 220.983133365 meters Centerline goodness : 0.145012 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.20, Z:-0.29 [[ 0.99978293 -0.00636339 -0.01983957 -0.92398722] [ 0.00627408 0.99996992 -0.00456038 0.1982068 ] [ 0.019868 0.00443491 0.99979278 -0.2892568 ] [ 0. 0. 0. 1. ]] SLAMing on 221.013133365 meters Centerline goodness : 0.098295 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.20, Z:-0.29 [[ 0.9997815 -0.00624209 -0.01994975 -0.92379126] [ 0.00615518 0.99997131 -0.00441511 0.19790736] [ 0.01997674 0.00429135 0.99979124 -0.28917506] [ 0. 0. 0. 1. ]] SLAMing on 221.043133365 meters Centerline goodness : 0.107414 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.20, Z:-0.29 [[ 0.99977872 -0.00613809 -0.02012052 -0.92318354] [ 0.00605216 0.99997232 -0.00432865 0.1977521 ] [ 0.02014653 0.00420592 0.99978819 -0.28955918] [ 0. 0. 0. 1. ]] SLAMing on 221.073133365 meters Centerline goodness : 0.101147 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.20, Z:-0.29 [[ 0.99977647 -0.00606611 -0.02025368 -0.92269883] [ 0.00598145 0.99997313 -0.00423825 0.19725626] [ 0.02027885 0.00411615 0.99978589 -0.28982839] [ 0. 0. 0. 1. ]] SLAMing on 221.103133365 meters Centerline goodness : 0.107474 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.20, Z:-0.29 [[ 0.99977588 -0.00589781 -0.0203322 -0.92223695] [ 0.00581539 0.99997464 -0.00411038 0.19658156] [ 0.02035593 0.00399121 0.99978483 -0.29039236] [ 0. 0. 0. 1. ]] SLAMing on 221.133133365 meters Centerline goodness : 0.166984 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.20, Z:-0.29 [[ 0.99977684 -0.00582867 -0.02030516 -0.92224636] [ 0.00574677 0.99997512 -0.00408957 0.19674565] [ 0.02032849 0.00397197 0.99978546 -0.29056317] [ 0. 0. 0. 1. ]] SLAMing on 221.163133365 meters Centerline goodness : 0.129725 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.20, Z:-0.29 [[ 0.99978124 -0.00573348 -0.02011453 -0.9228646 ] [ 0.0056532 0.99997584 -0.00404576 0.19701373] [ 0.02013724 0.00393117 0.9997895 -0.29035261] [ 0. 0. 0. 1. ]] SLAMing on 221.193133365 meters Centerline goodness : 0.152895 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.20, Z:-0.29 [[ 0.99979707 -0.00550255 -0.01937862 -0.92526149] [ 0.00542872 0.99997781 -0.00386059 0.19715549] [ 0.01939943 0.00375461 0.99980476 -0.28942268] [ 0. 0. 0. 1. ]] SLAMing on 221.223133365 meters Centerline goodness : 0.095126 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.20, Z:-0.29 [[ 0.9997975 -0.00551041 -0.01935443 -0.92521364] [ 0.00543631 0.9999777 -0.00387937 0.19712982] [ 0.01937538 0.00377336 0.99980516 -0.28963006] [ 0. 0. 0. 1. ]] SLAMing on 221.253133365 meters Centerline goodness : 0.214645 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.19, Z:-0.29 [[ 0.99978328 0.00235971 -0.02068383 -0.94335412] [-0.00247223 0.99998228 -0.00541613 0.19104473] [ 0.02067068 0.00546609 0.9997714 -0.29137949] [ 0. 0. 0. 1. ]] SLAMing on 221.283133365 meters Centerline goodness : 0.101019 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.19, Z:-0.29 [[ 0.99977738 0.0023061 -0.02097321 -0.94228766] [-0.0024197 0.99998253 -0.00539286 0.19041803] [ 0.0209604 0.00544241 0.99976549 -0.29198352] [ 0. 0. 0. 1. ]] SLAMing on 221.313133365 meters Centerline goodness : 0.204162 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.19, Z:-0.29 [[ 0.99977408 0.00234628 -0.0211253 -0.94183038] [-0.00245723 0.99998332 -0.00522762 0.18940638] [ 0.02111268 0.00527835 0.99976317 -0.29211266] [ 0. 0. 0. 1. ]] SLAMing on 221.343133365 meters Centerline goodness : 0.252711 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.19, Z:-0.29 [[ 0.99977335 0.00243923 -0.02114966 -0.9419134 ] [-0.00254486 0.99998442 -0.00496877 0.18816985] [ 0.02113721 0.00502146 0.99976397 -0.29185031] [ 0. 0. 0. 1. ]] SLAMing on 221.373133365 meters Centerline goodness : 0.095859 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.19, Z:-0.29 [[ 0.99977253 0.0024936 -0.0211819 -0.94202569] [-0.00258986 0.99998644 -0.00451835 0.18556675] [ 0.02117035 0.00457218 0.99976543 -0.29143267] [ 0. 0. 0. 1. ]] SLAMing on 221.403133365 meters Centerline goodness : 0.110215 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.18, Z:-0.29 [[ 0.99976863 0.00250226 -0.02136406 -0.94151444] [-0.00259396 0.99998754 -0.00426548 0.18377336] [ 0.02135312 0.00431991 0.99976266 -0.29148911] [ 0. 0. 0. 1. ]] SLAMing on 221.43313336499997 meters Centerline goodness : 0.111196 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.18, Z:-0.29 [[ 0.99976667 0.00250213 -0.02145543 -0.9411367 ] [-0.00258898 0.99998856 -0.00402136 0.18200525] [ 0.02144513 0.00407597 0.99976172 -0.29168665] [ 0. 0. 0. 1. ]] SLAMing on 221.46313336499998 meters Centerline goodness : 0.094554 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.18, Z:-0.29 [[ 0.99976286 0.0025427 -0.02162754 -0.94054841] [-0.00262368 0.99998965 -0.00371691 0.180083 ] [ 0.02161787 0.00377277 0.99975919 -0.29191914] [ 0. 0. 0. 1. ]] SLAMing on 221.49313336499998 meters Centerline goodness : 0.109337 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.18, Z:-0.29 [[ 0.9997617 0.00260257 -0.02167432 -0.94023236] [-0.00267579 0.99999081 -0.00335001 0.17788329] [ 0.0216654 0.00340721 0.99975947 -0.29213638] [ 0. 0. 0. 1. ]] SLAMing on 221.52313336499998 meters Centerline goodness : 0.116146 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.18, Z:-0.29 [[ 0.99976139 0.00267401 -0.02167988 -0.94013698] [-0.00273895 0.99999185 -0.00296623 0.17564614] [ 0.02167177 0.0030249 0.99976056 -0.29218942] [ 0. 0. 0. 1. ]] SLAMing on 221.55313336499998 meters Centerline goodness : 0.101416 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99976041 0.00255255 -0.02173962 -0.93980402] [-0.00260668 0.99999357 -0.00246166 0.1714504 ] [ 0.0217332 0.00251774 0.99976064 -0.29233398] [ 0. 0. 0. 1. ]] SLAMing on 221.58313336499998 meters Centerline goodness : 0.170830 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99975358 0.00265004 -0.02204009 -0.93899696] [-0.00269848 0.99999401 -0.00216865 0.16983439] [ 0.02203421 0.00222759 0.99975474 -0.29243945] [ 0. 0. 0. 1. ]] SLAMing on 221.61313336499998 meters Centerline goodness : 0.114930 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99974936 0.0027757 -0.02221494 -0.93854922] [-0.00281811 0.99999427 -0.00187794 0.16843723] [ 0.0222096 0.00194007 0.99975145 -0.29246092] [ 0. 0. 0. 1. ]] SLAMing on 221.64313336499998 meters Centerline goodness : 0.091420 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99974966 0.00283029 -0.0221948 -0.93875267] [-0.00287004 0.99999433 -0.00175892 0.16777911] [ 0.02218969 0.00182218 0.99975212 -0.29223001] [ 0. 0. 0. 1. ]] SLAMing on 221.67313336499998 meters Centerline goodness : 0.094737 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.9997549 0.00284178 -0.02195576 -0.93962163] [-0.00288033 0.99999437 -0.00172441 0.16734485] [ 0.02195074 0.00178723 0.99975746 -0.29179735] [ 0. 0. 0. 1. ]] SLAMing on 221.70313336499999 meters Centerline goodness : 0.092121 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99976521 0.00282802 -0.02148309 -0.94102706] [-0.00286808 0.9999942 -0.00183424 0.16773526] [ 0.02147777 0.00189543 0.99976753 -0.29142109] [ 0. 0. 0. 1. ]] SLAMing on 221.733133365 meters Centerline goodness : 0.244176 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99978711 0.00359163 -0.0203185 -0.94421645] [-0.00362184 0.99999239 -0.00144996 0.16853341] [ 0.02031314 0.00152324 0.99979251 -0.29084861] [ 0. 0. 0. 1. ]] SLAMing on 221.763133365 meters Centerline goodness : 0.096011 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.9997876 0.00382151 -0.02025207 -0.94425655] [-0.00385381 0.99999136 -0.00155576 0.17018759] [ 0.02024595 0.00163347 0.9997937 -0.29116763] [ 0. 0. 0. 1. ]] SLAMing on 221.793133365 meters SLAMing on 221.823133365 meters SLAMing on 221.853133365 meters Centerline goodness : 0.110604 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99977677 0.00487147 -0.02055895 -0.94349816] [-0.00490378 0.99998682 -0.0015215 0.17476261] [ 0.02055127 0.00162198 0.99978748 -0.29172631] [ 0. 0. 0. 1. ]] SLAMing on 221.883133365 meters Centerline goodness : 0.048484 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99977586 0.00494689 -0.02058542 -0.94340575] [-0.00497745 0.99998659 -0.00143319 0.17474136] [ 0.02057805 0.00153533 0.99978707 -0.2918284 ] [ 0. 0. 0. 1. ]] SLAMing on 221.913133365 meters SLAMing on 221.943133365 meters SLAMing on 221.973133365 meters Centerline goodness : 0.098391 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99978601 0.00125445 -0.02064837 -0.94405759] [-0.00134817 0.99998885 -0.00452543 0.17149381] [ 0.02064247 0.0045523 0.99977656 -0.29068583] [ 0. 0. 0. 1. ]] SLAMing on 222.003133365 meters SLAMing on 222.033133365 meters SLAMing on 222.063133365 meters SLAMing on 222.093133365 meters SLAMing on 222.123133365 meters SLAMing on 222.153133365 meters SLAMing on 222.18313336499997 meters SLAMing on 222.21313336499998 meters Centerline goodness : 0.089789 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.16, Z:-0.29 [[ 0.99978812 -0.00451806 -0.02008246 -0.94685127] [ 0.00435746 0.99995824 -0.00803349 0.15863667] [ 0.02011791 0.00794428 0.99976605 -0.28814204] [ 0. 0. 0. 1. ]] SLAMing on 222.24313336499998 meters Centerline goodness : 0.105563 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.15, Z:-0.29 [[ 0.99978872 0.00366963 -0.02022474 -0.9662896 ] [-0.00385087 0.99995271 -0.00892981 0.15258062] [ 0.02019101 0.00900581 0.99975558 -0.28939967] [ 0. 0. 0. 1. ]] SLAMing on 222.27313336499998 meters SLAMing on 222.30313336499998 meters SLAMing on 222.33313336499998 meters SLAMing on 222.36313336499998 meters Centerline goodness : 0.098280 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.15, Z:-0.29 [[ 9.99787787e-01 2.88879653e-05 -2.06004848e-02 -9.65269571e-01] [-2.64708868e-04 9.99934472e-01 -1.14447123e-02 1.46624907e-01] [ 2.05988043e-02 1.14477367e-02 9.99722281e-01 -2.89422826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39313336499998 meters Centerline goodness : 0.103215 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.14, Z:-0.29 [[ 9.99780805e-01 -2.78894422e-05 -2.09366137e-02 -9.64400551e-01] [-2.02770452e-04 9.99939314e-01 -1.10148546e-02 1.43774114e-01] [ 2.09356504e-02 1.10166855e-02 9.99720126e-01 -2.89506710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42313336499998 meters Centerline goodness : 0.103455 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.14, Z:-0.29 [[ 9.99779040e-01 -3.33211343e-04 -2.10180881e-02 -9.64237740e-01] [ 1.08155555e-04 9.99942662e-01 -1.07079474e-02 1.40380252e-01] [ 2.10204510e-02 1.07033081e-02 9.99721751e-01 -2.89392131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45313336499999 meters Centerline goodness : 0.105403 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.14, Z:-0.29 [[ 9.99781752e-01 -8.85425021e-04 -2.08725661e-02 -9.64771573e-01] [ 6.65308574e-04 9.99944123e-01 -1.05503163e-02 1.36239660e-01] [ 2.08807413e-02 1.05341270e-02 9.99726476e-01 -2.89064230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.483133365 meters Centerline goodness : 0.103291 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.13, Z:-0.29 [[ 0.99976889 -0.00403065 -0.02111661 -0.96435514] [ 0.00377121 0.99991709 -0.01231184 0.12634472] [ 0.02116448 0.01222936 0.99970121 -0.28884758] [ 0. 0. 0. 1. ]] SLAMing on 222.513133365 meters Centerline goodness : 0.206171 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.12, Z:-0.29 [[ 0.99976527 -0.0038337 -0.02132403 -0.96368382] [ 0.00358953 0.9999277 -0.0114769 0.12190471] [ 0.02136649 0.01139766 0.99970674 -0.28908825] [ 0. 0. 0. 1. ]] SLAMing on 222.543133365 meters Centerline goodness : 0.115028 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.12, Z:-0.29 [[ 0.99976516 -0.00359961 -0.02136995 -0.96343387] [ 0.00336964 0.99993613 -0.01078771 0.11832986] [ 0.02140742 0.01071317 0.99971343 -0.28926733] [ 0. 0. 0. 1. ]] SLAMing on 222.573133365 meters Centerline goodness : 0.221845 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.12, Z:-0.29 [[ 0.9997663 -0.00348181 -0.02133594 -0.96367052] [ 0.00326061 0.99994067 -0.01039351 0.11585599] [ 0.02137086 0.01032151 0.99971834 -0.28901863] [ 0. 0. 0. 1. ]] SLAMing on 222.603133365 meters Centerline goodness : 0.204485 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.29 [[ 0.99976832 -0.00340372 -0.02125353 -0.96421295] [ 0.00318868 0.99994347 -0.0101436 0.11422001] [ 0.02128686 0.01007348 0.99972266 -0.28849416] [ 0. 0. 0. 1. ]] SLAMing on 222.633133365 meters Centerline goodness : 0.093769 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.29 [[ 0.99977039 -0.0032413 -0.0211817 -0.96474446] [ 0.00303136 0.99994604 -0.00993575 0.11348516] [ 0.02121276 0.00986926 0.99972627 -0.28797696] [ 0. 0. 0. 1. ]] SLAMing on 222.663133365 meters Centerline goodness : 0.067118 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.11, Z:-0.29 [[ 9.99721395e-01 -9.65220462e-04 -2.35839133e-02 -1.01045151e+00] [ 7.76811142e-04 9.99967724e-01 -7.99674706e-03 1.10942535e-01] [ 2.35908708e-02 7.97619888e-03 9.99689877e-01 -2.86801612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.693133365 meters Centerline goodness : 0.163904 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.11, Z:-0.29 [[ 9.99720071e-01 -9.37431592e-04 -2.36410771e-02 -1.01020083e+00] [ 7.48193786e-04 9.99967622e-01 -8.01219394e-03 1.11100891e-01] [ 2.36478225e-02 7.99226299e-03 9.99688404e-01 -2.87026421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.723133365 meters Centerline goodness : 0.131464 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.11, Z:-0.29 [[ 9.99720356e-01 -9.82448259e-04 -2.36272134e-02 -1.01025689e+00] [ 7.92073844e-04 9.99967160e-01 -8.06543067e-03 1.11059530e-01] [ 2.36343613e-02 8.04446072e-03 9.99688303e-01 -2.86991620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.753133365 meters Centerline goodness : 0.042473 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.11, Z:-0.29 [[ 9.99722734e-01 -1.03057690e-03 -2.35242892e-02 -1.01060169e+00] [ 8.41109493e-04 9.99967143e-01 -8.06259233e-03 1.10609741e-01] [ 2.35318253e-02 8.04057035e-03 9.99690753e-01 -2.86881468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.783133365 meters Centerline goodness : 0.093414 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.11, Z:-0.29 [[ 9.99721893e-01 -1.10080829e-03 -2.35568555e-02 -1.01074963e+00] [ 9.12616125e-04 9.99967598e-01 -7.99810904e-03 1.09885182e-01] [ 2.35648966e-02 7.97438634e-03 9.99690505e-01 -2.86572151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.813133365 meters Centerline goodness : 0.041923 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.11, Z:-0.29 [[ 9.99721975e-01 -1.16956170e-03 -2.35500362e-02 -1.01096271e+00] [ 9.85119977e-04 9.99968766e-01 -7.84198725e-03 1.08637650e-01] [ 2.35584723e-02 7.81660738e-03 9.99691902e-01 -2.86279610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.843133365 meters Centerline goodness : 0.127328 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.11, Z:-0.29 [[ 0.99972788 -0.0021225 -0.02323068 -1.01242228] [ 0.0019334 0.99996484 -0.00815954 0.10669477] [ 0.02324718 0.00811241 0.99969683 -0.28528241] [ 0. 0. 0. 1. ]] SLAMing on 222.873133365 meters Centerline goodness : 0.106286 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.10, Z:-0.28 [[ 0.99967852 -0.00357649 -0.02510095 -1.0580825 ] [ 0.00334766 0.99995251 -0.00915257 0.10451264] [ 0.02513249 0.00906559 0.99964302 -0.28495259] [ 0. 0. 0. 1. ]] SLAMing on 222.903133365 meters Centerline goodness : 0.043057 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.10, Z:-0.28 [[ 0.99967459 -0.00378439 -0.02522675 -1.05789241] [ 0.00355754 0.99995289 -0.00903126 0.10297917] [ 0.02525974 0.00893858 0.99964096 -0.28480428] [ 0. 0. 0. 1. ]] SLAMing on 222.93313336499997 meters Centerline goodness : 0.118490 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.10, Z:-0.29 [[ 0.99966962 -0.00396784 -0.02539495 -1.05730998] [ 0.00374343 0.99995358 -0.00887848 0.10146165] [ 0.025429 0.00878048 0.99963807 -0.28511326] [ 0. 0. 0. 1. ]] SLAMing on 222.96313336499998 meters Centerline goodness : 0.121930 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.10, Z:-0.28 [[ 0.9996101 -0.01352739 -0.02442656 -1.03650406] [ 0.01332376 0.99987528 -0.0084799 0.10201852] [ 0.02453823 0.00815114 0.99966566 -0.28444371] [ 0. 0. 0. 1. ]] SLAMing on 222.99313336499998 meters Centerline goodness : 0.126866 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.10, Z:-0.29 [[ 0.9997376 -0.00651302 -0.02196177 -1.05617946] [ 0.00630635 0.9999353 -0.00946667 0.09589908] [ 0.02202201 0.00932569 0.99971399 -0.28691414] [ 0. 0. 0. 1. ]] SLAMing on 223.02313336499998 meters Centerline goodness : 0.116157 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.10, Z:-0.29 [[ 0.99974057 -0.00656128 -0.02181169 -1.05666169] [ 0.00635684 0.99993534 -0.00942919 0.09536049] [ 0.02187214 0.00928809 0.99971763 -0.28669957] [ 0. 0. 0. 1. ]] SLAMing on 223.05313336499998 meters Centerline goodness : 0.108304 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.10, Z:-0.29 [[ 0.99973888 -0.00662326 -0.02187008 -1.05651055] [ 0.00641564 0.99993382 -0.00954955 0.0959209 ] [ 0.02193188 0.00940674 0.99971521 -0.28673439] [ 0. 0. 0. 1. ]] SLAMing on 223.08313336499998 meters Centerline goodness : 0.103628 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.10, Z:-0.29 [[ 0.99973232 -0.0066686 -0.02215446 -1.05559416] [ 0.00645364 0.99993154 -0.00976036 0.09731997] [ 0.02221803 0.00961477 0.99970691 -0.28709688] [ 0. 0. 0. 1. ]] SLAMing on 223.11313336499998 meters Centerline goodness : 0.114334 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99973646 -0.0030679 -0.0227508 -1.05359686] [ 0.00292191 0.99997495 -0.00644729 0.09895491] [ 0.02277001 0.00637911 0.99972038 -0.2880038 ] [ 0. 0. 0. 1. ]] SLAMing on 223.14313336499998 meters Centerline goodness : 0.122743 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99973509 -0.00314388 -0.0228007 -1.05341699] [ 0.0029905 0.99997269 -0.00675807 0.10079486] [ 0.02282133 0.00668809 0.99971719 -0.28812068] [ 0. 0. 0. 1. ]] SLAMing on 223.17313336499998 meters Centerline goodness : 0.124496 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99973668 -0.00320199 -0.02272269 -1.05370992] [ 0.00304366 0.99997088 -0.00699887 0.10226693] [ 0.02274444 0.00692786 0.99971731 -0.28795848] [ 0. 0. 0. 1. ]] SLAMing on 223.20313336499999 meters Centerline goodness : 0.113129 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99973665 -0.00328268 -0.02271252 -1.05384469] [ 0.00311959 0.99996913 -0.00721219 0.10348056] [ 0.02273549 0.00713944 0.99971602 -0.28782274] [ 0. 0. 0. 1. ]] SLAMing on 223.233133365 meters Centerline goodness : 0.125593 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99972935 -0.00340336 -0.02301387 -1.0528606 ] [ 0.00323822 0.99996877 -0.00720891 0.10311387] [ 0.02303769 0.00713243 0.99970915 -0.28829521] [ 0. 0. 0. 1. ]] SLAMing on 223.263133365 meters Centerline goodness : 0.127029 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99972176 -0.00340614 -0.02334105 -1.05185614] [ 0.00324252 0.99996993 -0.00704407 0.10198498] [ 0.02336434 0.00696642 0.99970274 -0.28867852] [ 0. 0. 0. 1. ]] SLAMing on 223.293133365 meters Centerline goodness : 0.124787 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99971645 -0.00334109 -0.02357658 -1.05122499] [ 0.00318316 0.99997227 -0.0067329 0.10032732] [ 0.02359842 0.00665595 0.99969936 -0.288847 ] [ 0. 0. 0. 1. ]] SLAMing on 223.323133365 meters Centerline goodness : 0.129663 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99971516 -0.00330519 -0.0236364 -1.05105153] [ 0.00315285 0.99997404 -0.00647976 0.09880159] [ 0.02365721 0.00640339 0.99969962 -0.28892351] [ 0. 0. 0. 1. ]] SLAMing on 223.353133365 meters Centerline goodness : 0.132274 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99971807 -0.00327569 -0.02351681 -1.0513767 ] [ 0.0031294 0.99997554 -0.00625446 0.09742562] [ 0.02353673 0.0061791 0.99970388 -0.28892214] [ 0. 0. 0. 1. ]] SLAMing on 223.383133365 meters Centerline goodness : 0.113950 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99972136 -0.0032451 -0.0233809 -1.05176005] [ 0.00310269 0.99997643 -0.00612422 0.0966726 ] [ 0.02340022 0.00604997 0.99970787 -0.28882829] [ 0. 0. 0. 1. ]] SLAMing on 223.413133365 meters Centerline goodness : 0.132114 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99972236 -0.00325646 -0.02333651 -1.05194374] [ 0.00311193 0.99997577 -0.00622693 0.0972884 ] [ 0.02335623 0.00615258 0.99970827 -0.28868033] [ 0. 0. 0. 1. ]] SLAMing on 223.443133365 meters Centerline goodness : 0.162192 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99971823 -0.00330255 -0.02350627 -1.05155191] [ 0.00315184 0.99997426 -0.00644573 0.09864032] [ 0.02352695 0.00636982 0.99970291 -0.28864445] [ 0. 0. 0. 1. ]] SLAMing on 223.473133365 meters Centerline goodness : 0.147986 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99971082 -0.00332046 -0.02381715 -1.0506786 ] [ 0.00316241 0.99997275 -0.00667041 0.10011113] [ 0.02383865 0.00659316 0.99969408 -0.28886283] [ 0. 0. 0. 1. ]] SLAMing on 223.503133365 meters Centerline goodness : 0.107219 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 9.99705948e-01 -1.46977573e-04 -2.42486213e-02 -1.04945114e+00] [ 6.00008898e-05 9.99993563e-01 -3.58755984e-03 1.00636249e-01] [ 2.42489925e-02 3.58504998e-03 9.99699522e-01 -2.89216314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.533133365 meters Centerline goodness : 0.123432 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 9.99706125e-01 -2.09562745e-04 -2.42408594e-02 -1.04945871e+00] [ 1.15319210e-04 9.99992431e-01 -3.88912936e-03 1.02576448e-01] [ 2.42414910e-02 3.88519101e-03 9.99698582e-01 -2.89227659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.563133365 meters Centerline goodness : 0.155151 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 9.99708429e-01 -3.45093645e-04 -2.41440883e-02 -1.04981249e+00] [ 2.41461948e-04 9.99990747e-01 -4.29500201e-03 1.04687604e-01] [ 2.41453470e-02 4.28791983e-03 9.99699263e-01 -2.88980294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.593133365 meters Centerline goodness : 0.128688 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.11, Z:-0.29 [[ 9.99714094e-01 -6.09154561e-04 -2.39031116e-02 -1.05076677e+00] [ 4.91004196e-04 9.99987636e-01 -4.94844418e-03 1.07976267e-01] [ 2.39058304e-02 4.93529286e-03 9.99702033e-01 -2.88418717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.623133365 meters Centerline goodness : 0.129593 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.11, Z:-0.29 [[ 9.99714702e-01 -6.46733231e-04 -2.38766916e-02 -1.05072786e+00] [ 5.26191824e-04 9.99987088e-01 -5.05443469e-03 1.08836941e-01] [ 2.38796522e-02 5.04042895e-03 9.99702134e-01 -2.88581238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.653133365 meters Centerline goodness : 0.107295 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.11, Z:-0.29 [[ 9.99656271e-01 -5.35153933e-04 -2.62116861e-02 -1.09533548e+00] [ 3.97238865e-04 9.99986053e-01 -5.26651148e-03 1.11051917e-01] [ 2.62141390e-02 5.25428893e-03 9.99642542e-01 -2.88973453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68313336499997 meters Centerline goodness : 0.133193 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.12, Z:-0.29 [[ 0.99963447 -0.0096135 -0.02526874 -1.07509913] [ 0.00948912 0.99994229 -0.00503773 0.11632275] [ 0.02531571 0.00479611 0.999668 -0.2875788 ] [ 0. 0. 0. 1. ]] SLAMing on 223.71313336499998 meters Centerline goodness : 0.133796 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.11, Z:-0.29 [[ 0.99972054 -0.00192 -0.02356176 -1.05758047] [ 0.0017724 0.99997869 -0.00628337 0.11358713] [ 0.02357332 0.00623985 0.99970264 -0.28572898] [ 0. 0. 0. 1. ]] SLAMing on 223.74313336499998 meters Centerline goodness : 0.131624 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.11, Z:-0.29 [[ 0.99972624 -0.00197493 -0.02331414 -1.0585764 ] [ 0.00182525 0.9999776 -0.00643948 0.11466225] [ 0.02332634 0.00639516 0.99970745 -0.28506604] [ 0. 0. 0. 1. ]] SLAMing on 223.77313336499998 meters Centerline goodness : 0.133211 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.28 [[ 0.99972924 -0.00206323 -0.02317751 -1.05912142] [ 0.00190924 0.99997597 -0.00666394 0.11597658] [ 0.0231907 0.00661789 0.99970916 -0.28471141] [ 0. 0. 0. 1. ]] SLAMing on 223.80313336499998 meters Centerline goodness : 0.138251 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.28 [[ 0.99972895 -0.0021638 -0.02318078 -1.0591148 ] [ 0.00200451 0.99997424 -0.00689235 0.11722593] [ 0.0231951 0.00684402 0.99970753 -0.28468054] [ 0. 0. 0. 1. ]] SLAMing on 223.83313336499998 meters Centerline goodness : 0.111796 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.28 [[ 0.99972768 -0.00231396 -0.02322086 -1.05893412] [ 0.00214752 0.99997184 -0.00719017 0.1185502 ] [ 0.02323685 0.00713834 0.9997045 -0.28481579] [ 0. 0. 0. 1. ]] SLAMing on 223.86313336499998 meters Centerline goodness : 0.126788 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.29 [[ 0.99971585 -0.00253382 -0.02370246 -1.05745875] [ 0.0023535 0.9999681 -0.00763251 0.12097155] [ 0.02372105 0.00757455 0.99968992 -0.28534868] [ 0. 0. 0. 1. ]] SLAMing on 223.89313336499998 meters Centerline goodness : 0.139159 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.29 [[ 0.99971253 -0.00255531 -0.02383944 -1.0569434 ] [ 0.00237151 0.99996727 -0.00773521 0.12194869] [ 0.02385842 0.00767646 0.99968587 -0.28565262] [ 0. 0. 0. 1. ]] SLAMing on 223.92313336499998 meters Centerline goodness : 0.126289 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.29 [[ 0.99971278 -0.00257211 -0.02382747 -1.0569726 ] [ 0.00238632 0.99996656 -0.00782231 0.12280459] [ 0.02384679 0.0077632 0.99968548 -0.28564147] [ 0. 0. 0. 1. ]] SLAMing on 223.95313336499999 meters Centerline goodness : 0.128751 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.29 [[ 0.99971651 -0.00263242 -0.02366348 -1.05750497] [ 0.00244456 0.9999653 -0.00796408 0.12362989] [ 0.02368362 0.00790398 0.99968826 -0.28543559] [ 0. 0. 0. 1. ]] SLAMing on 223.983133365 meters Centerline goodness : 0.131702 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.28 [[ 0.99972183 -0.0027564 -0.02342348 -1.05845773] [ 0.00256622 0.99996353 -0.00814555 0.12429613] [ 0.02344508 0.00808317 0.99969245 -0.28487347] [ 0. 0. 0. 1. ]] SLAMing on 224.013133365 meters Centerline goodness : 0.131702 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.28 [[ 0.99972183 -0.0027564 -0.02342348 -1.05845773] [ 0.00256622 0.99996353 -0.00814555 0.12429613] [ 0.02344508 0.00808317 0.99969245 -0.28487347] [ 0. 0. 0. 1. ]] SLAMing on 224.043133365 meters Centerline goodness : 0.136287 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.13, Z:-0.28 [[ 0.99967466 -0.0028911 -0.02534195 -1.10562861] [ 0.00266473 0.99995629 -0.00896171 0.12774321] [ 0.02536675 0.00889126 0.99963867 -0.28392057] [ 0. 0. 0. 1. ]] SLAMing on 224.073133365 meters Centerline goodness : 0.138152 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.13, Z:-0.28 [[ 0.99967201 -0.0030541 -0.02542709 -1.1053416 ] [ 0.00281949 0.99995317 -0.00925752 0.12930844] [ 0.02545417 0.00918279 0.99963381 -0.28405878] [ 0. 0. 0. 1. ]] SLAMing on 224.103133365 meters Centerline goodness : 0.111075 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.13, Z:-0.28 [[ 0.99966578 -0.00309795 -0.02566565 -1.10430565] [ 0.00285778 0.99995184 -0.00938907 0.1303645 ] [ 0.0256935 0.00931258 0.99962649 -0.28474955] [ 0. 0. 0. 1. ]] SLAMing on 224.133133365 meters Centerline goodness : 0.106766 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.13, Z:-0.29 [[ 0.99958613 -0.00260257 -0.02864957 -1.14776873] [ 0.00232379 0.99994967 -0.00975954 0.13457961] [ 0.02867352 0.00968892 0.99954187 -0.28550756] [ 0. 0. 0. 1. ]] SLAMing on 224.163133365 meters Centerline goodness : 0.142249 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.14, Z:-0.29 [[ 0.99958398 -0.00268312 -0.02871687 -1.14742815] [ 0.00239814 0.99994759 -0.00995368 0.13562707] [ 0.02874207 0.00988067 0.99953803 -0.28578672] [ 0. 0. 0. 1. ]] SLAMing on 224.193133365 meters Centerline goodness : 0.119660 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.14, Z:-0.29 [[ 0.99957222 -0.00287664 -0.02910493 -1.14609838] [ 0.00257534 0.99994276 -0.01038433 0.13783544] [ 0.02913314 0.01030494 0.99952242 -0.2863733 ] [ 0. 0. 0. 1. ]] SLAMing on 224.223133365 meters Centerline goodness : 0.137930 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.14, Z:-0.29 [[ 0.99956385 -0.00292935 -0.02938589 -1.1451903 ] [ 0.0026203 0.99994091 -0.01054992 0.13896545] [ 0.02941506 0.01046832 0.99951247 -0.28671501] [ 0. 0. 0. 1. ]] SLAMing on 224.253133365 meters Centerline goodness : 0.142340 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.14, Z:-0.29 [[ 0.99955903 -0.00298091 -0.02954424 -1.14474534] [ 0.00266562 0.99993914 -0.01070552 0.14000675] [ 0.02957435 0.01062204 0.99950614 -0.28678656] [ 0. 0. 0. 1. ]] SLAMing on 224.283133365 meters Centerline goodness : 0.143304 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.14, Z:-0.29 [[ 0.99955865 -0.00302453 -0.02955252 -1.14475303] [ 0.00270648 0.99993805 -0.01079643 0.14055605] [ 0.02958334 0.01071168 0.99950492 -0.28676674] [ 0. 0. 0. 1. ]] SLAMing on 224.313133365 meters Centerline goodness : 0.106567 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.14, Z:-0.29 [[ 0.99956265 -0.00304357 -0.02941509 -1.1452183 ] [ 0.00272781 0.99993829 -0.01076882 0.1402411 ] [ 0.02944605 0.01068388 0.99950927 -0.2865852 ] [ 0. 0. 0. 1. ]] SLAMing on 224.343133365 meters Centerline goodness : 0.146231 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.14, Z:-0.29 [[ 0.99956712 -0.00303943 -0.02926325 -1.14568792] [ 0.00272958 0.99993985 -0.01062266 0.13914633] [ 0.02929378 0.01053819 0.99951529 -0.28649932] [ 0. 0. 0. 1. ]] SLAMing on 224.373133365 meters Centerline goodness : 0.146629 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.14, Z:-0.29 [[ 0.99957832 -0.00344295 -0.02883261 -1.14669405] [ 0.00314275 0.99994045 -0.01045081 0.13601395] [ 0.02886688 0.01035579 0.99952962 -0.28670925] [ 0. 0. 0. 1. ]] SLAMing on 224.403133365 meters Centerline goodness : 0.131664 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.14, Z:-0.29 [[ 0.99950143 -0.00379107 -0.03134506 -1.19139438] [ 0.00343984 0.99993078 -0.01125164 0.13666116] [ 0.03138555 0.01113821 0.99944529 -0.28717529] [ 0. 0. 0. 1. ]] SLAMing on 224.43313336499997 meters Centerline goodness : 0.135875 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 0.99949671 -0.00372629 -0.03150311 -1.19088133] [ 0.00338286 0.99993435 -0.01094769 0.1348537 ] [ 0.03154184 0.01083561 0.9994437 -0.28747411] [ 0. 0. 0. 1. ]] SLAMing on 224.46313336499998 meters Centerline goodness : 0.136433 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 0.99949492 -0.00364561 -0.03156931 -1.19072041] [ 0.00330769 0.99993675 -0.01074975 0.13377768] [ 0.0316065 0.0106399 0.99944376 -0.28751378] [ 0. 0. 0. 1. ]] SLAMing on 224.49313336499998 meters Centerline goodness : 0.134091 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 0.99949228 -0.00354942 -0.03166363 -1.19057764] [ 0.00321444 0.9999384 -0.01062384 0.13341955] [ 0.03169939 0.01051666 0.99944212 -0.28737124] [ 0. 0. 0. 1. ]] SLAMing on 224.52313336499998 meters Centerline goodness : 0.135600 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99511395e-01 4.48179117e-04 -3.12533288e-02 -1.19232194e+00] [-6.60970345e-04 9.99976671e-01 -6.79859517e-03 1.32821604e-01] [ 3.12495527e-02 6.81593086e-03 9.99488373e-01 -2.86407409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55313336499998 meters Centerline goodness : 0.141899 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99517995e-01 5.27431860e-04 -3.10403024e-02 -1.19302725e+00] [-7.41499236e-04 9.99976021e-01 -6.88532648e-03 1.33606976e-01] [ 3.10359266e-02 6.90502408e-03 9.99494418e-01 -2.86051096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58313336499998 meters Centerline goodness : 0.138877 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99518128e-01 5.01268399e-04 -3.10364523e-02 -1.19286529e+00] [-7.20055429e-04 9.99974970e-01 -7.03858159e-03 1.34260335e-01] [ 3.10321473e-02 7.05753786e-03 9.99493470e-01 -2.86320128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61313336499998 meters Centerline goodness : 0.137515 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99513097e-01 5.16931214e-04 -3.11977901e-02 -1.19216854e+00] [-7.37026890e-04 9.99974921e-01 -7.04376109e-03 1.34225973e-01] [ 3.11933665e-02 7.06332507e-03 9.99488411e-01 -2.86799210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64313336499998 meters Centerline goodness : 0.136910 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99507619e-01 6.41482769e-04 -3.13704888e-02 -1.19149409e+00] [-8.56506013e-04 9.99976231e-01 -6.84135864e-03 1.33517227e-01] [ 3.13653545e-02 6.86485910e-03 9.99484411e-01 -2.87231736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67313336499998 meters Centerline goodness : 0.139990 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99505745e-01 7.52612675e-04 -3.14276882e-02 -1.19139444e+00] [-9.61947058e-04 9.99977451e-01 -6.64623835e-03 1.32898441e-01] [ 3.14219775e-02 6.67318519e-03 9.99483931e-01 -2.87212966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70313336499999 meters Centerline goodness : 0.146185 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99511998e-01 7.83472123e-04 -3.12274352e-02 -1.19231902e+00] [-9.87120889e-04 9.99978345e-01 -6.50658671e-03 1.31988928e-01] [ 3.12216612e-02 6.53423674e-03 9.99491126e-01 -2.86572877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.733133365 meters Centerline goodness : 0.142509 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99511887e-01 7.45511866e-04 -3.12319208e-02 -1.19241909e+00] [-9.49736568e-04 9.99978263e-01 -6.52464923e-03 1.31877590e-01] [ 3.12263777e-02 6.55112656e-03 9.99490868e-01 -2.86445923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.763133365 meters Centerline goodness : 0.147358 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99510288e-01 7.50175860e-04 -3.12829277e-02 -1.19212782e+00] [-9.54502412e-04 9.99978308e-01 -6.51714556e-03 1.32047883e-01] [ 3.12773601e-02 6.54381366e-03 9.99489322e-01 -2.86769224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.793133365 meters Centerline goodness : 0.142439 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99508706e-01 7.63936268e-04 -3.13331044e-02 -1.19170760e+00] [-9.68783310e-04 9.99978255e-01 -6.52305922e-03 1.32419020e-01] [ 3.13274399e-02 6.55020947e-03 9.99487712e-01 -2.87210896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.823133365 meters Centerline goodness : 0.148029 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99516485e-01 7.22807438e-04 -3.10849384e-02 -1.19249693e+00] [-9.26554473e-04 9.99978181e-01 -6.54062109e-03 1.32515136e-01] [ 3.10795325e-02 6.56626049e-03 9.99495346e-01 -2.86926951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.853133365 meters Centerline goodness : 0.144146 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99522700e-01 6.82522523e-04 -3.08853736e-02 -1.19319657e+00] [-8.82131350e-04 9.99978811e-01 -6.44972761e-03 1.31720037e-01] [ 3.08803171e-02 6.47389411e-03 9.99502123e-01 -2.86672247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.883133365 meters Centerline goodness : 0.148230 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99526621e-01 6.55059905e-04 -3.07588270e-02 -1.19380555e+00] [-8.50092568e-04 9.99979616e-01 -6.32805664e-03 1.30776605e-01] [ 3.07540547e-02 6.35120892e-03 9.99506804e-01 -2.86290735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.913133365 meters Centerline goodness : 0.146725 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99526358e-01 6.76342157e-04 -3.07669152e-02 -1.19376430e+00] [-8.64741985e-04 9.99980956e-01 -6.11056159e-03 1.29475750e-01] [ 3.07621964e-02 6.13427281e-03 9.99507908e-01 -2.86400029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.943133365 meters Centerline goodness : 0.148164 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99519379e-01 7.16119562e-04 -3.09919056e-02 -1.19301610e+00] [-8.97248456e-04 9.99982598e-01 -5.83088120e-03 1.27958947e-01] [ 3.09871906e-02 5.85588619e-03 9.99502628e-01 -2.86798912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.973133365 meters Centerline goodness : 0.150118 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99511360e-01 7.35365311e-04 -3.12489976e-02 -1.19204786e+00] [-9.09134335e-04 9.99984202e-01 -5.54694278e-03 1.26119615e-01] [ 3.12444249e-02 5.57264186e-03 9.99496239e-01 -2.87446142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.003133365 meters Centerline goodness : 0.141356 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.29 [[ 9.99495909e-01 5.05835493e-04 -3.17438552e-02 -1.19055936e+00] [-6.77271750e-04 9.99985244e-01 -5.39009245e-03 1.23620558e-01] [ 3.17406603e-02 5.40887456e-03 9.99481503e-01 -2.88064244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.033133365 meters Centerline goodness : 0.128372 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.29 [[ 9.99497921e-01 5.62446434e-04 -3.16794849e-02 -1.19096708e+00] [-7.30288175e-04 9.99985758e-01 -5.28679964e-03 1.23198189e-01] [ 3.16760602e-02 5.30728040e-03 9.99484097e-01 -2.87722270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.063133365 meters Centerline goodness : 0.134670 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.29 [[ 9.99504164e-01 6.57191349e-04 -3.14800600e-02 -1.19181276e+00] [-8.23193839e-04 9.99985824e-01 -5.26058836e-03 1.23685714e-01] [ 3.14761565e-02 5.28389416e-03 9.99490536e-01 -2.87140349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.093133365 meters Centerline goodness : 0.133473 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.29 [[ 9.99508644e-01 6.84165978e-04 -3.13369035e-02 -1.19233980e+00] [-8.53527467e-04 9.99985102e-01 -5.39148025e-03 1.24797522e-01] [ 3.13327480e-02 5.41557802e-03 9.99494337e-01 -2.86773222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.123133365 meters Centerline goodness : 0.147704 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.13, Z:-0.29 [[ 0.99950889 -0.00717617 -0.0305039 -1.17293535] [ 0.00704783 0.99996586 -0.00431266 0.12900588] [ 0.03053381 0.00409555 0.99952534 -0.28516574] [ 0. 0. 0. 1. ]] SLAMing on 225.153133365 meters Centerline goodness : 0.144538 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 0.99952599 0.001645 -0.03074232 -1.19475269] [-0.00181982 0.99998233 -0.00565959 0.12974153] [ 0.03073247 0.00571286 0.99951132 -0.28663169] [ 0. 0. 0. 1. ]] SLAMing on 225.18313336499997 meters Centerline goodness : 0.135874 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.14, Z:-0.29 [[ 0.99954398 -0.00397803 -0.02993328 -1.21626251] [ 0.00389415 0.99998833 -0.0028601 0.13546568] [ 0.0299443 0.00274223 0.99954781 -0.28769828] [ 0. 0. 0. 1. ]] SLAMing on 225.21313336499998 meters Centerline goodness : 0.144564 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.13, Z:-0.29 [[ 0.99956862 0.00400214 -0.0290955 -1.1967661 ] [-0.00410725 0.99998525 -0.0035539 0.13188895] [ 0.02908085 0.00367187 0.99957032 -0.28633326] [ 0. 0. 0. 1. ]] SLAMing on 225.24313336499998 meters Centerline goodness : 0.145109 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.13, Z:-0.29 [[ 0.99957135 0.00377262 -0.02903242 -1.19688388] [-0.00387958 0.99998589 -0.00362886 0.13120027] [ 0.02901832 0.00373994 0.99957188 -0.28646903] [ 0. 0. 0. 1. ]] SLAMing on 225.27313336499998 meters Centerline goodness : 0.133804 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.13, Z:-0.29 [[ 0.99957196 0.00369934 -0.02902073 -1.19694405] [-0.00380353 0.99998652 -0.0035358 0.13004115] [ 0.02900726 0.00364467 0.99957256 -0.28654818] [ 0. 0. 0. 1. ]] SLAMing on 225.30313336499998 meters Centerline goodness : 0.122970 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.13, Z:-0.28 [[ 0.99957136 -0.00487635 -0.0288673 -1.17662199] [ 0.00480895 0.99998555 -0.00240367 0.13148889] [ 0.0288786 0.00226381 0.99958036 -0.28497624] [ 0. 0. 0. 1. ]] SLAMing on 225.33313336499998 meters Centerline goodness : 0.136330 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.29 [[ 0.99950458 -0.00414157 -0.03120003 -1.22212815] [ 0.00407692 0.99998941 -0.00213565 0.13361104] [ 0.03120854 0.00200739 0.99951088 -0.28506858] [ 0. 0. 0. 1. ]] SLAMing on 225.36313336499998 meters Centerline goodness : 0.134767 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.29 [[ 0.9994995 -0.0040886 -0.03136928 -1.22161491] [ 0.00402897 0.99998996 -0.00196373 0.13292324] [ 0.031377 0.00183636 0.99950593 -0.28527107] [ 0. 0. 0. 1. ]] SLAMing on 225.39313336499998 meters Centerline goodness : 0.137194 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.29 [[ 0.99949292 -0.00401273 -0.03158803 -1.22091001] [ 0.00395683 0.99999049 -0.00183202 0.13258343] [ 0.03159508 0.0017061 0.99949929 -0.28556613] [ 0. 0. 0. 1. ]] SLAMing on 225.42313336499998 meters Centerline goodness : 0.133839 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.29 [[ 0.9994795 -0.00394697 -0.03201784 -1.21946692] [ 0.00389228 0.99999086 -0.0017704 0.13266454] [ 0.03202454 0.00164486 0.99948573 -0.28623406] [ 0. 0. 0. 1. ]] SLAMing on 225.45313336499999 meters Centerline goodness : 0.115583 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.29 [[ 0.99948198 -0.00385054 -0.03195214 -1.21967009] [ 0.00379803 0.99999134 -0.00170392 0.13276456] [ 0.03195842 0.00158169 0.99948795 -0.28612878] [ 0. 0. 0. 1. ]] SLAMing on 225.483133365 meters Centerline goodness : 0.144060 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.29 [[ 0.99948979 -0.00379889 -0.03171312 -1.22047796] [ 0.00374713 0.99999155 -0.0016914 0.13295855] [ 0.03171927 0.00157171 0.99949558 -0.28574466] [ 0. 0. 0. 1. ]] SLAMing on 225.513133365 meters Centerline goodness : 0.138590 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.29 [[ 0.99949854 -0.00381788 -0.03143392 -1.22150155] [ 0.0037651 0.9999914 -0.001738 0.13299499] [ 0.03144028 0.00161878 0.99950432 -0.28520727] [ 0. 0. 0. 1. ]] SLAMing on 225.543133365 meters Centerline goodness : 0.102979 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.13, Z:-0.28 [[ 0.99950684 0.00334259 -0.03122357 -1.20382096] [-0.0034452 0.99998884 -0.00323307 0.12697959] [ 0.03121241 0.00333904 0.9995072 -0.28273077] [ 0. 0. 0. 1. ]] SLAMing on 225.573133365 meters Centerline goodness : 0.147022 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.13, Z:-0.28 [[ 0.99951099 0.00335011 -0.03108965 -1.20423567] [-0.00344885 0.99998918 -0.00312278 0.12605193] [ 0.03107885 0.00322848 0.99951172 -0.28266036] [ 0. 0. 0. 1. ]] SLAMing on 225.603133365 meters Centerline goodness : 0.146847 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.12, Z:-0.28 [[ 0.99951192 0.00351344 -0.03104153 -1.20429599] [-0.00359553 0.99999018 -0.00258906 0.12320979] [ 0.03103213 0.00269941 0.99951474 -0.28291781] [ 0. 0. 0. 1. ]] SLAMing on 225.633133365 meters Centerline goodness : 0.146089 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.12, Z:-0.28 [[ 0.99950953 0.00363891 -0.03110413 -1.20393171] [-0.00371034 0.99999061 -0.00223907 0.12141299] [ 0.03109569 0.00235338 0.99951364 -0.28331938] [ 0. 0. 0. 1. ]] SLAMing on 225.663133365 meters Centerline goodness : 0.142897 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.12, Z:-0.28 [[ 0.99950881 0.00375086 -0.03111377 -1.20386494] [-0.00381193 0.99999092 -0.00190392 0.11954172] [ 0.03110635 0.00202159 0.99951404 -0.28349291] [ 0. 0. 0. 1. ]] SLAMing on 225.693133365 meters Centerline goodness : 0.134630 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.12, Z:-0.28 [[ 0.99951128 0.00381491 -0.03102642 -1.20426965] [-0.00386888 0.99999111 -0.00167946 0.11808709] [ 0.03101974 0.00179867 0.99951715 -0.28326183] [ 0. 0. 0. 1. ]] SLAMing on 225.723133365 meters Centerline goodness : 0.139208 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.12, Z:-0.28 [[ 0.99952341 0.00392104 -0.03061993 -1.20589226] [-0.00396747 0.99999107 -0.00145562 0.11694004] [ 0.03061395 0.00157641 0.99953004 -0.28231294] [ 0. 0. 0. 1. ]] SLAMing on 225.753133365 meters Centerline goodness : 0.134845 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.12, Z:-0.28 [[ 0.99952655 0.00396615 -0.03051133 -1.20622282] [-0.00401057 0.99999098 -0.00139492 0.11678743] [ 0.03050553 0.00151663 0.99953345 -0.28216939] [ 0. 0. 0. 1. ]] SLAMing on 225.783133365 meters Centerline goodness : 0.144459 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.28 [[ 9.99544270e-01 -4.20564233e-03 -2.98925481e-02 -1.18596200e+00] [ 4.19970772e-03 9.99991147e-01 -2.61312766e-04 1.18930529e-01] [ 2.98933825e-02 1.35653713e-04 9.99553084e-01 -2.80802289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.813133365 meters Centerline goodness : 0.145989 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.28 [[ 9.99545272e-01 -4.24908595e-03 -2.98528664e-02 -1.18585199e+00] [ 4.24162876e-03 9.99990955e-01 -3.13120476e-04 1.18835192e-01] [ 2.98539269e-02 1.86353315e-04 9.99554255e-01 -2.81104293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.843133365 meters Centerline goodness : 0.141734 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.28 [[ 9.99544389e-01 -4.26598115e-03 -2.98800324e-02 -1.18571316e+00] [ 4.25792380e-03 9.99990879e-01 -3.33279356e-04 1.18702125e-01] [ 2.98811816e-02 2.05900609e-04 9.99553437e-01 -2.81222276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.873133365 meters Centerline goodness : 0.130659 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.28 [[ 9.99544641e-01 -4.23379423e-03 -2.98761693e-02 -1.18560595e+00] [ 4.22627338e-03 9.99991020e-01 -3.14876447e-04 1.18786810e-01] [ 2.98772341e-02 1.88468206e-04 9.99553558e-01 -2.81418386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.903133365 meters Centerline goodness : 0.131380 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.12, Z:-0.28 [[ 9.99538980e-01 -4.04497384e-03 -3.00909599e-02 -1.18482861e+00] [ 4.04172534e-03 9.99991818e-01 -1.68778748e-04 1.19006939e-01] [ 3.00913964e-02 4.70815424e-05 9.99547150e-01 -2.81813407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93313336499997 meters Centerline goodness : 0.131380 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.12, Z:-0.28 [[ 9.99538980e-01 -4.04497384e-03 -3.00909599e-02 -1.18482861e+00] [ 4.04172534e-03 9.99991818e-01 -1.68778748e-04 1.19006939e-01] [ 3.00913964e-02 4.70815424e-05 9.99547150e-01 -2.81813407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96313336499998 meters Centerline goodness : 0.139896 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.28 [[ 9.99552976e-01 3.72340132e-03 -2.96645424e-02 -1.16521712e+00] [-3.75760673e-03 9.99992338e-01 -1.09741113e-03 1.13859730e-01] [ 2.96602290e-02 1.20838824e-03 9.99559308e-01 -2.80413961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99313336499998 meters Centerline goodness : 0.137293 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.28 [[ 9.99555237e-01 3.71157398e-03 -2.95897195e-02 -1.16538868e+00] [-3.74708042e-03 9.99992325e-01 -1.14459935e-03 1.14016471e-01] [ 2.95852441e-02 1.25496533e-03 9.99561473e-01 -2.80438640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02313336499998 meters Centerline goodness : 0.137250 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.28 [[ 9.99552785e-01 3.75171157e-03 -2.96674020e-02 -1.16514535e+00] [-3.78561233e-03 9.99992244e-01 -1.08660936e-03 1.13877400e-01] [ 2.96630953e-02 1.19843269e-03 9.99559235e-01 -2.80537690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05313336499998 meters Centerline goodness : 0.135710 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.11, Z:-0.28 [[ 9.99546991e-01 3.79003132e-03 -2.98571209e-02 -1.16455273e+00] [-3.82281896e-03 9.99992151e-01 -1.04114590e-03 1.13863124e-01] [ 2.98529405e-02 1.15481262e-03 9.99553635e-01 -2.80755546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08313336499998 meters Centerline goodness : 0.139774 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.11, Z:-0.28 [[ 9.99541327e-01 3.85633144e-03 -3.00377161e-02 -1.16384729e+00] [-3.88571573e-03 9.99992027e-01 -9.19935661e-04 1.13380738e-01] [ 3.00339291e-02 1.03623174e-03 9.99548343e-01 -2.81192592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11313336499998 meters Centerline goodness : 0.130996 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.12, Z:-0.28 [[ 9.99529796e-01 -4.34443928e-03 -3.03531304e-02 -1.18399348e+00] [ 4.34736429e-03 9.99990550e-01 3.03730536e-05 1.16569651e-01] [ 3.03527116e-02 -1.62314887e-04 9.99539237e-01 -2.82504966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14313336499998 meters Centerline goodness : 0.130688 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.12, Z:-0.28 [[ 9.99534509e-01 -4.34664695e-03 -3.01972137e-02 -1.18473499e+00] [ 4.35215041e-03 9.99990523e-01 1.16526390e-04 1.15862992e-01] [ 3.01964210e-02 -2.47894964e-04 9.99543953e-01 -2.82007025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17313336499998 meters Centerline goodness : 0.117873 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.28 [[ 9.99546345e-01 3.00149092e-03 -2.99682369e-02 -1.16659906e+00] [-3.03279552e-03 9.99994902e-01 -9.99193292e-04 1.10217667e-01] [ 2.99650850e-02 1.08962754e-03 9.99550352e-01 -2.79784791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20313336499999 meters Centerline goodness : 0.138109 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.28 [[ 9.99542233e-01 3.15445300e-03 -3.00894475e-02 -1.16603579e+00] [-3.17860291e-03 9.99994663e-01 -7.54805695e-04 1.09710428e-01] [ 3.00869060e-02 8.50102575e-04 9.99546925e-01 -2.80221254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.233133365 meters Centerline goodness : 0.144371 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.28 [[ 9.99524095e-01 -4.52116370e-03 -3.05146295e-02 -1.18491678e+00] [ 4.54240463e-03 9.99989487e-01 6.26804522e-04 1.14383411e-01] [ 3.05114748e-02 -7.65116018e-04 9.99534124e-01 -2.82514200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.263133365 meters Centerline goodness : 0.132560 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.28 [[ 9.99526554e-01 -4.51496483e-03 -3.04349074e-02 -1.18494006e+00] [ 4.54113995e-03 9.99989376e-01 7.90969907e-04 1.13237466e-01] [ 3.04310129e-02 -9.28804599e-04 9.99536438e-01 -2.82833308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.293133365 meters Centerline goodness : 0.131402 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.28 [[ 9.99539846e-01 2.52265766e-03 -3.02280170e-02 -1.16611595e+00] [-2.53812049e-03 9.99996667e-01 -4.73180659e-04 1.06061315e-01] [ 3.02267226e-02 5.49685273e-04 9.99542917e-01 -2.81558950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.323133365 meters Centerline goodness : 0.147040 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.10, Z:-0.28 [[ 9.99539118e-01 2.52073159e-03 -3.02522446e-02 -1.16607830e+00] [-2.53141056e-03 9.99996746e-01 -3.14703806e-04 1.04817738e-01] [ 3.02513529e-02 3.91139616e-04 9.99542247e-01 -2.81598175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.353133365 meters Centerline goodness : 0.139388 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.11, Z:-0.28 [[ 9.99484388e-01 -5.62011402e-03 -3.16128657e-02 -1.18612090e+00] [ 5.63997368e-03 9.99983950e-01 5.39078646e-04 1.08738572e-01] [ 3.16093286e-02 -7.17096421e-04 9.99500043e-01 -2.82791982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.383133365 meters Centerline goodness : 0.142066 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.11, Z:-0.28 [[ 9.99483240e-01 -5.49037839e-03 -3.16718925e-02 -1.18578091e+00] [ 5.52584589e-03 9.99984199e-01 1.03242071e-03 1.05973501e-01] [ 3.16657236e-02 -1.20690119e-03 9.99497787e-01 -2.83204568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.413133365 meters Centerline goodness : 0.128367 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.11, Z:-0.28 [[ 0.99949602 -0.00541251 -0.03127961 -1.18702415] [ 0.00545265 0.99998442 0.00119811 0.10509906] [ 0.03127264 -0.00136806 0.99950996 -0.28276186] [ 0. 0. 0. 1. ]] SLAMing on 226.443133365 meters Centerline goodness : 0.137548 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.10, Z:-0.28 [[ 0.99950822 -0.00538603 -0.03089199 -1.18833431] [ 0.0054274 0.99998448 0.00125557 0.10471368] [ 0.03088475 -0.00142262 0.99952194 -0.28215835] [ 0. 0. 0. 1. ]] SLAMing on 226.473133365 meters Centerline goodness : 0.131770 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.10, Z:-0.28 [[ 0.99951428 -0.00537797 -0.03069646 -1.1890737 ] [ 0.00541779 0.99998459 0.00121404 0.10499312] [ 0.03068946 -0.00137976 0.99952802 -0.28168243] [ 0. 0. 0. 1. ]] SLAMing on 226.503133365 meters Centerline goodness : 0.116522 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.11, Z:-0.28 [[ 9.99516190e-01 -5.34780807e-03 -3.06396263e-02 -1.18924453e+00] [ 5.38664223e-03 9.99984790e-01 1.18504700e-03 1.05359526e-01] [ 3.06328228e-02 -1.34951837e-03 9.99529794e-01 -2.81616647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.533133365 meters Centerline goodness : 0.148428 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.10, Z:-0.28 [[ 9.99542453e-01 2.76702080e-03 -3.01202303e-02 -1.16914037e+00] [-2.75318214e-03 9.99996085e-01 5.00910303e-04 1.00556425e-01] [ 3.01214984e-02 -4.17754633e-04 9.99546157e-01 -2.80447648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.563133365 meters Centerline goodness : 0.141643 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.10, Z:-0.28 [[ 9.99475727e-01 4.16166622e-03 -3.21084394e-02 -1.21427150e+00] [-4.13543413e-03 9.99991059e-01 8.83349349e-04 1.04294800e-01] [ 3.21118285e-02 -7.50103896e-04 9.99484001e-01 -2.81090314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.593133365 meters Centerline goodness : 0.115242 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.11, Z:-0.28 [[ 0.99947308 -0.00399066 -0.03221228 -1.19341778] [ 0.00405137 0.99999014 0.00181969 0.1063513 ] [ 0.0322047 -0.00194923 0.99947939 -0.2797728 ] [ 0. 0. 0. 1. ]] SLAMing on 226.623133365 meters Centerline goodness : 0.143855 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.11, Z:-0.28 [[ 0.99947379 -0.00393661 -0.0321969 -1.19321478] [ 0.00400364 0.99998995 0.00201766 0.10515181] [ 0.03218864 -0.0021455 0.99947951 -0.28018147] [ 0. 0. 0. 1. ]] SLAMing on 226.653133365 meters Centerline goodness : 0.139062 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.10, Z:-0.28 [[ 0.99947536 -0.00390359 -0.03215215 -1.1932448 ] [ 0.00397863 0.99998951 0.00227024 0.10346812] [ 0.03214295 -0.00239697 0.99948041 -0.28039707] [ 0. 0. 0. 1. ]] SLAMing on 226.68313336499997 meters Centerline goodness : 0.144978 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.10, Z:-0.28 [[ 0.99947611 -0.00387827 -0.03213203 -1.19326004] [ 0.00396386 0.99998876 0.00260043 0.10132453] [ 0.03212158 -0.00272644 0.99948025 -0.28054814] [ 0. 0. 0. 1. ]] SLAMing on 226.71313336499998 meters Centerline goodness : 0.132067 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.10, Z:-0.28 [[ 0.99947442 -0.00378625 -0.03219537 -1.19306131] [ 0.0038863 0.99998781 0.00304569 0.09883254] [ 0.03218345 -0.00316921 0.99947695 -0.28076137] [ 0. 0. 0. 1. ]] SLAMing on 226.74313336499998 meters Centerline goodness : 0.139938 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.09, Z:-0.28 [[ 0.99945107 -0.00382189 -0.03290831 -1.19099178] [ 0.00394665 0.99998527 0.00372701 0.09417167] [ 0.03289358 -0.00385485 0.99945143 -0.2814974 ] [ 0. 0. 0. 1. ]] SLAMing on 226.77313336499998 meters Centerline goodness : 0.108572 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.09, Z:-0.28 [[ 0.99945007 -0.00370484 -0.03295182 -1.19066727] [ 0.00384192 0.99998422 0.00409769 0.09212024] [ 0.03293612 -0.00422204 0.99944854 -0.28188987] [ 0. 0. 0. 1. ]] SLAMing on 226.80313336499998 meters Centerline goodness : 0.139702 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.09, Z:-0.28 [[ 0.99945685 -0.00361907 -0.03275541 -1.19108756] [ 0.00376392 0.99998341 0.00436146 0.0905532 ] [ 0.03273909 -0.00448238 0.99945388 -0.28195924] [ 0. 0. 0. 1. ]] SLAMing on 226.83313336499998 meters Centerline goodness : 0.143018 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.08, Z:-0.28 [[ 0.99947961 0.004056 -0.03200086 -1.17279796] [-0.0039549 0.99998699 0.00322178 0.08413089] [ 0.03201352 -0.00309355 0.99948265 -0.28000082] [ 0. 0. 0. 1. ]] SLAMing on 226.86313336499998 meters Centerline goodness : 0.144345 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.08, Z:-0.28 [[ 0.99948544 0.00413436 -0.03180821 -1.17347268] [-0.00403199 0.99998649 0.00328169 0.0839293 ] [ 0.03182135 -0.00315175 0.9994886 -0.27965258] [ 0. 0. 0. 1. ]] SLAMing on 226.89313336499998 meters Centerline goodness : 0.151608 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.08, Z:-0.28 [[ 0.99949243 0.00421641 -0.03157685 -1.17407767] [-0.00411399 0.99998607 0.0033077 0.08406371] [ 0.03159035 -0.00317611 0.99949585 -0.27951284] [ 0. 0. 0. 1. ]] SLAMing on 226.92313336499998 meters Centerline goodness : 0.159953 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.08, Z:-0.28 [[ 0.99951133 0.00447943 -0.03093589 -1.17548549] [-0.00437991 0.99998502 0.00328389 0.08470577] [ 0.03095014 -0.00314679 0.99951598 -0.27957711] [ 0. 0. 0. 1. ]] SLAMing on 226.95313336499999 meters Centerline goodness : 0.136773 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.09, Z:-0.28 [[ 0.99951845 0.00449345 -0.03070302 -1.17609772] [-0.00439746 0.99998523 0.0031932 0.08510855] [ 0.03071691 -0.00305665 0.99952345 -0.27945076] [ 0. 0. 0. 1. ]] SLAMing on 226.983133365 meters Centerline goodness : 0.139780 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.09, Z:-0.28 [[ 0.99952303 0.00449841 -0.03055284 -1.17656179] [-0.00440454 0.99998537 0.00313898 0.08540937] [ 0.03056651 -0.00300291 0.99952822 -0.27930971] [ 0. 0. 0. 1. ]] SLAMing on 227.013133365 meters Centerline goodness : 0.153851 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.08, Z:-0.28 [[ 0.99956103 0.00433664 -0.0293078 -1.13229392] [-0.00424432 0.99998584 0.00321134 0.08325911] [ 0.02932131 -0.00308554 0.99956528 -0.27802818] [ 0. 0. 0. 1. ]] SLAMing on 227.043133365 meters Centerline goodness : 0.144931 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.08, Z:-0.28 [[ 0.99955484 0.00437982 -0.02951154 -1.1316645 ] [-0.00428809 0.99998578 0.00317093 0.08381005] [ 0.02952501 -0.00304297 0.99955941 -0.27822822] [ 0. 0. 0. 1. ]] SLAMing on 227.073133365 meters Centerline goodness : 0.150062 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.9995625 0.00445155 -0.02924032 -1.13222204] [-0.00437039 0.99998642 0.00283883 0.08592922] [ 0.02925256 -0.0027098 0.99956838 -0.27824819] [ 0. 0. 0. 1. ]] SLAMing on 227.103133365 meters Centerline goodness : 0.103077 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99956928 0.00444118 -0.02900907 -1.13295427] [-0.00436679 0.99998701 0.0026273 0.08723398] [ 0.02902037 -0.00249949 0.9995757 -0.27793996] [ 0. 0. 0. 1. ]] SLAMing on 227.133133365 meters Centerline goodness : 0.110661 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99957618 0.00450923 -0.02875995 -1.13378193] [-0.00444076 0.99998715 0.00244416 0.08888608] [ 0.0287706 -0.00231541 0.99958336 -0.27753133] [ 0. 0. 0. 1. ]] SLAMing on 227.163133365 meters Centerline goodness : 0.129842 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99958186 0.0046167 -0.02854463 -1.13434622] [-0.00455183 0.99998691 0.00233706 0.09040917] [ 0.02855504 -0.00220616 0.99958979 -0.27740768] [ 0. 0. 0. 1. ]] SLAMing on 227.193133365 meters Centerline goodness : 0.151407 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99958201 0.00464139 -0.02853532 -1.1341511 ] [-0.00458092 0.99998712 0.00218431 0.09168597] [ 0.02854509 -0.00205268 0.9995904 -0.27772726] [ 0. 0. 0. 1. ]] SLAMing on 227.223133365 meters Centerline goodness : 0.145720 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99958151 0.00456588 -0.02856502 -1.13387262] [-0.00451092 0.99998785 0.00198805 0.09255382] [ 0.02857375 -0.00185837 0.99958996 -0.27807962] [ 0. 0. 0. 1. ]] SLAMing on 227.253133365 meters Centerline goodness : 0.161877 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99958022 0.00443064 -0.02863139 -1.13342132] [-0.00438207 0.99998885 0.00175889 0.0931797 ] [ 0.02863886 -0.00163269 0.99958849 -0.27853935] [ 0. 0. 0. 1. ]] SLAMing on 227.283133365 meters Centerline goodness : 0.091412 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99958134 0.0044151 -0.02859457 -1.13358697] [-0.0043686 0.99998903 0.00168843 0.09363539] [ 0.02860171 -0.0015628 0.99958967 -0.27841681] [ 0. 0. 0. 1. ]] SLAMing on 227.313133365 meters Centerline goodness : 0.173350 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99958425 0.00442723 -0.02849072 -1.13387318] [-0.00438203 0.99998904 0.00164849 0.09409821] [ 0.0284977 -0.00152296 0.9995927 -0.27840178] [ 0. 0. 0. 1. ]] SLAMing on 227.343133365 meters Centerline goodness : 0.159668 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99958608 0.00442548 -0.02842675 -1.13402869] [-0.00438317 0.99998919 0.00155044 0.09483831] [ 0.0284333 -0.0014252 0.99959468 -0.27840629] [ 0. 0. 0. 1. ]] SLAMing on 227.373133365 meters Centerline goodness : 0.162284 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.10, Z:-0.28 [[ 0.9996044 -0.00307368 -0.02795692 -1.15269322] [ 0.00315368 0.99999106 0.00281789 0.10134156] [ 0.02794801 -0.00290495 0.99960516 -0.28088785] [ 0. 0. 0. 1. ]] SLAMing on 227.403133365 meters Centerline goodness : 0.149416 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.28 [[ 0.9995467 -0.00175224 -0.03005533 -1.19716738] [ 0.0018582 0.99999216 0.00349806 0.10394246] [ 0.03004896 -0.00355232 0.99954212 -0.28211707] [ 0. 0. 0. 1. ]] SLAMing on 227.43313336499997 meters Centerline goodness : 0.090939 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.10, Z:-0.28 [[ 0.99954619 0.0073301 -0.02921795 -1.17550371] [-0.00724193 0.9999689 0.00312229 0.10387494] [ 0.02923992 -0.00290928 0.99956819 -0.28157259] [ 0. 0. 0. 1. ]] SLAMing on 227.46313336499998 meters SLAMing on 227.49313336499998 meters SLAMing on 227.52313336499998 meters Centerline goodness : 0.092638 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.28 [[ 0.99952321 0.01095528 -0.02886764 -1.17686948] [-0.01079158 0.99992483 0.00582026 0.10914312] [ 0.02892923 -0.00550596 0.9995663 -0.28087736] [ 0. 0. 0. 1. ]] SLAMing on 227.55313336499998 meters Centerline goodness : 0.090392 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.28 [[ 0.99952196 0.01092626 -0.02892189 -1.17658478] [-0.01076993 0.99992657 0.00555537 0.11075334] [ 0.02898046 -0.00524123 0.99956624 -0.28116911] [ 0. 0. 0. 1. ]] SLAMing on 227.58313336499998 meters SLAMing on 227.61313336499998 meters Centerline goodness : 0.041630 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.28 [[ 0.99950345 0.01113244 -0.02947747 -1.17455833] [-0.01098009 0.99992554 0.00532486 0.11250936] [ 0.02953455 -0.00499855 0.99955126 -0.28247422] [ 0. 0. 0. 1. ]] SLAMing on 227.64313336499998 meters Centerline goodness : 0.096346 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99955324 0.0035228 -0.02968005 -1.15642523] [-0.00333857 0.99997487 0.00625461 0.11718456] [ 0.02970134 -0.00615273 0.99953988 -0.28065102] [ 0. 0. 0. 1. ]] SLAMing on 227.67313336499998 meters Centerline goodness : 0.252134 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99955823 0.00358383 -0.02950425 -1.15698003] [-0.00339931 0.99997437 0.00630178 0.11711644] [ 0.02952608 -0.0061987 0.99954479 -0.28053736] [ 0. 0. 0. 1. ]] SLAMing on 227.70313336499999 meters Centerline goodness : 0.252665 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99956314 0.00361101 -0.02933406 -1.15742058] [-0.00342748 0.99997425 0.00630438 0.11697171] [ 0.02935607 -0.00620108 0.99954978 -0.28057109] [ 0. 0. 0. 1. ]] SLAMing on 227.733133365 meters Centerline goodness : 0.130895 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99956302 0.00359068 -0.02934057 -1.15732221] [-0.00340839 0.99997459 0.00626037 0.1166897 ] [ 0.0293623 -0.00615763 0.99954987 -0.28075913] [ 0. 0. 0. 1. ]] SLAMing on 227.763133365 meters Centerline goodness : 0.098704 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99955017 0.00399401 -0.02972398 -1.15610632] [-0.00379875 0.99997085 0.00662279 0.11561416] [ 0.02974956 -0.0065069 0.9995362 -0.28140497] [ 0. 0. 0. 1. ]] SLAMing on 227.793133365 meters Centerline goodness : 0.041677 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99955038 0.00420921 -0.02968715 -1.15618324] [-0.00400909 0.99996886 0.00679718 0.11542007] [ 0.02971484 -0.00667511 0.99953613 -0.28151048] [ 0. 0. 0. 1. ]] SLAMing on 227.823133365 meters Centerline goodness : 0.041677 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99955038 0.00420921 -0.02968715 -1.15618324] [-0.00400909 0.99996886 0.00679718 0.11542007] [ 0.02971484 -0.00667511 0.99953613 -0.28151048] [ 0. 0. 0. 1. ]] SLAMing on 227.853133365 meters SLAMing on 227.883133365 meters Centerline goodness : 0.315253 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99956907 0.00464362 -0.02898472 -1.15809077] [-0.00444466 0.99996615 0.00692472 0.11588525] [ 0.02901589 -0.00679291 0.99955587 -0.28132838] [ 0. 0. 0. 1. ]] SLAMing on 227.913133365 meters Centerline goodness : 0.099689 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99957237 0.00464516 -0.02887056 -1.15847158] [-0.00445111 0.9999671 0.00678204 0.11656425] [ 0.02890112 -0.00665064 0.99956015 -0.28124444] [ 0. 0. 0. 1. ]] SLAMing on 227.943133365 meters Centerline goodness : 0.045272 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99957559 0.00467799 -0.02875344 -1.15874793] [-0.00448813 0.99996772 0.00666408 0.11740983] [ 0.02878369 -0.0065322 0.99956432 -0.28131023] [ 0. 0. 0. 1. ]] SLAMing on 227.973133365 meters SLAMing on 228.003133365 meters Centerline goodness : 0.080958 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99956671 0.00548084 -0.02891983 -1.15826864] [-0.00528 0.99996144 0.00701681 0.1190432 ] [ 0.02895717 -0.00686108 0.99955711 -0.28158617] [ 0. 0. 0. 1. ]] SLAMing on 228.033133365 meters SLAMing on 228.063133365 meters Centerline goodness : 0.095656 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99956484 0.00534026 -0.0290107 -1.15783673] [-0.00514702 0.9999641 0.0067317 0.11988517] [ 0.0290456 -0.00657945 0.99955643 -0.28195092] [ 0. 0. 0. 1. ]] SLAMing on 228.093133365 meters Centerline goodness : 0.105191 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99956417 0.00523282 -0.02905313 -1.15781533] [-0.00504363 0.99996562 0.00658133 0.12013068] [ 0.02908657 -0.00643193 0.9995562 -0.28185883] [ 0. 0. 0. 1. ]] SLAMing on 228.123133365 meters Centerline goodness : 0.106012 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99956218 0.00520802 -0.02912606 -1.1576292 ] [-0.00502003 0.99996612 0.00652364 0.12037803] [ 0.02915905 -0.00637457 0.99955446 -0.28195854] [ 0. 0. 0. 1. ]] SLAMing on 228.153133365 meters Centerline goodness : 0.210729 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99955923 0.00520545 -0.02922744 -1.15726433] [-0.00501832 0.99996646 0.00647224 0.12080061] [ 0.02926015 -0.00632271 0.99955183 -0.28218609] [ 0. 0. 0. 1. ]] SLAMing on 228.18313336499997 meters SLAMing on 228.21313336499998 meters SLAMing on 228.24313336499998 meters Centerline goodness : 0.116308 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99955007 0.00502738 -0.02956981 -1.1560075 ] [-0.00484607 0.99996904 0.00620007 0.12154267] [ 0.02960006 -0.00605399 0.99954349 -0.28291338] [ 0. 0. 0. 1. ]] SLAMing on 228.27313336499998 meters SLAMing on 228.30313336499998 meters SLAMing on 228.33313336499998 meters SLAMing on 228.36313336499998 meters Centerline goodness : 0.100138 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.28 [[ 0.99954312 0.0020402 -0.03015621 -1.15413959] [-0.00193182 0.99999157 0.00362238 0.11947967] [ 0.03016335 -0.00356247 0.99953863 -0.28355144] [ 0. 0. 0. 1. ]] SLAMing on 228.39313336499998 meters Centerline goodness : 0.099381 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.28 [[ 0.9995622 -0.00594759 -0.0289834 -1.13538352] [ 0.00609622 0.9999687 0.00504237 0.12184744] [ 0.02895251 -0.00521685 0.99956717 -0.2813961 ] [ 0. 0. 0. 1. ]] SLAMing on 228.42313336499998 meters Centerline goodness : 0.335273 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.28 [[ 0.99956858 -0.00607742 -0.02873544 -1.13637847] [ 0.00624101 0.99996481 0.00560687 0.11791327] [ 0.02870035 -0.00578379 0.99957133 -0.28069899] [ 0. 0. 0. 1. ]] SLAMing on 228.45313336499999 meters Centerline goodness : 0.128614 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.28 [[ 0.99956467 -0.00615028 -0.02885558 -1.13603377] [ 0.00632261 0.9999627 0.00588491 0.11561114] [ 0.02881831 -0.00606479 0.99956627 -0.28073863] [ 0. 0. 0. 1. ]] SLAMing on 228.483133365 meters Centerline goodness : 0.216121 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.11, Z:-0.28 [[ 9.99594727e-01 -6.97481504e-04 -2.84586612e-02 -1.15888482e+00] [ 7.80444352e-04 9.99995478e-01 2.90420231e-03 1.09800615e-01] [ 2.84565069e-02 -2.92523571e-03 9.99590751e-01 -2.81132155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.513133365 meters Centerline goodness : 0.042652 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.10, Z:-0.28 [[ 9.99592674e-01 4.71144667e-03 -2.81476174e-02 -1.13859666e+00] [-4.71145793e-03 9.99988899e-01 6.59215934e-05 1.04970321e-01] [ 2.81476155e-02 6.67215735e-05 9.99603775e-01 -2.80033728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.543133365 meters Centerline goodness : 0.101941 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.10, Z:-0.28 [[ 9.99596199e-01 4.79876179e-03 -2.80073338e-02 -1.13912786e+00] [-4.78756110e-03 9.99988431e-01 4.66963265e-04 1.02803787e-01] [ 2.80092507e-02 -3.32687883e-04 9.99607609e-01 -2.79728339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.573133365 meters Centerline goodness : 0.296034 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.10, Z:-0.28 [[ 0.99960399 -0.00363939 -0.02790381 -1.16022272] [ 0.00368816 0.99999176 0.0016964 0.1049385 ] [ 0.02789741 -0.00179864 0.99960917 -0.28090114] [ 0. 0. 0. 1. ]] SLAMing on 228.603133365 meters Centerline goodness : 0.163343 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.10, Z:-0.28 [[ 9.99612671e-01 -6.29477430e-03 -2.71087237e-02 -1.16375842e+00] [ 6.28648424e-03 9.99980163e-01 -3.91022539e-04 1.00507474e-01] [ 2.71106474e-02 2.20452520e-04 9.99632415e-01 -2.78886624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.633133365 meters Centerline goodness : 0.215178 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.10, Z:-0.28 [[ 9.99611832e-01 -6.29736166e-03 -2.71390445e-02 -1.16382444e+00] [ 6.29697371e-03 9.99980169e-01 -9.97583502e-05 9.83205377e-02] [ 2.71391346e-02 -7.11742228e-05 9.99631663e-01 -2.78679390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.663133365 meters Centerline goodness : 0.107003 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.10, Z:-0.28 [[ 9.99610873e-01 -6.19666576e-03 -2.71975029e-02 -1.16361642e+00] [ 6.20529249e-03 9.99980720e-01 2.32799217e-04 9.65651108e-02] [ 2.71955359e-02 -4.01477088e-04 9.99630052e-01 -2.78792966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.693133365 meters Centerline goodness : 0.098618 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.09, Z:-0.28 [[ 9.99609435e-01 -6.08949064e-03 -2.72744410e-02 -1.16335928e+00] [ 6.10683668e-03 9.99981200e-01 5.52729921e-04 9.49578636e-02] [ 2.72705624e-02 -7.19074601e-04 9.99627830e-01 -2.78876957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.723133365 meters Centerline goodness : 0.096021 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.09, Z:-0.28 [[ 9.99607564e-01 -6.03412853e-03 -2.73552236e-02 -1.16313241e+00] [ 6.05880474e-03 9.99981310e-01 8.19269144e-04 9.30971737e-02] [ 2.73497688e-02 -9.84687592e-04 9.99625440e-01 -2.78939006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.753133365 meters Centerline goodness : 0.090281 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.09, Z:-0.28 [[ 9.99536056e-01 -6.81268404e-03 -2.96860137e-02 -1.20787740e+00] [ 6.81949538e-03 9.99976739e-01 1.28206782e-04 9.12911600e-02] [ 2.96844497e-02 -3.30590934e-04 9.99559265e-01 -2.79321578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.783133365 meters SLAMing on 228.813133365 meters Centerline goodness : 0.215615 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.09, Z:-0.28 [[ 9.99529581e-01 -6.63943574e-03 -2.99421904e-02 -1.20683906e+00] [ 6.67111905e-03 9.99977289e-01 9.58376108e-04 8.64529148e-02] [ 2.99351473e-02 -1.15767319e-03 9.99551173e-01 -2.79994119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.843133365 meters Centerline goodness : 0.106819 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.08, Z:-0.28 [[ 0.99952606 -0.0065168 -0.03008631 -1.20633987] [ 0.00656197 0.99997749 0.00140272 0.08406341] [ 0.03007649 -0.00159948 0.99954632 -0.28024159] [ 0. 0. 0. 1. ]] SLAMing on 228.873133365 meters Centerline goodness : 0.100435 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.08, Z:-0.28 [[ 9.99513389e-01 -1.03526187e-03 -3.11755138e-02 -1.18331085e+00] [ 9.98635835e-04 9.99998793e-01 -1.19038093e-03 7.85855654e-02] [ 3.11767085e-02 1.15866870e-03 9.99513217e-01 -2.79916273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.903133365 meters SLAMing on 228.93313336499997 meters Centerline goodness : 0.101797 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.07, Z:-0.28 [[ 9.99462975e-01 -1.29668572e-03 -3.27426280e-02 -1.17875607e+00] [ 1.27070738e-03 9.99998861e-01 -8.14206641e-04 7.47585482e-02] [ 3.27436465e-02 7.72163093e-04 9.99463485e-01 -2.81244679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96313336499998 meters Centerline goodness : 0.102920 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99342228e-01 -5.44674772e-05 -3.62644239e-02 -1.22011945e+00] [ 9.10092422e-05 9.99999490e-01 1.00599776e-03 7.10689020e-02] [ 3.62643506e-02 -1.00863644e-03 9.99341723e-01 -2.82998389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99313336499998 meters Centerline goodness : 0.281009 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99337599e-01 -2.47212342e-05 -3.63917816e-02 -1.21977656e+00] [ 6.77644186e-05 9.99999300e-01 1.18153914e-03 7.03006420e-02] [ 3.63917270e-02 -1.18322256e-03 9.99336901e-01 -2.83061401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02313336499998 meters Centerline goodness : 0.235097 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99334809e-01 -4.79587254e-05 -3.64682921e-02 -1.21967506e+00] [ 9.25798194e-05 9.99999249e-01 1.22187095e-03 6.97791718e-02] [ 3.64682061e-02 -1.22443440e-03 9.99334064e-01 -2.82919101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05313336499998 meters Centerline goodness : 0.251170 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99334369e-01 -8.73288108e-05 -3.64802973e-02 -1.21971979e+00] [ 1.32134135e-04 9.99999240e-01 1.22579697e-03 6.94470318e-02] [ 3.64801625e-02 -1.22980134e-03 9.99333621e-01 -2.82879891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08313336499998 meters Centerline goodness : 0.128374 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99330287e-01 -1.24738794e-06 -3.65920378e-02 -1.21955276e+00] [ 5.10254063e-05 9.99999075e-01 1.35941724e-03 6.92323671e-02] [ 3.65920023e-02 -1.36037395e-03 9.99329362e-01 -2.82776331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11313336499998 meters Centerline goodness : 0.100478 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99330895e-01 9.65302714e-05 -3.65752926e-02 -1.21958187e+00] [-4.21682468e-05 9.99998893e-01 1.48707307e-03 6.92919058e-02] [ 3.65753957e-02 -1.48453575e-03 9.99329794e-01 -2.82837809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14313336499998 meters Centerline goodness : 0.332006 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99325327e-01 -2.48638448e-04 -3.67264002e-02 -1.21914647e+00] [ 2.94526041e-04 9.99999183e-01 1.24403936e-03 6.92628125e-02] [ 3.67260608e-02 -1.25401692e-03 9.99324584e-01 -2.82951603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17313336499998 meters Centerline goodness : 0.097862 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99327567e-01 -4.57802338e-04 -3.66634014e-02 -1.21948385e+00] [ 4.99149682e-04 9.99999250e-01 1.11860986e-03 6.89742799e-02] [ 3.66628618e-02 -1.13615819e-03 9.99327045e-01 -2.82740156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20313336499999 meters Centerline goodness : 0.150396 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99330991e-01 -5.00444968e-04 -3.65693869e-02 -1.22003593e+00] [ 5.43136433e-04 9.99999183e-01 1.15748484e-03 6.87796268e-02] [ 3.65687777e-02 -1.17657264e-03 9.99330446e-01 -2.82307273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.233133365 meters Centerline goodness : 0.093282 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99333420e-01 -3.97134728e-04 -3.65042231e-02 -1.22050274e+00] [ 4.45573207e-04 9.99999031e-01 1.31880230e-03 6.87247411e-02] [ 3.65036639e-02 -1.33418852e-03 9.99332629e-01 -2.81890661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.263133365 meters SLAMing on 229.293133365 meters Centerline goodness : 0.091889 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99336263e-01 -6.25018789e-04 -3.64231144e-02 -1.22062395e+00] [ 6.61076045e-04 9.99999303e-01 9.77920510e-04 7.02378934e-02] [ 3.64224778e-02 -1.00134988e-03 9.99335980e-01 -2.81971769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.323133365 meters SLAMing on 229.353133365 meters Centerline goodness : 0.116044 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.28 [[ 9.99347024e-01 -1.19240458e-03 -3.61123878e-02 -1.22221974e+00] [ 1.18232788e-03 9.99999256e-01 -3.00391073e-04 7.72158551e-02] [ 3.61127191e-02 2.57498241e-04 9.99347690e-01 -2.80676259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.383133365 meters Centerline goodness : 0.161675 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.28 [[ 9.99346554e-01 -1.21981267e-03 -3.61244732e-02 -1.22252804e+00] [ 1.19547507e-03 9.99999044e-01 -6.95307424e-04 8.05658449e-02] [ 3.61252868e-02 6.51667171e-04 9.99347056e-01 -2.80160488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.413133365 meters Centerline goodness : 0.097453 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.09, Z:-0.28 [[ 9.99257056e-01 -8.20474991e-05 -3.85399587e-02 -1.26723344e+00] [ 7.94055168e-05 9.99999994e-01 -7.00824731e-05 8.60468505e-02] [ 3.85399643e-02 6.69701204e-05 9.99257057e-01 -2.80923936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.443133365 meters Centerline goodness : 0.107711 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99305875e-01 -8.19170310e-06 -3.72527519e-02 -1.22257878e+00] [ 6.70220018e-07 9.99999980e-01 -2.01916577e-04 8.78720358e-02] [ 3.72527528e-02 2.01751454e-04 9.99305855e-01 -2.79874853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.473133365 meters SLAMing on 229.503133365 meters Centerline goodness : 0.108045 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99300384e-01 -6.89176853e-04 -3.73934244e-02 -1.22184632e+00] [ 6.44050466e-04 9.99999050e-01 -1.21883248e-03 9.15861581e-02] [ 3.73942289e-02 1.19389651e-03 9.99299878e-01 -2.80462365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.533133365 meters Centerline goodness : 0.113208 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99304485e-01 -7.18700068e-04 -3.72830986e-02 -1.22229921e+00] [ 6.71230107e-04 9.99998948e-01 -1.28573153e-03 9.21527648e-02] [ 3.72839834e-02 1.25981175e-03 9.99303916e-01 -2.80185384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.563133365 meters Centerline goodness : 0.115741 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99307979e-01 -7.50084930e-04 -3.71887144e-02 -1.22272820e+00] [ 7.00970391e-04 9.99998865e-01 -1.33370498e-03 9.24825608e-02] [ 3.71896725e-02 1.30671384e-03 9.99307371e-01 -2.79870592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.593133365 meters Centerline goodness : 0.113204 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99309640e-01 -8.25903108e-04 -3.71424523e-02 -1.22293244e+00] [ 7.73465373e-04 9.99998684e-01 -1.42614758e-03 9.28054478e-02] [ 3.71435813e-02 1.39643462e-03 9.99308963e-01 -2.79731351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.623133365 meters Centerline goodness : 0.105292 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99305683e-01 -8.81802039e-04 -3.72474615e-02 -1.22257890e+00] [ 8.26371553e-04 9.99998528e-01 -1.50353741e-03 9.30990548e-02] [ 3.72487325e-02 1.47171324e-03 9.99304941e-01 -2.79885214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.653133365 meters Centerline goodness : 0.121380 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99282690e-01 -8.84616366e-04 -3.78592506e-02 -1.22054680e+00] [ 8.25250275e-04 9.99998405e-01 -1.58367217e-03 9.39925479e-02] [ 3.78605912e-02 1.55129282e-03 9.99281827e-01 -2.80708226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68313336499997 meters Centerline goodness : 0.116937 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99274616e-01 -8.79073043e-04 -3.80718804e-02 -1.21973533e+00] [ 8.17655933e-04 9.99998339e-01 -1.62872870e-03 9.45100364e-02] [ 3.80732490e-02 1.59641755e-03 9.99273676e-01 -2.81160129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71313336499998 meters Centerline goodness : 0.123001 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99267002e-01 -8.83721125e-04 -3.82711026e-02 -1.21913717e+00] [ 8.19960990e-04 9.99998250e-01 -1.68167660e-03 9.49261662e-02] [ 3.82725218e-02 1.64906313e-03 9.99265978e-01 -2.81327744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74313336499998 meters Centerline goodness : 0.123001 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99267002e-01 -8.83721125e-04 -3.82711026e-02 -1.21913717e+00] [ 8.19960990e-04 9.99998250e-01 -1.68167660e-03 9.49261662e-02] [ 3.82725218e-02 1.64906313e-03 9.99265978e-01 -2.81327744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77313336499998 meters Centerline goodness : 0.125425 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99262938e-01 -9.05993081e-04 -3.83765529e-02 -1.21893937e+00] [ 8.41552830e-04 9.99998209e-01 -1.69527745e-03 9.48176623e-02] [ 3.83780201e-02 1.66173203e-03 9.99261911e-01 -2.81271392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80313336499998 meters Centerline goodness : 0.130058 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99259524e-01 -8.77725283e-04 -3.84659917e-02 -1.21875417e+00] [ 8.15175074e-04 9.99998320e-01 -1.64177106e-03 9.45277547e-02] [ 3.84673681e-02 1.60919886e-03 9.99258561e-01 -2.81258361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83313336499998 meters Centerline goodness : 0.117858 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99252661e-01 -8.21848644e-04 -3.86451088e-02 -1.21844377e+00] [ 7.62590337e-04 9.99998511e-01 -1.54811304e-03 9.41801625e-02] [ 3.86463236e-02 1.51748568e-03 9.99251800e-01 -2.81102315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86313336499998 meters Centerline goodness : 0.121797 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99241798e-01 -7.83059519e-04 -3.89257869e-02 -1.21785296e+00] [ 7.26825290e-04 9.99998672e-01 -1.45878283e-03 9.37643654e-02] [ 3.89268775e-02 1.42938453e-03 9.99241040e-01 -2.80973246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89313336499998 meters Centerline goodness : 0.130820 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99242326e-01 -7.85016958e-04 -3.89121732e-02 -1.21788443e+00] [ 7.28168418e-04 9.99998647e-01 -1.47509602e-03 9.37642084e-02] [ 3.89132786e-02 1.44564377e-03 9.99241546e-01 -2.81006843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92313336499998 meters Centerline goodness : 0.122418 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99240680e-01 -7.78196118e-04 -3.89545703e-02 -1.21789800e+00] [ 7.20391204e-04 9.99998619e-01 -1.49792043e-03 9.39914205e-02] [ 3.89556822e-02 1.46872050e-03 9.99239860e-01 -2.80849947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95313336499999 meters Centerline goodness : 0.135006 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99237319e-01 -7.70075748e-04 -3.90408497e-02 -1.21779068e+00] [ 7.10678764e-04 9.99998569e-01 -1.53526126e-03 9.44830937e-02] [ 3.90419761e-02 1.50634484e-03 9.99236436e-01 -2.80729939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.983133365 meters Centerline goodness : 0.125413 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.28 [[ 9.99232094e-01 -8.25179824e-04 -3.91732354e-02 -1.21753079e+00] [ 7.57851005e-04 9.99998210e-01 -1.73356375e-03 9.56867392e-02] [ 3.91745958e-02 1.70254506e-03 9.99230930e-01 -2.80643664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.013133365 meters Centerline goodness : 0.137738 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.28 [[ 9.99174449e-01 -8.64173177e-03 -3.96955988e-02 -1.19734054e+00] [ 8.61815176e-03 9.99962570e-01 -7.65104396e-04 1.01137214e-01] [ 3.97007248e-02 4.22370069e-04 9.99211526e-01 -2.78552842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.043133365 meters Centerline goodness : 0.142610 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.28 [[ 9.99166081e-01 -8.83359301e-03 -3.98636336e-02 -1.19673060e+00] [ 8.78974981e-03 9.99960557e-01 -1.27496424e-03 1.04099854e-01] [ 3.98733238e-02 9.23509657e-04 9.99204316e-01 -2.78821032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.073133365 meters Centerline goodness : 0.139562 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.28 [[ 9.99171273e-01 -8.90532911e-03 -3.97172867e-02 -1.19719425e+00] [ 8.85750080e-03 9.99959819e-01 -1.38002731e-03 1.04603775e-01] [ 3.97279805e-02 1.02708775e-03 9.99210004e-01 -2.78676456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.103133365 meters Centerline goodness : 0.140945 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.28 [[ 9.99184268e-01 -8.96604619e-03 -3.93752327e-02 -1.19823044e+00] [ 8.91885265e-03 9.99959282e-01 -1.37405822e-03 1.04431815e-01] [ 3.93859493e-02 1.02175546e-03 9.99223550e-01 -2.78414003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.133133365 meters Centerline goodness : 0.125751 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.28 [[ 9.99195729e-01 -9.07682183e-03 -3.90577393e-02 -1.19928988e+00] [ 9.03032789e-03 9.99958292e-01 -1.36664833e-03 1.03933049e-01] [ 3.90685151e-02 1.01284498e-03 9.99236021e-01 -2.78013259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.163133365 meters Centerline goodness : 0.145010 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.28 [[ 9.99198909e-01 -9.18522492e-03 -3.89508999e-02 -1.19963117e+00] [ 9.14082866e-03 9.99957353e-01 -1.31774070e-03 1.03216933e-01] [ 3.89613425e-02 9.60641571e-04 9.99240257e-01 -2.77938543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.193133365 meters Centerline goodness : 0.133215 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.28 [[ 0.99920355 -0.00190804 -0.03985744 -1.21937458] [ 0.00178986 0.9999939 -0.00300071 0.09890629] [ 0.03986292 0.00292698 0.99920087 -0.27983922] [ 0. 0. 0. 1. ]] SLAMing on 230.223133365 meters Centerline goodness : 0.125363 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.28 [[ 0.99919745 -0.00189737 -0.0400107 -1.21894226] [ 0.00178377 0.99999428 -0.00287475 0.09817517] [ 0.04001593 0.00280107 0.99919512 -0.27999516] [ 0. 0. 0. 1. ]] SLAMing on 230.253133365 meters Centerline goodness : 0.131904 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.28 [[ 0.99919953 -0.00186858 -0.03996008 -1.21917083] [ 0.00175808 0.99999453 -0.00280022 0.09781752] [ 0.03996509 0.00272772 0.99919735 -0.27984639] [ 0. 0. 0. 1. ]] SLAMing on 230.283133365 meters Centerline goodness : 0.131559 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.28 [[ 0.99920534 -0.00184559 -0.03981569 -1.21973406] [ 0.00173492 0.99999454 -0.00281403 0.09808896] [ 0.03982067 0.00274272 0.99920308 -0.2795043 ] [ 0. 0. 0. 1. ]] SLAMing on 230.313133365 meters Centerline goodness : 0.111816 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.28 [[ 0.99921219 -0.00181877 -0.03964459 -1.2204611 ] [ 0.00170534 0.99999436 -0.00289471 0.09883701] [ 0.03964964 0.00282482 0.99920965 -0.27900284] [ 0. 0. 0. 1. ]] SLAMing on 230.343133365 meters Centerline goodness : 0.131143 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.28 [[ 0.99920857 0.00685194 -0.0391828 -1.24256176] [-0.0070046 0.9999684 -0.00376016 0.09692737] [ 0.0391558 0.00403165 0.99922498 -0.28035656] [ 0. 0. 0. 1. ]] SLAMing on 230.373133365 meters Centerline goodness : 0.127546 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.28 [[ 9.99337463e-01 1.21981149e-03 -3.63750856e-02 -1.22028487e+00] [-1.26640088e-03 9.99998407e-01 -1.25779223e-03 9.80708424e-02] [ 3.63734934e-02 1.30302433e-03 9.99337416e-01 -2.80724742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40313336499997 meters Centerline goodness : 0.124779 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.28 [[ 9.99307633e-01 -6.15407939e-03 -3.66930758e-02 -1.23757679e+00] [ 6.16129021e-03 9.99981016e-01 8.34429566e-05 1.04993056e-01] [ 3.66918657e-02 -3.09461872e-04 9.99326579e-01 -2.83518459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43313336499997 meters Centerline goodness : 0.127220 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.11, Z:-0.28 [[ 9.99289311e-01 -6.10860364e-03 -3.71962108e-02 -1.23580676e+00] [ 6.11355623e-03 9.99981312e-01 1.94082423e-05 1.05723569e-01] [ 3.71953971e-02 -2.46795575e-04 9.99307981e-01 -2.84357697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46313336499998 meters SLAMing on 230.49313336499998 meters Centerline goodness : 0.130330 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.29 [[ 9.99264827e-01 -6.06547281e-03 -3.78551802e-02 -1.23363845e+00] [ 6.06482776e-03 9.99981600e-01 -1.31874655e-04 1.07028782e-01] [ 3.78552836e-02 -9.78074441e-05 9.99283227e-01 -2.85246583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52313336499998 meters Centerline goodness : 0.118127 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.29 [[ 9.99260847e-01 -6.04101417e-03 -3.79640179e-02 -1.23351754e+00] [ 6.03721569e-03 9.99981753e-01 -2.14695015e-04 1.07837264e-01] [ 3.79646221e-02 -1.46606417e-05 9.99279084e-01 -2.85058709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55313336499998 meters Centerline goodness : 0.134880 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.99927422 -0.0023766 -0.0380183 -1.23367948] [ 0.0025008 0.99999169 0.00321955 0.10849675] [ 0.03801033 -0.00331229 0.99927186 -0.28475001] [ 0. 0. 0. 1. ]] SLAMing on 230.58313336499998 meters Centerline goodness : 0.126445 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.99927282 -0.0024453 -0.03805063 -1.23370648] [ 0.00256044 0.99999229 0.00297756 0.10986726] [ 0.03804306 -0.00307282 0.99927138 -0.28458449] [ 0. 0. 0. 1. ]] SLAMing on 230.61313336499998 meters Centerline goodness : 0.141910 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.9992756 -0.00250018 -0.03797389 -1.23393177] [ 0.00260798 0.99999271 0.00278938 0.11098894] [ 0.03796664 -0.0028864 0.99927484 -0.28454254] [ 0. 0. 0. 1. ]] SLAMing on 230.64313336499998 meters Centerline goodness : 0.143212 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.9992785 -0.00251662 -0.03789643 -1.23408819] [ 0.00262112 0.9999929 0.00270811 0.11163893] [ 0.03788934 -0.00280549 0.999278 -0.2845972 ] [ 0. 0. 0. 1. ]] SLAMing on 230.67313336499998 meters Centerline goodness : 0.105911 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.99928078 -0.00251301 -0.03783649 -1.23423305] [ 0.00261649 0.99999297 0.00268561 0.11191049] [ 0.03782948 -0.00278267 0.99928033 -0.28463187] [ 0. 0. 0. 1. ]] SLAMing on 230.70313336499999 meters Centerline goodness : 0.098795 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.99927763 -0.00249367 -0.0379209 -1.23407088] [ 0.00259878 0.99999292 0.00272279 0.11187796] [ 0.03791385 -0.00281937 0.99927703 -0.28458799] [ 0. 0. 0. 1. ]] SLAMing on 230.733133365 meters Centerline goodness : 0.127592 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.99926306 -0.00252593 -0.03830084 -1.23348347] [ 0.00262942 0.99999303 0.00265191 0.11233692] [ 0.03829388 -0.00275067 0.99926273 -0.28414158] [ 0. 0. 0. 1. ]] SLAMing on 230.763133365 meters Centerline goodness : 0.126357 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.9992546 -0.00255054 -0.03851921 -1.23305744] [ 0.00264968 0.99999331 0.00252294 0.11323751] [ 0.03851252 -0.00262312 0.99925467 -0.2839636 ] [ 0. 0. 0. 1. ]] SLAMing on 230.793133365 meters Centerline goodness : 0.148514 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.28 [[ 0.99925192 -0.00262876 -0.03858361 -1.23296866] [ 0.00271608 0.99999387 0.00221084 0.11502407] [ 0.03857756 -0.00231398 0.99925293 -0.28382278] [ 0. 0. 0. 1. ]] SLAMing on 230.823133365 meters Centerline goodness : 0.101006 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.28 [[ 0.99925755 -0.00273947 -0.03842982 -1.23352692] [ 0.00281112 0.99999441 0.00181055 0.11718297] [ 0.03842464 -0.00191724 0.99925966 -0.28350945] [ 0. 0. 0. 1. ]] SLAMing on 230.853133365 meters Centerline goodness : 0.138016 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.28 [[ 0.9992711 -0.00286448 -0.03806655 -1.23472254] [ 0.00291877 0.9999948 0.00137077 0.11948957] [ 0.03806243 -0.00148087 0.99927427 -0.28299324] [ 0. 0. 0. 1. ]] SLAMing on 230.883133365 meters Centerline goodness : 0.139859 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.12, Z:-0.28 [[ 9.99283823e-01 -2.99523959e-03 -3.77209358e-02 -1.23589283e+00] [ 3.03153961e-03 9.99994995e-01 9.05170918e-04 1.21937131e-01] [ 3.77180358e-02 -1.01887517e-03 9.99287902e-01 -2.82439142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.913133365 meters Centerline goodness : 0.137558 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.13, Z:-0.28 [[ 9.99291405e-01 -3.18207153e-03 -3.75041650e-02 -1.23676355e+00] [ 3.19223143e-03 9.99994883e-01 2.11021560e-04 1.25954102e-01] [ 3.75033016e-02 -3.30594006e-04 9.99296449e-01 -2.81909730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.943133365 meters Centerline goodness : 0.128687 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99210211e-01 -2.94249065e-03 -3.96269627e-02 -1.28213196e+00] [ 2.92804924e-03 9.99995624e-01 -4.22466987e-04 1.30318472e-01] [ 3.96280324e-02 3.06103629e-04 9.99214454e-01 -2.82449392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.973133365 meters Centerline goodness : 0.157460 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99210508e-01 -3.08481861e-03 -3.96086402e-02 -1.28219121e+00] [ 3.06129855e-03 9.99995100e-01 -6.54448629e-04 1.31258884e-01] [ 3.96104650e-02 5.32678075e-04 9.99215056e-01 -2.82451524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.003133365 meters Centerline goodness : 0.139662 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99219791e-01 -3.15756721e-03 -3.93679901e-02 -1.28289671e+00] [ 3.13024206e-03 9.99994815e-01 -7.55715996e-04 1.31672078e-01] [ 3.93701722e-02 6.31895041e-04 9.99224494e-01 -2.82312924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.033133365 meters Centerline goodness : 0.124522 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99230403e-01 -3.13188117e-03 -3.90997776e-02 -1.28379505e+00] [ 3.10595230e-03 9.99994915e-01 -7.23873118e-04 1.31846009e-01] [ 3.91018458e-02 6.01873984e-04 9.99235049e-01 -2.81956179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.063133365 meters Centerline goodness : 0.122014 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99240382e-01 -3.10832070e-03 -3.88458089e-02 -1.28457388e+00] [ 3.08307557e-03 9.99994995e-01 -7.09768706e-04 1.32223239e-01] [ 3.88478207e-02 5.89464989e-04 9.99244965e-01 -2.81715628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.093133365 meters Centerline goodness : 0.134161 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99240410e-01 -3.53962817e-03 -3.88081759e-02 -1.28444744e+00] [ 3.50070927e-03 9.99993299e-01 -1.07076103e-03 1.32592042e-01] [ 3.88117060e-02 9.34091548e-04 9.99246105e-01 -2.82047338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.123133365 meters Centerline goodness : 0.125239 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99229152e-01 -3.64029542e-03 -3.90877226e-02 -1.28358682e+00] [ 3.59837849e-03 9.99992873e-01 -1.14268085e-03 1.32638661e-01] [ 3.90916037e-02 1.00114759e-03 9.99235130e-01 -2.82393165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15313336499997 meters Centerline goodness : 0.123289 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99216943e-01 -3.64637590e-03 -3.93980174e-02 -1.28265876e+00] [ 3.60306031e-03 9.99992824e-01 -1.17038433e-03 1.33028093e-01] [ 3.94020024e-02 1.02751442e-03 9.99222911e-01 -2.82704906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18313336499997 meters Centerline goodness : 0.127742 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99208342e-01 -3.64063591e-03 -3.96161013e-02 -1.28204362e+00] [ 3.59415228e-03 9.99992767e-01 -1.24451026e-03 1.33998008e-01] [ 3.96203456e-02 1.10113873e-03 9.99214199e-01 -2.82845754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21313336499998 meters Centerline goodness : 0.128735 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.28 [[ 9.99202311e-01 -3.67159288e-03 -3.97650684e-02 -1.28146100e+00] [ 3.61851874e-03 9.99992464e-01 -1.40658432e-03 1.35288134e-01] [ 3.97699331e-02 1.26157166e-03 9.99208067e-01 -2.83153971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24313336499998 meters Centerline goodness : 0.123393 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.28 [[ 0.99919864 -0.00377049 -0.0398479 -1.28116289] [ 0.00370596 0.9999917 -0.00169322 0.13687588] [ 0.03985395 0.00154419 0.99920432 -0.2832637 ] [ 0. 0. 0. 1. ]] SLAMing on 231.27313336499998 meters Centerline goodness : 0.058581 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.28 [[ 0.99919835 -0.00405487 -0.03982727 -1.28130126] [ 0.00396305 0.9999893 -0.00238419 0.14040194] [ 0.03983651 0.00222444 0.99920374 -0.28311276] [ 0. 0. 0. 1. ]] SLAMing on 231.30313336499998 meters Centerline goodness : 0.124784 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.28 [[ 0.99919547 -0.00415379 -0.03988937 -1.2811622 ] [ 0.00405002 0.9999882 -0.00268193 0.14221814] [ 0.03990004 0.00251822 0.9992005 -0.28309339] [ 0. 0. 0. 1. ]] SLAMing on 231.33313336499998 meters SLAMing on 231.36313336499998 meters Centerline goodness : 0.243089 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.28 [[ 0.99918013 -0.00430816 -0.04025541 -1.27989896] [ 0.00418808 0.99998653 -0.00306691 0.14471104] [ 0.04026808 0.0028958 0.99918472 -0.28360779] [ 0. 0. 0. 1. ]] SLAMing on 231.39313336499998 meters Centerline goodness : 0.129004 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.28 [[ 0.9991762 -0.00442271 -0.04034058 -1.27933295] [ 0.00429899 0.99998579 -0.00315312 0.14478921] [ 0.04035395 0.0029771 0.99918101 -0.28416264] [ 0. 0. 0. 1. ]] SLAMing on 231.42313336499998 meters SLAMing on 231.45313336499999 meters Centerline goodness : 0.135157 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.28 [[ 0.99913351 -0.008699 -0.04070089 -1.27798935] [ 0.00843481 0.99994226 -0.00665838 0.14160882] [ 0.04075646 0.0063093 0.99914919 -0.28498459] [ 0. 0. 0. 1. ]] SLAMing on 231.483133365 meters Centerline goodness : 0.136386 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.29 [[ 0.99912919 -0.00865453 -0.04081622 -1.27764905] [ 0.00840789 0.99994537 -0.00621038 0.13905051] [ 0.04086774 0.00586179 0.99914737 -0.28522489] [ 0. 0. 0. 1. ]] SLAMing on 231.513133365 meters Centerline goodness : 0.143200 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.29 [[ 0.99912616 -0.00858494 -0.04090495 -1.27732996] [ 0.0083564 0.99994853 -0.00575482 0.13651249] [ 0.04095225 0.00540797 0.99914647 -0.28549295] [ 0. 0. 0. 1. ]] SLAMing on 231.543133365 meters Centerline goodness : 0.136421 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.29 [[ 0.99912011 -0.00849598 -0.04107092 -1.27685723] [ 0.00828378 0.99995146 -0.005334 0.13407793] [ 0.04111424 0.00498909 0.999142 -0.28570235] [ 0. 0. 0. 1. ]] SLAMing on 231.573133365 meters Centerline goodness : 0.131656 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.29 [[ 0.99911496 -0.00834249 -0.04122741 -1.27636825] [ 0.00814756 0.99995483 -0.00489396 0.13171845] [ 0.04126638 0.00455372 0.9991378 -0.28595228] [ 0. 0. 0. 1. ]] SLAMing on 231.603133365 meters Centerline goodness : 0.149112 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.29 [[ 0.99912051 -0.00800825 -0.04115919 -1.27675855] [ 0.00784472 0.99996069 -0.00413298 0.12788756] [ 0.04119067 0.00380646 0.99914405 -0.28573218] [ 0. 0. 0. 1. ]] SLAMing on 231.633133365 meters Centerline goodness : 0.149112 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.29 [[ 0.99912051 -0.00800825 -0.04115919 -1.27675855] [ 0.00784472 0.99996069 -0.00413298 0.12788756] [ 0.04119067 0.00380646 0.99914405 -0.28573218] [ 0. 0. 0. 1. ]] SLAMing on 231.663133365 meters Centerline goodness : 0.118324 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.29 [[ 0.999133 -0.00784048 -0.04088735 -1.27766468] [ 0.0076924 0.99996328 -0.00377757 0.12614974] [ 0.04091547 0.00345977 0.99915662 -0.28539822] [ 0. 0. 0. 1. ]] SLAMing on 231.693133365 meters Centerline goodness : 0.138326 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.12, Z:-0.29 [[ 0.99914117 -0.00765639 -0.0407222 -1.27817748] [ 0.00752612 0.99996606 -0.00335131 0.12402938] [ 0.04074648 0.00304196 0.99916489 -0.28526794] [ 0. 0. 0. 1. ]] SLAMing on 231.723133365 meters Centerline goodness : 0.127177 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.12, Z:-0.29 [[ 0.99915143 -0.00731758 -0.04053249 -1.27865711] [ 0.00721833 0.99997058 -0.00259454 0.12007303] [ 0.04055028 0.00229976 0.99917485 -0.28534983] [ 0. 0. 0. 1. ]] SLAMing on 231.753133365 meters Centerline goodness : 0.124483 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.12, Z:-0.29 [[ 0.99915168 -0.00714717 -0.04055663 -1.27863637] [ 0.00706203 0.99997255 -0.00224203 0.11831606] [ 0.04057155 0.00195371 0.99917473 -0.28532212] [ 0. 0. 0. 1. ]] SLAMing on 231.783133365 meters Centerline goodness : 0.112965 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.12, Z:-0.29 [[ 0.99915045 -0.00701244 -0.04061037 -1.2785726 ] [ 0.00693695 0.99997394 -0.00199941 0.11714856] [ 0.04062333 0.001716 0.99917306 -0.28526262] [ 0. 0. 0. 1. ]] SLAMing on 231.813133365 meters Centerline goodness : 0.116197 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.12, Z:-0.29 [[ 0.99915001 -0.00681558 -0.04065473 -1.27862318] [ 0.00675012 0.99997569 -0.00174712 0.1162038 ] [ 0.04066565 0.00147121 0.99917173 -0.28502705] [ 0. 0. 0. 1. ]] SLAMing on 231.843133365 meters Centerline goodness : 0.127324 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.11, Z:-0.28 [[ 9.99191058e-01 1.06962458e-03 -4.02005596e-02 -1.26014097e+00] [-1.17720053e-03 9.99995789e-01 -2.65240492e-03 1.09867785e-01] [ 4.01975533e-02 2.69758340e-03 9.99188110e-01 -2.82624066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.873133365 meters Centerline goodness : 0.127221 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.12, Z:-0.28 [[ 0.99919187 -0.0065128 -0.03966344 -1.28023233] [ 0.00644574 0.99997757 -0.00181841 0.11501291] [ 0.03967439 0.00156128 0.99921144 -0.28377883] [ 0. 0. 0. 1. ]] SLAMing on 231.90313336499997 meters Centerline goodness : 0.111327 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.11, Z:-0.28 [[ 0.99921951 0.00165601 -0.03946671 -1.26112009] [-0.00175499 0.9999954 -0.00247328 0.10752453] [ 0.03946244 0.00254061 0.99921782 -0.28149479] [ 0. 0. 0. 1. ]] SLAMing on 231.93313336499997 meters Centerline goodness : 0.128202 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.11, Z:-0.28 [[ 0.99922067 0.00184256 -0.03942906 -1.26125985] [-0.00193147 0.99999568 -0.00221692 0.10668174] [ 0.03942481 0.00229135 0.99921991 -0.28143323] [ 0. 0. 0. 1. ]] SLAMing on 231.96313336499998 meters Centerline goodness : 0.127288 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.11, Z:-0.28 [[ 0.99922327 0.00195288 -0.03935783 -1.26147055] [-0.00203401 0.99999589 -0.0020214 0.1057844 ] [ 0.03935372 0.00209988 0.99922314 -0.28141038] [ 0. 0. 0. 1. ]] SLAMing on 231.99313336499998 meters Centerline goodness : 0.126674 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.10, Z:-0.28 [[ 0.99922747 0.00205611 -0.03924581 -1.2617802 ] [-0.00212703 0.99999618 -0.00176535 0.10435949] [ 0.03924203 0.00184747 0.99922803 -0.28140953] [ 0. 0. 0. 1. ]] SLAMing on 232.02313336499998 meters Centerline goodness : 0.109647 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.10, Z:-0.28 [[ 0.99922957 0.00216155 -0.03918656 -1.26205096] [-0.00221983 0.99999649 -0.00144364 0.10242628] [ 0.0391833 0.00152951 0.99923087 -0.2813194 ] [ 0. 0. 0. 1. ]] SLAMing on 232.05313336499998 meters Centerline goodness : 0.127337 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.10, Z:-0.28 [[ 9.99231306e-01 2.24062350e-03 -3.91379259e-02 -1.26227426e+00] [-2.28655450e-03 9.99996749e-01 -1.12884433e-03 1.00583035e-01] [ 3.91352694e-02 1.21746760e-03 9.99233180e-01 -2.81225812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08313336499998 meters Centerline goodness : 0.124957 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.10, Z:-0.28 [[ 9.99230653e-01 2.40582700e-03 -3.91447849e-02 -1.26229474e+00] [-2.43528956e-03 9.99996786e-01 -7.04990741e-04 9.85231702e-02] [ 3.91429630e-02 7.99777245e-04 9.99233300e-01 -2.81268073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11313336499998 meters Centerline goodness : 0.153833 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.10, Z:-0.28 [[ 9.99222740e-01 2.60858183e-03 -3.93333438e-02 -1.26168415e+00] [-2.61571507e-03 9.99996571e-01 -1.29892083e-04 9.56138801e-02] [ 3.93328701e-02 2.32675943e-04 9.99226136e-01 -2.81644585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14313336499998 meters Centerline goodness : 0.160112 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.09, Z:-0.28 [[ 9.99222597e-01 2.70559279e-03 -3.93304069e-02 -1.26174914e+00] [-2.70289758e-03 9.99996340e-01 1.21701082e-04 9.43451557e-02] [ 3.93305922e-02 -1.53004103e-05 9.99226253e-01 -2.81600419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17313336499998 meters Centerline goodness : 0.130086 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.09, Z:-0.28 [[ 9.99223167e-01 2.80083724e-03 -3.93092693e-02 -1.26182491e+00] [-2.78986509e-03 9.99996053e-01 3.33976203e-04 9.33758974e-02] [ 3.93100496e-02 -2.24049201e-04 9.99227036e-01 -2.81627508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20313336499999 meters Centerline goodness : 0.129714 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.09, Z:-0.28 [[ 9.99222947e-01 2.87863565e-03 -3.93092344e-02 -1.26174275e+00] [-2.86244294e-03 9.99995794e-01 4.68207526e-04 9.29333172e-02] [ 3.93104169e-02 -3.55323264e-04 9.99226984e-01 -2.81775744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.233133365 meters Centerline goodness : 0.113192 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.10, Z:-0.28 [[ 0.99920783 -0.00474981 -0.0395113 -1.28050958] [ 0.00482425 0.99998676 0.0017887 0.09818575] [ 0.03950228 -0.00197789 0.99921752 -0.28389609] [ 0. 0. 0. 1. ]] SLAMing on 232.263133365 meters Centerline goodness : 0.126186 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.10, Z:-0.28 [[ 0.99920334 -0.00468497 -0.03963256 -1.28007707] [ 0.00476344 0.99998688 0.00188554 0.09786828] [ 0.0396232 -0.00207283 0.99921254 -0.28410434] [ 0. 0. 0. 1. ]] SLAMing on 232.293133365 meters Centerline goodness : 0.111607 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.10, Z:-0.28 [[ 0.99919932 -0.00466193 -0.03973646 -1.27978401] [ 0.00474237 0.99998689 0.0019305 0.09771424] [ 0.03972693 -0.0021174 0.99920833 -0.28421378] [ 0. 0. 0. 1. ]] SLAMing on 232.323133365 meters Centerline goodness : 0.123699 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.10, Z:-0.28 [[ 0.99919858 -0.00454636 -0.03976846 -1.27988471] [ 0.00463656 0.99998688 0.0021761 0.09664003] [ 0.03975804 -0.00235874 0.99920655 -0.28399346] [ 0. 0. 0. 1. ]] SLAMing on 232.353133365 meters Centerline goodness : 0.129985 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.09, Z:-0.28 [[ 9.99231135e-01 2.88406378e-03 -3.91001354e-02 -1.26173870e+00] [-2.84391853e-03 9.99995370e-01 1.08231053e-03 8.98739817e-02] [ 3.91030758e-02 -9.70280777e-04 9.99234711e-01 -2.82004732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.383133365 meters Centerline goodness : 0.128420 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.09, Z:-0.28 [[ 0.99923008 -0.00518585 -0.0388889 -1.28191666] [ 0.00527048 0.99998396 0.00207399 0.09386182] [ 0.03887752 -0.00227735 0.99924139 -0.28358494] [ 0. 0. 0. 1. ]] SLAMing on 232.413133365 meters Centerline goodness : 0.126936 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.09, Z:-0.28 [[ 0.99923254 -0.00516733 -0.03882818 -1.28218356] [ 0.0052605 0.99998352 0.00229771 0.0923048 ] [ 0.03881567 -0.0025002 0.99924326 -0.28346516] [ 0. 0. 0. 1. ]] SLAMing on 232.443133365 meters Centerline goodness : 0.116999 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.09, Z:-0.28 [[ 0.99923241 -0.00507245 -0.03884414 -1.28211412] [ 0.00518019 0.99998301 0.00267358 0.09010086] [ 0.03882992 -0.00287275 0.9992417 -0.28360119] [ 0. 0. 0. 1. ]] SLAMing on 232.473133365 meters Centerline goodness : 0.125457 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.09, Z:-0.28 [[ 0.99922865 -0.00495237 -0.03895623 -1.28159509] [ 0.00507759 0.99998225 0.00311604 0.0876052 ] [ 0.03894011 -0.00331144 0.99923606 -0.28406587] [ 0. 0. 0. 1. ]] SLAMing on 232.503133365 meters Centerline goodness : 0.124090 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.08, Z:-0.28 [[ 0.99921072 -0.0046432 -0.03945096 -1.28018293] [ 0.00480957 0.99997993 0.00412314 0.08236836] [ 0.03943102 -0.00430963 0.999213 -0.28461869] [ 0. 0. 0. 1. ]] SLAMing on 232.533133365 meters Centerline goodness : 0.126775 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.08, Z:-0.28 [[ 0.99921014 -0.00447274 -0.0394852 -1.28011772] [ 0.00465716 0.99997867 0.0045799 0.07999382] [ 0.03946388 -0.00476017 0.99920966 -0.28466576] [ 0. 0. 0. 1. ]] SLAMing on 232.563133365 meters Centerline goodness : 0.133009 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.28 [[ 0.99922404 0.00298355 -0.03927363 -1.26248608] [-0.00284899 0.99998988 0.00348192 0.0718698 ] [ 0.03928362 -0.00336733 0.99922243 -0.28199506] [ 0. 0. 0. 1. ]] SLAMing on 232.593133365 meters Centerline goodness : 0.127374 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.28 [[ 0.99923231 0.00312334 -0.03905182 -1.26354998] [-0.00297946 0.99998856 0.00374185 0.07061336] [ 0.03906306 -0.00362262 0.99923018 -0.28120883] [ 0. 0. 0. 1. ]] SLAMing on 232.623133365 meters Centerline goodness : 0.126135 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.07, Z:-0.28 [[ 0.99924763 0.00349359 -0.03862613 -1.26532893] [-0.00334138 0.9999864 0.00400457 0.06995833] [ 0.0386396 -0.00387249 0.99924571 -0.27997808] [ 0. 0. 0. 1. ]] SLAMing on 232.65313336499997 meters Centerline goodness : 0.118986 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.07, Z:-0.28 [[ 0.99924285 0.00356144 -0.03874325 -1.26501673] [-0.00341368 0.99998665 0.00387938 0.07087929] [ 0.03875655 -0.00374419 0.99924167 -0.27995705] [ 0. 0. 0. 1. ]] SLAMing on 232.68313336499997 meters Centerline goodness : 0.125003 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.28 [[ 0.99923931 0.00366884 -0.0388245 -1.26482426] [-0.00352582 0.99998675 0.00375158 0.07209304] [ 0.03883775 -0.00361184 0.999239 -0.2799 ] [ 0. 0. 0. 1. ]] SLAMing on 232.71313336499998 meters Centerline goodness : 0.118940 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.07, Z:-0.28 [[ 0.99924485 0.00378672 -0.03867025 -1.26538711] [-0.00365147 0.99998697 0.00356751 0.07375149] [ 0.03868325 -0.00342361 0.99924566 -0.27955649] [ 0. 0. 0. 1. ]] SLAMing on 232.74313336499998 meters Centerline goodness : 0.121190 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.08, Z:-0.28 [[ 0.99927476 0.00402185 -0.0378652 -1.26761354] [-0.00389369 0.99998644 0.00345784 0.07541329] [ 0.03787859 -0.0033079 0.99927687 -0.27896248] [ 0. 0. 0. 1. ]] SLAMing on 232.77313336499998 meters Centerline goodness : 0.115878 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.08, Z:-0.28 [[ 0.99932673 0.0047897 -0.03637496 -1.27214744] [-0.00466522 0.99998297 0.00350626 0.07906949] [ 0.03639113 -0.0033342 0.99933206 -0.27738685] [ 0. 0. 0. 1. ]] SLAMing on 232.80313336499998 meters Centerline goodness : 0.116920 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.08, Z:-0.28 [[ 0.9993191 0.00473371 -0.03659146 -1.27171145] [-0.00462328 0.9999845 0.00310207 0.0814371 ] [ 0.03660558 -0.00293078 0.99932549 -0.27723887] [ 0. 0. 0. 1. ]] SLAMing on 232.83313336499998 meters Centerline goodness : 0.045947 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.08, Z:-0.28 [[ 0.99930656 0.00471676 -0.03693442 -1.27081822] [-0.0046188 0.99998559 0.0027372 0.08388662] [ 0.0369468 -0.00256471 0.99931394 -0.27733475] [ 0. 0. 0. 1. ]] SLAMing on 232.86313336499998 meters Centerline goodness : 0.112523 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.09, Z:-0.28 [[ 0.99929815 0.00470034 -0.03716334 -1.27017217] [-0.00461641 0.9999866 0.00234384 0.08658164] [ 0.03717386 -0.00217063 0.99930646 -0.2774404 ] [ 0. 0. 0. 1. ]] SLAMing on 232.89313336499998 meters Centerline goodness : 0.109194 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.09, Z:-0.28 [[ 0.99929916 0.00465333 -0.03714209 -1.27020329] [-0.00458454 0.99998762 0.00193681 0.08909501] [ 0.03715064 -0.00176518 0.99930812 -0.2774147 ] [ 0. 0. 0. 1. ]] SLAMing on 232.92313336499998 meters Centerline goodness : 0.116007 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.09, Z:-0.28 [[ 0.9993033 0.00450683 -0.03704879 -1.270532 ] [-0.00445596 0.99998901 0.00145554 0.09157901] [ 0.03705494 -0.00128944 0.9993124 -0.27720022] [ 0. 0. 0. 1. ]] SLAMing on 232.95313336499999 meters Centerline goodness : 0.110919 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.10, Z:-0.28 [[ 9.99321195e-01 4.44707818e-03 -3.65701074e-02 -1.27156579e+00] [-4.42290192e-03 9.99989944e-01 7.41967135e-04 9.59936699e-02] [ 3.65730392e-02 -5.79717485e-04 9.99330814e-01 -2.77246853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.983133365 meters Centerline goodness : 0.116283 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.10, Z:-0.28 [[ 9.99321409e-01 4.40716229e-03 -3.65691047e-02 -1.27144440e+00] [-4.39565447e-03 9.99990261e-01 3.95080892e-04 9.83562674e-02] [ 3.65704897e-02 -2.34067646e-04 9.99331048e-01 -2.77418515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.013133365 meters Centerline goodness : 0.109744 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.10, Z:-0.28 [[ 9.99314413e-01 4.40177158e-03 -3.67604322e-02 -1.27079749e+00] [-4.40093586e-03 9.99990310e-01 1.03652194e-04 1.00571064e-01] [ 3.67605322e-02 5.81991725e-05 9.99324102e-01 -2.77677611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.043133365 meters Centerline goodness : 0.110479 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.10, Z:-0.28 [[ 9.99307200e-01 4.32370654e-03 -3.69651896e-02 -1.27006841e+00] [-4.33424188e-03 9.99990586e-01 -2.04876128e-04 1.02485021e-01] [ 3.69639558e-02 3.64950263e-04 9.99316533e-01 -2.78014038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.073133365 meters Centerline goodness : 0.110318 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.10, Z:-0.28 [[ 9.99302139e-01 4.23120654e-03 -3.71124307e-02 -1.26966458e+00] [-4.25059607e-03 9.99990868e-01 -4.43566972e-04 1.03651948e-01] [ 3.71102150e-02 6.01007376e-04 9.99310998e-01 -2.78105856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.103133365 meters Centerline goodness : 0.110901 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.10, Z:-0.28 [[ 9.99297118e-01 4.13984886e-03 -3.72576356e-02 -1.26928943e+00] [-4.16735794e-03 9.99991098e-01 -6.60717485e-04 1.04675259e-01] [ 3.72545687e-02 8.15518982e-04 9.99305475e-01 -2.78195124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.133133365 meters Centerline goodness : 0.112676 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.11, Z:-0.28 [[ 9.99287443e-01 4.03827120e-03 -3.75273179e-02 -1.26862985e+00] [-4.08218787e-03 9.99991070e-01 -1.09370830e-03 1.07247199e-01] [ 3.75225660e-02 1.24612253e-03 9.99295004e-01 -2.78186898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.163133365 meters Centerline goodness : 0.139825 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.11, Z:-0.28 [[ 0.99928481 0.00399876 -0.03760149 -1.26852307] [-0.00405327 0.99999084 -0.00137377 0.10908313] [ 0.03759566 0.00152519 0.99929187 -0.27805042] [ 0. 0. 0. 1. ]] SLAMing on 233.193133365 meters Centerline goodness : 0.114577 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.12, Z:-0.28 [[ 9.99284169e-01 -3.02153383e-03 -3.77096729e-02 -1.25129500e+00] [ 3.02975792e-03 9.99995397e-01 1.60945489e-04 1.15512982e-01] [ 3.77090131e-02 -2.75081459e-04 9.99288724e-01 -2.75218203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.223133365 meters Centerline goodness : 0.109566 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.12, Z:-0.28 [[ 9.99289358e-01 -3.13685922e-03 -3.75624649e-02 -1.25175646e+00] [ 3.12637993e-03 9.99995056e-01 -3.37718033e-04 1.18243769e-01] [ 3.75633385e-02 2.20043500e-04 9.99294225e-01 -2.75027759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.253133365 meters Centerline goodness : 0.112779 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.12, Z:-0.27 [[ 9.99283265e-01 -3.24277238e-03 -3.77152507e-02 -1.25154586e+00] [ 3.21466029e-03 9.99994508e-01 -8.05995924e-04 1.20895967e-01] [ 3.77176572e-02 6.84176520e-04 9.99288202e-01 -2.74810227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.283133365 meters Centerline goodness : 0.124837 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99265375e-01 -3.54517869e-04 -3.83221228e-02 -1.24881361e+00] [ 4.07467285e-04 9.99998973e-01 1.37389164e-03 1.25821702e-01] [ 3.83215963e-02 -1.38849735e-03 9.99264493e-01 -2.76292178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.313133365 meters Centerline goodness : 0.128635 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99263463e-01 -4.64729349e-04 -3.83707751e-02 -1.24853505e+00] [ 5.02503043e-04 9.99999399e-01 9.74800768e-04 1.27983777e-01] [ 3.83702990e-02 -9.93364222e-04 9.99263095e-01 -2.76548993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.343133365 meters Centerline goodness : 0.114938 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99267544e-01 -5.60212867e-04 -3.82630605e-02 -1.24883221e+00] [ 5.86052181e-04 9.99999608e-01 6.64094195e-04 1.29739634e-01] [ 3.82626735e-02 -6.86031925e-04 9.99267480e-01 -2.76521417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.373133365 meters Centerline goodness : 0.127896 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99274714e-01 -6.81241584e-04 -3.80733638e-02 -1.24951254e+00] [ 6.96783716e-04 9.99999679e-01 3.94947605e-04 1.30952417e-01] [ 3.80730825e-02 -4.21190056e-04 9.99274869e-01 -2.76237722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40313336499997 meters Centerline goodness : 0.124655 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99278670e-01 -7.55826986e-04 -3.79680000e-02 -1.25003040e+00] [ 7.64802626e-04 9.99999683e-01 2.21876435e-04 1.31709507e-01] [ 3.79678203e-02 -2.50754415e-04 9.99278931e-01 -2.75883591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43313336499997 meters Centerline goodness : 0.121469 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99275980e-01 -7.88324533e-04 -3.80380513e-02 -1.24986045e+00] [ 7.94088623e-04 9.99999675e-01 1.36426813e-04 1.32252356e-01] [ 3.80379314e-02 -1.66533621e-04 9.99276282e-01 -2.75894946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46313336499998 meters Centerline goodness : 0.117904 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99268463e-01 -8.03514540e-04 -3.82347197e-02 -1.24915923e+00] [ 8.09013176e-04 9.99999665e-01 1.28341001e-04 1.32195698e-01] [ 3.82346037e-02 -1.59179507e-04 9.99268778e-01 -2.76234742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49313336499998 meters Centerline goodness : 0.120122 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99274052e-01 -8.26766803e-04 -3.80878562e-02 -1.24957035e+00] [ 8.32433926e-04 9.99999645e-01 1.32932479e-04 1.31951266e-01] [ 3.80877327e-02 -1.64541601e-04 9.99274386e-01 -2.76184044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52313336499998 meters Centerline goodness : 0.122145 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.13, Z:-0.27 [[ 9.99288384e-01 6.79799084e-03 -3.71013830e-02 -1.23086182e+00] [-6.84182716e-03 9.99976038e-01 -1.05469006e-03 1.26962242e-01] [ 3.70933242e-02 1.30778078e-03 9.99310950e-01 -2.74183758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55313336499998 meters Centerline goodness : 0.122145 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.13, Z:-0.27 [[ 9.99288384e-01 6.79799084e-03 -3.71013830e-02 -1.23086182e+00] [-6.84182716e-03 9.99976038e-01 -1.05469006e-03 1.26962242e-01] [ 3.70933242e-02 1.30778078e-03 9.99310950e-01 -2.74183758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58313336499998 meters Centerline goodness : 0.107371 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.13, Z:-0.27 [[ 9.99295469e-01 6.83775357e-03 -3.69027290e-02 -1.23164022e+00] [-6.87886431e-03 9.99975853e-01 -9.87175789e-04 1.26635949e-01] [ 3.68950878e-02 1.24032916e-03 9.99318375e-01 -2.73767686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61313336499998 meters Centerline goodness : 0.113342 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.13, Z:-0.27 [[ 9.99336501e-01 -4.95247523e-04 -3.64185627e-02 -1.21423301e+00] [ 5.06402300e-04 9.99999828e-01 2.97070065e-04 1.31374120e-01] [ 3.64184093e-02 -3.15315403e-04 9.99336580e-01 -2.71790639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64313336499998 meters Centerline goodness : 0.121782 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.13, Z:-0.27 [[ 9.99323535e-01 8.00180449e-03 -3.58949009e-02 -1.23473063e+00] [-8.02660732e-03 9.99967637e-01 -5.46932091e-04 1.27045971e-01] [ 3.58893627e-02 8.34676384e-04 9.99355421e-01 -2.73803511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67313336499998 meters Centerline goodness : 0.105404 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.13, Z:-0.27 [[ 9.99326993e-01 8.07668541e-03 -3.57816628e-02 -1.23495829e+00] [-8.10078343e-03 9.99967048e-01 -5.28546699e-04 1.27432219e-01] [ 3.57762148e-02 8.18050485e-04 9.99359491e-01 -2.73878247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70313336499999 meters Centerline goodness : 0.100454 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.13, Z:-0.27 [[ 9.99339411e-01 8.40291639e-03 -3.53572137e-02 -1.23594962e+00] [-8.41804757e-03 9.99964529e-01 -2.79105177e-04 1.26990905e-01] [ 3.53536142e-02 5.76559510e-04 9.99374699e-01 -2.74100613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.733133365 meters Centerline goodness : 0.098781 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.13, Z:-0.27 [[ 9.99344774e-01 8.46884326e-03 -3.51895207e-02 -1.23625223e+00] [-8.48114364e-03 9.99964014e-01 -2.00288701e-04 1.26513164e-01] [ 3.51865581e-02 4.98604846e-04 9.99380637e-01 -2.74317623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.763133365 meters Centerline goodness : 0.204513 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.13, Z:-0.27 [[ 9.99347962e-01 8.54101309e-03 -3.50813679e-02 -1.23641384e+00] [-8.54900721e-03 9.99963454e-01 -7.78756975e-05 1.25809587e-01] [ 3.50794207e-02 3.77735787e-04 9.99384456e-01 -2.74571561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.793133365 meters Centerline goodness : 0.108616 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.12, Z:-0.27 [[ 9.99350055e-01 8.61660127e-03 -3.50031665e-02 -1.23654160e+00] [-8.61849405e-03 9.99962855e-01 9.68115588e-05 1.24761835e-01] [ 3.50027005e-02 2.04925945e-04 9.99387197e-01 -2.74725143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.823133365 meters Centerline goodness : 0.116829 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.13, Z:-0.28 [[ 9.99384344e-01 3.77881378e-04 -3.50826206e-02 -1.25604314e+00] [-3.30641495e-04 9.99999031e-01 1.35232423e-03 1.27282881e-01] [ 3.50830976e-02 -1.33989190e-03 9.99383500e-01 -2.76499331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.853133365 meters Centerline goodness : 0.095620 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.13, Z:-0.28 [[ 9.99383241e-01 5.44608883e-04 -3.51118498e-02 -1.25595638e+00] [-4.86607571e-04 9.99998503e-01 1.66042566e-03 1.25645782e-01] [ 3.51127015e-02 -1.64231588e-03 9.99382010e-01 -2.76560298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.883133365 meters Centerline goodness : 0.102337 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.12, Z:-0.28 [[ 9.99379189e-01 9.33294216e-04 -3.52188290e-02 -1.25562220e+00] [-8.49748795e-04 9.99996790e-01 2.38707421e-03 1.22381073e-01] [ 3.52209438e-02 -2.35566513e-03 9.99376774e-01 -2.76696132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.913133365 meters Centerline goodness : 0.092075 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.12, Z:-0.28 [[ 9.99294266e-01 8.52391097e-04 -3.75532123e-02 -1.30034997e+00] [-7.69700987e-04 9.99997248e-01 2.21634751e-03 1.19747395e-01] [ 3.75549981e-02 -2.18587861e-03 9.99292172e-01 -2.77687773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.943133365 meters Centerline goodness : 0.103460 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.12, Z:-0.28 [[ 9.99288390e-01 9.41811513e-04 -3.77071219e-02 -1.29983672e+00] [-8.48287973e-04 9.99996525e-01 2.49618409e-03 1.17888425e-01] [ 3.77093418e-02 -2.46242128e-03 9.99285716e-01 -2.77933869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.973133365 meters Centerline goodness : 0.147799 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.12, Z:-0.28 [[ 9.99285887e-01 1.03208825e-03 -3.77710310e-02 -1.29956072e+00] [-9.28780699e-04 9.99995780e-01 2.75254481e-03 1.16351130e-01] [ 3.77737125e-02 -2.71549817e-03 9.99282629e-01 -2.78149407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.003133365 meters Centerline goodness : 0.098699 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.11, Z:-0.28 [[ 9.99286168e-01 1.14829206e-03 -3.77602497e-02 -1.29946822e+00] [-1.03461995e-03 9.99994875e-01 3.02976719e-03 1.14816413e-01] [ 3.77635352e-02 -2.98853694e-03 9.99282234e-01 -2.78322106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.033133365 meters Centerline goodness : 0.104872 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.11, Z:-0.28 [[ 9.99284982e-01 1.24339531e-03 -3.77885991e-02 -1.29935005e+00] [-1.12249201e-03 9.99994184e-01 3.22051279e-03 1.13764462e-01] [ 3.77923837e-02 -3.17579266e-03 9.99280566e-01 -2.78430691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.063133365 meters Centerline goodness : 0.092962 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.11, Z:-0.28 [[ 9.99284307e-01 1.39679755e-03 -3.78010899e-02 -1.29937805e+00] [-1.26477958e-03 9.99993019e-01 3.51612650e-03 1.12090956e-01] [ 3.78057373e-02 -3.46579998e-03 9.99279097e-01 -2.78383682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.093133365 meters Centerline goodness : 0.099321 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.11, Z:-0.28 [[ 0.9992808 0.00149165 -0.03788999 -1.29914761] [-0.00135122 0.99999212 0.00373151 0.11092194] [ 0.03789526 -0.00367762 0.99927495 -0.27842723] [ 0. 0. 0. 1. ]] SLAMing on 234.123133365 meters Centerline goodness : 0.175695 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.11, Z:-0.28 [[ 0.9992757 0.00159068 -0.03802044 -1.29863781] [-0.00143979 0.99999098 0.00399554 0.1094576 ] [ 0.03802646 -0.00393791 0.99926897 -0.27877397] [ 0. 0. 0. 1. ]] SLAMing on 234.15313336499997 meters Centerline goodness : 0.093586 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.11, Z:-0.28 [[ 0.99926732 0.00168875 -0.03823569 -1.29780076] [-0.00152618 0.99998967 0.00428055 0.10782307] [ 0.03824252 -0.00421906 0.99925958 -0.27928448] [ 0. 0. 0. 1. ]] SLAMing on 234.18313336499997 meters Centerline goodness : 0.149708 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.11, Z:-0.28 [[ 0.99926043 0.00178293 -0.03841103 -1.29722704] [-0.00160857 0.99998826 0.00456987 0.10617848] [ 0.03841873 -0.00450471 0.99925157 -0.27953441] [ 0. 0. 0. 1. ]] SLAMing on 234.21313336499998 meters Centerline goodness : 0.110286 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99182803e-01 1.42840372e-03 -4.03941213e-02 -1.34320691e+00] [-1.23612086e-03 9.99987789e-01 4.78474494e-03 1.00623489e-01] [ 4.04004626e-02 -4.73090285e-03 9.99172368e-01 -2.80000012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24313336499998 meters Centerline goodness : 0.161057 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.10, Z:-0.28 [[ 0.9991852 0.00933231 -0.03926634 -1.32425796] [-0.00919295 0.99995079 0.00372819 0.09592647] [ 0.0392992 -0.00336418 0.99922182 -0.27807157] [ 0. 0. 0. 1. ]] SLAMing on 234.27313336499998 meters Centerline goodness : 0.196597 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99239268e-01 1.13717528e-03 -3.89819585e-02 -1.34375035e+00] [-9.51519904e-04 9.99988119e-01 4.78081982e-03 9.90620131e-02] [ 3.89869320e-02 -4.74009079e-03 9.99228478e-01 -2.80209733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30313336499998 meters Centerline goodness : 0.319019 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99235385e-01 1.13010347e-03 -3.90815562e-02 -1.34354789e+00] [-9.44904931e-04 9.99988239e-01 4.75691734e-03 9.88950901e-02] [ 3.90864724e-02 -4.71635177e-03 9.99224701e-01 -2.80192929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33313336499998 meters Centerline goodness : 0.093024 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99237102e-01 1.29061878e-03 -3.90326601e-02 -1.34372823e+00] [-1.09974611e-03 9.99987335e-01 4.91115199e-03 9.87973510e-02] [ 3.90385041e-02 -4.86447927e-03 9.99225866e-01 -2.80162697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36313336499998 meters Centerline goodness : 0.100325 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99244923e-01 1.40593176e-03 -3.88279107e-02 -1.34438863e+00] [-1.20927939e-03 9.99986326e-01 5.08773815e-03 9.82583684e-02] [ 3.88345328e-02 -5.03694273e-03 9.99232960e-01 -2.79947792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39313336499998 meters Centerline goodness : 0.229222 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.10, Z:-0.28 [[ 9.99253495e-01 1.47602510e-03 -3.86040591e-02 -1.34520338e+00] [-1.27356550e-03 9.99985310e-01 5.26858167e-03 9.72523366e-02] [ 3.86112686e-02 -5.21548385e-03 9.99240696e-01 -2.79510669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42313336499998 meters Centerline goodness : 0.320775 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.10, Z:-0.28 [[ 9.99257589e-01 1.47337526e-03 -3.84980524e-02 -1.34561074e+00] [-1.26710105e-03 9.99984715e-01 5.38189301e-03 9.61963535e-02] [ 3.85053935e-02 -5.32911651e-03 9.99244182e-01 -2.79298561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45313336499999 meters Centerline goodness : 0.099702 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.10, Z:-0.28 [[ 9.99252258e-01 1.50217696e-03 -3.86350573e-02 -1.34526141e+00] [-1.28908318e-03 9.99983824e-01 5.53987474e-03 9.50495522e-02] [ 3.86427542e-02 -5.48592854e-03 9.99238031e-01 -2.79325978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.483133365 meters Centerline goodness : 0.182315 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99243859e-01 1.55931688e-03 -3.88494374e-02 -1.34464307e+00] [-1.34044045e-03 9.99983087e-01 5.65937724e-03 9.44587381e-02] [ 3.88576051e-02 -5.60302259e-03 9.99229049e-01 -2.79529048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.513133365 meters Centerline goodness : 0.100929 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99924575 0.00169807 -0.03879493 -1.34475404] [-0.00147856 0.99998274 0.00568627 0.09493654] [ 0.03880391 -0.00562462 0.99923101 -0.27954203] [ 0. 0. 0. 1. ]] SLAMing on 234.543133365 meters Centerline goodness : 0.056497 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.10, Z:-0.28 [[ 0.99925571 0.001612 -0.03854125 -1.34561831] [-0.0014024 0.99998408 0.00546484 0.09580001] [ 0.03854945 -0.00540672 0.99924207 -0.27917645] [ 0. 0. 0. 1. ]] SLAMing on 234.573133365 meters Centerline goodness : 0.092853 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.10, Z:-0.28 [[ 9.99261725e-01 1.53568134e-03 -3.83881120e-02 -1.34609957e+00] [-1.33693344e-03 9.99985573e-01 5.20246405e-03 9.70310516e-02] [ 3.83955475e-02 -5.14730085e-03 9.99249362e-01 -2.79043639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.603133365 meters Centerline goodness : 0.096041 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.28 [[ 0.99923225 0.01000076 -0.03788012 -1.32566332] [-0.00984858 0.99994267 0.00420202 0.09604619] [ 0.03791997 -0.00382573 0.99927346 -0.27760804] [ 0. 0. 0. 1. ]] SLAMing on 234.633133365 meters Centerline goodness : 0.125783 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 0.99922338 0.00239046 -0.03933088 -1.3439409 ] [-0.00216686 0.99998125 0.00572668 0.10161507] [ 0.03934383 -0.00563701 0.99920983 -0.28000427] [ 0. 0. 0. 1. ]] SLAMing on 234.663133365 meters Centerline goodness : 0.094977 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 0.99916456 0.00288087 -0.04076615 -1.33962421] [-0.00265498 0.99998083 0.00559428 0.10458302] [ 0.04078149 -0.00548137 0.99915305 -0.28153687] [ 0. 0. 0. 1. ]] SLAMing on 234.693133365 meters Centerline goodness : 0.182107 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99916024 0.00269608 -0.04088444 -1.33930219] [-0.00248461 0.99998328 0.00522251 0.1059524 ] [ 0.04089784 -0.00511655 0.99915023 -0.28166964] [ 0. 0. 0. 1. ]] SLAMing on 234.723133365 meters Centerline goodness : 0.110564 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99915958 0.00257221 -0.0409086 -1.33946373] [-0.00237074 0.99998483 0.00497256 0.10699275] [ 0.04092077 -0.0048714 0.99915052 -0.28140925] [ 0. 0. 0. 1. ]] SLAMing on 234.753133365 meters Centerline goodness : 0.095178 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99916738 0.00253206 -0.04072018 -1.34015444] [-0.00233691 0.99998556 0.00483936 0.10788162] [ 0.04073184 -0.00474017 0.99915887 -0.28109192] [ 0. 0. 0. 1. ]] SLAMing on 234.783133365 meters Centerline goodness : 0.134055 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99917771 0.00247803 -0.04046934 -1.34088176] [-0.00229111 0.9999865 0.00466459 0.1090311 ] [ 0.04048035 -0.00456804 0.99916989 -0.28092593] [ 0. 0. 0. 1. ]] SLAMing on 234.813133365 meters Centerline goodness : 0.150807 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99918319 0.00232119 -0.0403431 -1.34115439] [-0.00214833 0.99998833 0.00432759 0.11065555] [ 0.04035267 -0.00423739 0.99917651 -0.28098447] [ 0. 0. 0. 1. ]] SLAMing on 234.843133365 meters Centerline goodness : 0.245006 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99917401 0.00202005 -0.04058593 -1.3404976 ] [-0.00187719 0.99999191 0.00355781 0.11434246] [ 0.04059279 -0.00347869 0.99916972 -0.28120956] [ 0. 0. 0. 1. ]] SLAMing on 234.873133365 meters Centerline goodness : 0.221730 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.12, Z:-0.28 [[ 0.99917307 0.00198501 -0.04061084 -1.34055856] [-0.00185238 0.99999283 0.00330336 0.11612843] [ 0.04061711 -0.0032254 0.99916958 -0.28112903] [ 0. 0. 0. 1. ]] SLAMing on 234.90313336499997 meters Centerline goodness : 0.105687 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.12, Z:-0.28 [[ 0.99917564 0.00202253 -0.04054577 -1.34085451] [-0.00189574 0.99999319 0.00316517 0.11752722] [ 0.04055189 -0.0030857 0.99917267 -0.2809709 ] [ 0. 0. 0. 1. ]] SLAMing on 234.93313336499997 meters Centerline goodness : 0.091217 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.12, Z:-0.28 [[ 0.99917593 0.00199909 -0.04053972 -1.34096957] [-0.00187647 0.99999355 0.00306258 0.11822175] [ 0.04054558 -0.00298398 0.99917323 -0.28085023] [ 0. 0. 0. 1. ]] SLAMing on 234.96313336499998 meters Centerline goodness : 0.182368 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.12, Z:-0.28 [[ 0.99917427 0.00191869 -0.04058453 -1.34095257] [-0.00179794 0.99999385 0.00301157 0.1179283 ] [ 0.04059006 -0.00293611 0.99917157 -0.28071578] [ 0. 0. 0. 1. ]] SLAMing on 234.99313336499998 meters Centerline goodness : 0.082890 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.12, Z:-0.28 [[ 0.99917055 0.00186975 -0.04067814 -1.340982 ] [-0.00174646 0.99999377 0.00306628 0.11702515] [ 0.04068362 -0.00299269 0.9991676 -0.28034182] [ 0. 0. 0. 1. ]] SLAMing on 235.02313336499998 meters Centerline goodness : 0.095783 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99916827 0.00208512 -0.04072371 -1.3412046 ] [-0.00193961 0.9999916 0.00361212 0.11439114] [ 0.0407309 -0.00353013 0.99916392 -0.27980497] [ 0. 0. 0. 1. ]] SLAMing on 235.05313336499998 meters Centerline goodness : 0.189122 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99917465 0.00222572 -0.04055935 -1.34179637] [-0.00206831 0.99999017 0.00392266 0.11298092] [ 0.04056768 -0.00383553 0.99916943 -0.27946142] [ 0. 0. 0. 1. ]] SLAMing on 235.08313336499998 meters Centerline goodness : 0.111712 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99918375 0.00233885 -0.04032819 -1.34257957] [-0.00216947 0.99998864 0.00424327 0.11117611] [ 0.04033765 -0.00415231 0.99917748 -0.27907726] [ 0. 0. 0. 1. ]] SLAMing on 235.11313336499998 meters Centerline goodness : 0.223540 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99919047 0.00244917 -0.04015484 -1.34311816] [-0.00226495 0.9999867 0.00463256 0.10877223] [ 0.04016565 -0.00453786 0.99918273 -0.27884144] [ 0. 0. 0. 1. ]] SLAMing on 235.14313336499998 meters Centerline goodness : 0.094292 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.9991908 0.00266772 -0.04013258 -1.34319935] [-0.00246137 0.9999835 0.0051903 0.10584863] [ 0.04014577 -0.00508732 0.99918088 -0.2787568 ] [ 0. 0. 0. 1. ]] SLAMing on 235.17313336499998 meters Centerline goodness : 0.102244 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 0.99918556 0.00294013 -0.04024379 -1.34273919] [-0.00270826 0.99997943 0.00581487 0.10283676] [ 0.04026006 -0.00570114 0.99917297 -0.27901737] [ 0. 0. 0. 1. ]] SLAMing on 235.20313336499999 meters SLAMing on 235.233133365 meters Centerline goodness : 0.125871 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.9991419 0.00168332 -0.04138392 -1.33792947] [-0.00146196 0.99998447 0.0053786 0.09351076] [ 0.04139233 -0.00531348 0.99912884 -0.28135997] [ 0. 0. 0. 1. ]] SLAMing on 235.263133365 meters Centerline goodness : 0.109905 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99913541 0.00186414 -0.04153253 -1.33754158] [-0.00162445 0.99998184 0.00580418 0.09112063] [ 0.04154259 -0.0057317 0.99912029 -0.2813641 ] [ 0. 0. 0. 1. ]] SLAMing on 235.293133365 meters Centerline goodness : 0.106702 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99913285 0.00206335 -0.04158482 -1.33731844] [-0.00180612 0.99997901 0.00622227 0.08911218] [ 0.04159679 -0.00614177 0.9991156 -0.28149896] [ 0. 0. 0. 1. ]] SLAMing on 235.323133365 meters Centerline goodness : 0.108424 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99912621 0.00223702 -0.04173494 -1.33678727] [-0.00196642 0.99997679 0.00652386 0.08770661] [ 0.04174856 -0.00643609 0.99910742 -0.28178046] [ 0. 0. 0. 1. ]] SLAMing on 235.353133365 meters Centerline goodness : 0.108726 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99911638 0.00248234 -0.0419559 -1.3358284 ] [-0.00219601 0.99997399 0.00686946 0.0858467 ] [ 0.04197186 -0.00677126 0.99909585 -0.28240771] [ 0. 0. 0. 1. ]] SLAMing on 235.383133365 meters Centerline goodness : 0.103569 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99911067 0.00252735 -0.04208902 -1.33533012] [-0.00223888 0.99997369 0.00689947 0.085568 ] [ 0.04210535 -0.0067991 0.99909004 -0.28272061] [ 0. 0. 0. 1. ]] SLAMing on 235.413133365 meters Centerline goodness : 0.116465 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.28 [[ 0.99910581 0.00253643 -0.04220373 -1.33484049] [-0.00224966 0.99997407 0.00684094 0.08580485] [ 0.04221999 -0.00673988 0.99908561 -0.28308843] [ 0. 0. 0. 1. ]] SLAMing on 235.443133365 meters Centerline goodness : 0.116465 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.28 [[ 0.99910581 0.00253643 -0.04220373 -1.33484049] [-0.00224966 0.99997407 0.00684094 0.08580485] [ 0.04221999 -0.00673988 0.99908561 -0.28308843] [ 0. 0. 0. 1. ]] SLAMing on 235.473133365 meters Centerline goodness : 0.118301 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.28 [[ 0.99910556 0.00255703 -0.04220822 -1.33470715] [-0.00227423 0.99997465 0.00674677 0.08646901] [ 0.0422244 -0.00664475 0.99908606 -0.28335489] [ 0. 0. 0. 1. ]] SLAMing on 235.503133365 meters Centerline goodness : 0.106185 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99912549 0.00271013 -0.04172421 -1.3360243 ] [-0.00242912 0.99997404 0.00678405 0.0872252 ] [ 0.04174151 -0.00667676 0.99910613 -0.28322216] [ 0. 0. 0. 1. ]] SLAMing on 235.533133365 meters Centerline goodness : 0.105706 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99913351 0.00268559 -0.04153325 -1.33655841] [-0.00240729 0.99997433 0.00674928 0.08736648] [ 0.04155031 -0.00664345 0.99911433 -0.28311668] [ 0. 0. 0. 1. ]] SLAMing on 235.563133365 meters Centerline goodness : 0.102414 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99913167 0.00265711 -0.04157934 -1.33661547] [-0.00237541 0.9999739 0.00682288 0.08667103] [ 0.04159638 -0.00671819 0.99911191 -0.28284528] [ 0. 0. 0. 1. ]] SLAMing on 235.593133365 meters Centerline goodness : 0.109532 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99912778 0.00263315 -0.04167417 -1.3366233 ] [-0.00234428 0.9999729 0.00697906 0.08541881] [ 0.04169142 -0.00687528 0.99910688 -0.2824481 ] [ 0. 0. 0. 1. ]] SLAMing on 235.623133365 meters Centerline goodness : 0.105377 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.9991252 0.00255868 -0.04174083 -1.33677812] [-0.00225978 0.99997148 0.00720649 0.08363206] [ 0.04175808 -0.00710586 0.99910248 -0.28190167] [ 0. 0. 0. 1. ]] SLAMing on 235.65313336499997 meters Centerline goodness : 0.104124 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.99913267 0.00258149 -0.04156005 -1.33761218] [-0.00226764 0.99996857 0.00759717 0.08135024] [ 0.04157836 -0.00749634 0.99910712 -0.28118168] [ 0. 0. 0. 1. ]] SLAMing on 235.68313336499997 meters Centerline goodness : 0.108122 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.08, Z:-0.28 [[ 0.99921887 -0.0055912 -0.03912007 -1.31898679] [ 0.00594481 0.99994247 0.00892861 0.08129489] [ 0.0390679 -0.00915419 0.99919463 -0.27950262] [ 0. 0. 0. 1. ]] SLAMing on 235.71313336499998 meters Centerline goodness : 0.108172 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.08, Z:-0.28 [[ 0.99913934 -0.00608696 -0.04103076 -1.36462894] [ 0.0064652 0.99993776 0.00909222 0.07696034] [ 0.04097286 -0.00934967 0.99911651 -0.2801957 ] [ 0. 0. 0. 1. ]] SLAMing on 235.74313336499998 meters Centerline goodness : 0.107416 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.99917133 0.00202841 -0.04065139 -1.34441968] [-0.00171635 0.99996881 0.00770984 0.07538159] [ 0.04066576 -0.00763368 0.99914364 -0.27873031] [ 0. 0. 0. 1. ]] SLAMing on 235.77313336499998 meters Centerline goodness : 0.105427 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.99915772 0.001971 -0.04098731 -1.34344801] [-0.00167172 0.9999717 0.00733475 0.07749995] [ 0.04100061 -0.00726006 0.99913274 -0.279145 ] [ 0. 0. 0. 1. ]] SLAMing on 235.80313336499998 meters Centerline goodness : 0.103296 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.9991501 0.0020893 -0.04116694 -1.34299832] [-0.00179923 0.9999733 0.0070821 0.079801 ] [ 0.04118064 -0.00700201 0.99912718 -0.27935552] [ 0. 0. 0. 1. ]] SLAMing on 235.83313336499998 meters Centerline goodness : 0.105906 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.99915294 0.00221141 -0.04109151 -1.34339908] [-0.0019314 0.99997465 0.0068529 0.08214817] [ 0.04110563 -0.00676773 0.99913189 -0.27919139] [ 0. 0. 0. 1. ]] SLAMing on 235.86313336499998 meters Centerline goodness : 0.101398 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.99916331 0.0020508 -0.040847 -1.34436539] [-0.00179542 0.99997862 0.0062876 0.0849617 ] [ 0.04085902 -0.006209 0.99914563 -0.27876515] [ 0. 0. 0. 1. ]] SLAMing on 235.89313336499998 meters Centerline goodness : 0.106173 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99915823 0.00188888 -0.04097881 -1.34399422] [-0.00164305 0.99998046 0.00603193 0.08558216] [ 0.0409894 -0.00595953 0.99914181 -0.27887549] [ 0. 0. 0. 1. ]] SLAMing on 235.92313336499998 meters Centerline goodness : 0.104479 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99914781 0.00181401 -0.04123541 -1.3432909 ] [-0.00156899 0.99998093 0.00597355 0.08549974] [ 0.04124546 -0.00590376 0.9991316 -0.27905338] [ 0. 0. 0. 1. ]] SLAMing on 235.95313336499999 meters Centerline goodness : 0.105549 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99913871 0.00183289 -0.04145451 -1.34272177] [-0.00158396 0.99998052 0.00603696 0.08528155] [ 0.04146477 -0.0059661 0.99912215 -0.27908552] [ 0. 0. 0. 1. ]] SLAMing on 235.983133365 meters Centerline goodness : 0.104964 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.99913234 0.00184794 -0.0416072 -1.34238955] [-0.00159508 0.99998006 0.00610968 0.08496924] [ 0.04161766 -0.00603801 0.99911536 -0.27901814] [ 0. 0. 0. 1. ]] SLAMing on 236.013133365 meters Centerline goodness : 0.106124 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.9991271 0.00181173 -0.04173424 -1.34208397] [-0.00155801 0.99998011 0.00611132 0.08477144] [ 0.04174448 -0.00604096 0.99911006 -0.27896949] [ 0. 0. 0. 1. ]] SLAMing on 236.043133365 meters Centerline goodness : 0.108022 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.99912639 0.00170374 -0.04175581 -1.34235364] [-0.00145344 0.9999808 0.00602408 0.08477586] [ 0.04176527 -0.00595813 0.99910969 -0.27846555] [ 0. 0. 0. 1. ]] SLAMing on 236.073133365 meters Centerline goodness : 0.107903 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.08, Z:-0.28 [[ 0.99910591 0.00982089 -0.04112097 -1.3223791 ] [-0.00962321 0.99994118 0.00500257 0.0821466 ] [ 0.04116768 -0.00460238 0.99914165 -0.27683568] [ 0. 0. 0. 1. ]] SLAMing on 236.103133365 meters Centerline goodness : 0.105670 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.08, Z:-0.28 [[ 0.99910298 0.00980359 -0.04119614 -1.32213939] [-0.00960563 0.99994136 0.00500042 0.08206635] [ 0.04124275 -0.00460022 0.99913857 -0.27692392] [ 0. 0. 0. 1. ]] SLAMing on 236.133133365 meters Centerline goodness : 0.122461 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.08, Z:-0.28 [[ 0.99909454 0.00974988 -0.04141315 -1.3213519 ] [-0.00955191 0.999942 0.0049755 0.08188325] [ 0.04145926 -0.00457542 0.99912972 -0.27731467] [ 0. 0. 0. 1. ]] SLAMing on 236.163133365 meters Centerline goodness : 0.109250 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99093198e-01 1.08878822e-03 -4.25628517e-02 -1.34110111e+00] [-8.36994468e-04 9.99982048e-01 5.93318308e-03 8.38463165e-02] [ 4.25685476e-02 -5.89217798e-03 9.99076174e-01 -2.79195366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.193133365 meters Centerline goodness : 0.108943 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99083356e-01 1.11514640e-03 -4.27925713e-02 -1.34044120e+00] [-8.55933765e-04 9.99981179e-01 6.07526543e-03 8.29002471e-02] [ 4.27985407e-02 -6.03306897e-03 9.99065507e-01 -2.79342729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.223133365 meters Centerline goodness : 0.107218 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99077246e-01 1.29916067e-03 -4.29298143e-02 -1.34049627e+00] [-1.01838345e-03 9.99977954e-01 6.56160058e-03 8.06308818e-02] [ 4.29373925e-02 -6.51182682e-03 9.99056543e-01 -2.78701767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.253133365 meters Centerline goodness : 0.108176 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99084410e-01 1.36648236e-03 -4.27606594e-02 -1.34112723e+00] [-1.07871604e-03 9.99976623e-01 6.75204825e-03 7.97013862e-02] [ 4.27688864e-02 -6.69973953e-03 9.99062528e-01 -2.78350054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.283133365 meters Centerline goodness : 0.106383 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99092945e-01 1.39252794e-03 -4.25599440e-02 -1.34179844e+00] [-1.10253906e-03 9.99976024e-01 6.83637095e-03 7.91935248e-02] [ 4.25684434e-02 -6.78324598e-03 9.99070526e-01 -2.78043921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.313133365 meters Centerline goodness : 0.107287 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99103164e-01 1.39572116e-03 -4.23192611e-02 -1.34257148e+00] [-1.10680142e-03 9.99975927e-01 6.84980673e-03 7.90451132e-02] [ 4.23278028e-02 -6.79682456e-03 9.99080658e-01 -2.77767143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.343133365 meters Centerline goodness : 0.106956 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99108025e-01 1.38954727e-03 -4.22045527e-02 -1.34296315e+00] [-1.10552444e-03 9.99976592e-01 6.75226686e-03 7.96702136e-02] [ 4.22129474e-02 -6.69958584e-03 9.99086174e-01 -2.77641720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.373133365 meters Centerline goodness : 0.104962 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99112287e-01 1.37118847e-03 -4.21041196e-02 -1.34313404e+00] [-1.09520165e-03 9.99977770e-01 6.57723188e-03 8.08407020e-02] [ 4.21122022e-02 -6.52528069e-03 9.99091579e-01 -2.77806442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40313336499997 meters Centerline goodness : 0.107498 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99091252e-01 1.45558275e-03 -4.25975633e-02 -1.34158662e+00] [-1.19002521e-03 9.99979705e-01 6.25879535e-03 8.31904333e-02] [ 4.26058090e-02 -6.20241551e-03 9.99072708e-01 -2.78533860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43313336499997 meters Centerline goodness : 0.113192 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99085349e-01 1.39574363e-03 -4.27377821e-02 -1.34129280e+00] [-1.13694442e-03 9.99980875e-01 6.07922088e-03 8.40965041e-02] [ 4.27454498e-02 -6.02507003e-03 9.99067828e-01 -2.78532171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46313336499998 meters Centerline goodness : 0.106776 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99084380e-01 1.31969246e-03 -4.27628306e-02 -1.34134944e+00] [-1.06805335e-03 9.99981984e-01 5.90684161e-03 8.49184666e-02] [ 4.27698554e-02 -5.85576020e-03 9.99067790e-01 -2.78388609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49313336499998 meters Centerline goodness : 0.111735 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99088384e-01 1.26958584e-03 -4.26706940e-02 -1.34180920e+00] [-1.02385541e-03 9.99982771e-01 5.78012444e-03 8.55775013e-02] [ 4.26772972e-02 -5.73116656e-03 9.99072471e-01 -2.78079664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52313336499998 meters Centerline goodness : 0.116864 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99093474e-01 1.19118239e-03 -4.25536257e-02 -1.34236664e+00] [-9.54253108e-04 9.99983934e-01 5.58766008e-03 8.65902037e-02] [ 4.25595979e-02 -5.54198779e-03 9.99078559e-01 -2.77730433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55313336499998 meters Centerline goodness : 0.114854 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99100572e-01 1.13451952e-03 -4.23882088e-02 -1.34291266e+00] [-9.05973065e-04 9.99984952e-01 5.41056689e-03 8.75997067e-02] [ 4.23937093e-02 -5.36729790e-03 9.99086566e-01 -2.77551878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58313336499998 meters Centerline goodness : 0.126344 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99108105e-01 1.10933479e-03 -4.22109477e-02 -1.34337205e+00] [-8.96518074e-04 9.99986795e-01 5.06033809e-03 9.02159424e-02] [ 4.22160039e-02 -5.01798192e-03 9.99095906e-01 -2.77609014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61313336499998 meters Centerline goodness : 0.128178 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99110760e-01 1.06456620e-03 -4.21492189e-02 -1.34355817e+00] [-8.58881680e-04 9.99987637e-01 4.89772100e-03 9.11683702e-02] [ 4.21539118e-02 -4.85716455e-03 9.99099322e-01 -2.77591955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64313336499998 meters Centerline goodness : 0.129890 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99112902e-01 9.71860826e-04 -4.21006440e-02 -1.34375068e+00] [-7.74392302e-04 9.99988625e-01 4.70644653e-03 9.19608916e-02] [ 4.21047391e-02 -4.66966903e-03 9.99102290e-01 -2.77512909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67313336499998 meters Centerline goodness : 0.188740 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99116831e-01 8.57617166e-04 -4.20097910e-02 -1.34410272e+00] [-6.70576307e-04 9.99989802e-01 4.46620515e-03 9.29722490e-02] [ 4.20131928e-02 -4.43408996e-03 9.99107217e-01 -2.77348255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70313336499999 meters Centerline goodness : 0.137837 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99117834e-01 7.33708994e-04 -4.19882696e-02 -1.34434271e+00] [-5.58877337e-04 9.99991127e-01 4.17540829e-03 9.42972520e-02] [ 4.19909606e-02 -4.14825860e-03 9.99109379e-01 -2.77090340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.733133365 meters Centerline goodness : 0.104287 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99117297e-01 6.17869416e-04 -4.20029130e-02 -1.34440210e+00] [-4.56753978e-04 9.99992502e-01 3.84530434e-03 9.60328639e-02] [ 4.20049740e-02 -3.82272508e-03 9.99110088e-01 -2.77060071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.763133365 meters Centerline goodness : 0.103082 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99111096e-01 5.61091728e-04 -4.21509470e-02 -1.34407431e+00] [-4.19853427e-04 9.99994269e-01 3.35955191e-03 9.92045626e-02] [ 4.21525905e-02 -3.33886838e-03 9.99105606e-01 -2.77187000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.793133365 meters Centerline goodness : 0.092355 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99111584e-01 4.59740455e-04 -4.21406097e-02 -1.34402186e+00] [-3.29477183e-04 9.99995147e-01 3.09805090e-03 1.00511725e-01] [ 4.21418295e-02 -3.08141417e-03 9.99106887e-01 -2.77371740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.823133365 meters Centerline goodness : 0.102318 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.10, Z:-0.28 [[ 9.99199720e-01 5.07354179e-05 -3.99989656e-02 -1.30112302e+00] [ 3.91434414e-05 9.99997476e-01 2.24624323e-03 1.04957739e-01] [ 3.99989786e-02 -2.24601130e-03 9.99197196e-01 -2.75566366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.853133365 meters Centerline goodness : 0.134300 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.10, Z:-0.28 [[ 9.99199069e-01 2.21765126e-05 -4.00152509e-02 -1.30143696e+00] [ 7.16915559e-05 9.99997249e-01 2.34437084e-03 1.04106857e-01] [ 4.00151928e-02 -2.34536192e-03 9.99196319e-01 -2.75011956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.883133365 meters Centerline goodness : 0.094093 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.10, Z:-0.27 [[ 9.99192058e-01 1.11412041e-06 -4.01899459e-02 -1.30111653e+00] [ 9.79709554e-05 9.99996961e-01 2.46344989e-03 1.03173618e-01] [ 4.01898265e-02 -2.46539701e-03 9.99189021e-01 -2.74858723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.913133365 meters Centerline goodness : 0.105038 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.10, Z:-0.28 [[ 9.99175632e-01 -3.54714150e-05 -4.05962358e-02 -1.29997101e+00] [ 1.38258922e-04 9.99996792e-01 2.52914199e-03 1.02508796e-01] [ 4.05960158e-02 -2.53266984e-03 9.99172432e-01 -2.75082853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.943133365 meters Centerline goodness : 0.141321 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.10, Z:-0.28 [[ 9.99165248e-01 -5.24024378e-05 -4.08509909e-02 -1.29910459e+00] [ 1.57250967e-04 9.99996702e-01 2.56340016e-03 1.02138394e-01] [ 4.08507218e-02 -2.56768422e-03 9.99161962e-01 -2.75463052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.973133365 meters Centerline goodness : 0.089012 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.10, Z:-0.28 [[ 9.99157021e-01 -5.31820981e-05 -4.10517418e-02 -1.29851151e+00] [ 1.60699766e-04 9.99996566e-01 2.61578143e-03 1.01773967e-01] [ 4.10514617e-02 -2.62017339e-03 9.99153598e-01 -2.75589873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.003133365 meters Centerline goodness : 0.103423 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.10, Z:-0.28 [[ 9.99154738e-01 -4.46059200e-05 -4.11072640e-02 -1.29861720e+00] [ 1.53164137e-04 9.99996510e-01 2.63770677e-03 1.01780372e-01] [ 4.11070029e-02 -2.64177338e-03 9.99151257e-01 -2.75259526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.033133365 meters Centerline goodness : 0.117099 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99072822e-01 -2.08020040e-04 -4.30517602e-02 -1.34493548e+00] [ 3.35763756e-04 9.99995563e-01 2.96000269e-03 9.82736259e-02] [ 4.30509535e-02 -2.97171346e-03 9.99068458e-01 -2.75475051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.063133365 meters Centerline goodness : 0.105813 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.10, Z:-0.28 [[ 9.99076247e-01 -2.21498293e-04 -4.29721255e-02 -1.34526671e+00] [ 3.47452532e-04 9.99995666e-01 2.92362170e-03 9.84139588e-02] [ 4.29712917e-02 -2.93585177e-03 9.99071994e-01 -2.75276228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.093133365 meters Centerline goodness : 0.091306 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99070935e-01 -2.29383712e-04 -4.30954105e-02 -1.34496356e+00] [ 3.53471760e-04 9.99995814e-01 2.87178167e-03 9.86816291e-02] [ 4.30945714e-02 -2.88434661e-03 9.99066834e-01 -2.75314822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.123133365 meters Centerline goodness : 0.092698 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99065121e-01 -2.61789965e-04 -4.32298084e-02 -1.34445086e+00] [ 3.82946800e-04 9.99996022e-01 2.79436509e-03 9.88892796e-02] [ 4.32289049e-02 -2.80830742e-03 9.99061247e-01 -2.75630688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15313336499997 meters Centerline goodness : 0.135070 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.10, Z:-0.27 [[ 9.99047324e-01 7.83118783e-03 -4.29315325e-02 -1.32425895e+00] [-7.76800477e-03 9.99968486e-01 1.63834491e-03 9.63674231e-02] [ 4.29430097e-02 -1.30329175e-03 9.99076673e-01 -2.73962923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18313336499997 meters Centerline goodness : 0.094535 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99907413 0.00793398 -0.04228394 -1.32610725] [-0.00787066 0.99996764 0.00166369 0.09660511] [ 0.04229577 -0.00132935 0.99910425 -0.27354029] [ 0. 0. 0. 1. ]] SLAMing on 237.21313336499998 meters Centerline goodness : 0.099336 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99908918 0.00797106 -0.04191981 -1.32737791] [-0.00790682 0.9999673 0.001698 0.09655344] [ 0.04193198 -0.001365 0.99911954 -0.27296878] [ 0. 0. 0. 1. ]] SLAMing on 237.24313336499998 meters Centerline goodness : 0.136235 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99909655 0.00801101 -0.04173612 -1.32806943] [-0.00794454 0.9999669 0.00175822 0.0963934 ] [ 0.04174882 -0.00142506 0.99912712 -0.27262781] [ 0. 0. 0. 1. ]] SLAMing on 237.27313336499998 meters Centerline goodness : 0.102103 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99908251 0.00816043 -0.04204219 -1.32711121] [-0.00808351 0.99996533 0.00199922 0.09563661] [ 0.04205705 -0.00165753 0.99911384 -0.27297806] [ 0. 0. 0. 1. ]] SLAMing on 237.30313336499998 meters Centerline goodness : 0.131529 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.27 [[ 0.99907271 0.00821366 -0.04226418 -1.32643166] [-0.00813025 0.99996465 0.00214509 0.09488155] [ 0.0422803 -0.00179948 0.99910417 -0.27318654] [ 0. 0. 0. 1. ]] SLAMing on 237.33313336499998 meters Centerline goodness : 0.131836 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.27 [[ 0.99907085 0.00823574 -0.04230376 -1.32619455] [-0.00814688 0.99996423 0.00227246 0.09399728] [ 0.04232096 -0.00192571 0.99910221 -0.27341093] [ 0. 0. 0. 1. ]] SLAMing on 237.36313336499998 meters Centerline goodness : 0.131836 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.27 [[ 0.99907085 0.00823574 -0.04230376 -1.32619455] [-0.00814688 0.99996423 0.00227246 0.09399728] [ 0.04232096 -0.00192571 0.99910221 -0.27341093] [ 0. 0. 0. 1. ]] SLAMing on 237.39313336499998 meters Centerline goodness : 0.138060 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.27 [[ 0.99906677 0.00825318 -0.04239654 -1.32608677] [-0.00815729 0.99996377 0.00243429 0.09283761] [ 0.0424151 -0.00208618 0.9990979 -0.27323246] [ 0. 0. 0. 1. ]] SLAMing on 237.42313336499998 meters Centerline goodness : 0.135903 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.27 [[ 0.99907033 0.00829952 -0.04230347 -1.32643611] [-0.00819469 0.99996291 0.00265086 0.09151294] [ 0.04232391 -0.00230174 0.99910129 -0.27301381] [ 0. 0. 0. 1. ]] SLAMing on 237.45313336499999 meters Centerline goodness : 0.119544 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.27 [[ 0.99907225 0.00836684 -0.04224499 -1.32669142] [-0.0082517 0.99996175 0.00289919 0.09017465] [ 0.04226764 -0.00254791 0.99910308 -0.27281414] [ 0. 0. 0. 1. ]] SLAMing on 237.483133365 meters Centerline goodness : 0.136447 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99120534e-01 -1.23805930e-04 -4.19302201e-02 -1.30634442e+00] [ 2.85171551e-04 9.99992577e-01 3.84247308e-03 9.07843716e-02] [ 4.19294331e-02 -3.85105106e-03 9.99113153e-01 -2.71160352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.513133365 meters Centerline goodness : 0.093146 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99111790e-01 -1.04809510e-04 -4.21381128e-02 -1.30572527e+00] [ 2.78610912e-04 9.99991479e-01 4.11871388e-03 8.87898035e-02] [ 4.21373221e-02 -4.12679574e-03 9.99103306e-01 -2.71272380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.543133365 meters Centerline goodness : 0.089659 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99103489e-01 -6.61265390e-05 -4.23345492e-02 -1.30516421e+00] [ 2.53091078e-04 9.99990239e-01 4.41101392e-03 8.67824098e-02] [ 4.23338443e-02 -4.41777390e-03 9.99093754e-01 -2.71319359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.573133365 meters Centerline goodness : 0.122300 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99100557e-01 3.66771288e-05 -4.24037300e-02 -1.30507846e+00] [ 1.63220744e-04 9.99988891e-01 4.71068600e-03 8.51659844e-02] [ 4.24034318e-02 -4.71337017e-03 9.99089452e-01 -2.71160936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.603133365 meters SLAMing on 237.633133365 meters Centerline goodness : 0.094857 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.08, Z:-0.27 [[ 9.99109419e-01 2.46491015e-04 -4.21936861e-02 -1.30589545e+00] [-2.98032200e-05 9.99986810e-01 5.13610225e-03 8.33563976e-02] [ 4.21943956e-02 -5.13027063e-03 9.99096248e-01 -2.70652451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.663133365 meters Centerline goodness : 0.091474 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.08, Z:-0.27 [[ 9.99113364e-01 2.71077237e-04 -4.21000303e-02 -1.30623821e+00] [-5.34768846e-05 9.99986636e-01 5.16969092e-03 8.28512960e-02] [ 4.21008690e-02 -5.16285590e-03 9.99100026e-01 -2.70495685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.693133365 meters Centerline goodness : 0.104343 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.08, Z:-0.27 [[ 9.99113144e-01 2.46447148e-04 -4.21054048e-02 -1.30617264e+00] [-3.23231088e-05 9.99987066e-01 5.08603393e-03 8.32153730e-02] [ 4.21061137e-02 -5.08016237e-03 9.99100229e-01 -2.70626665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.723133365 meters Centerline goodness : 0.106090 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.08, Z:-0.27 [[ 9.99108897e-01 2.36512810e-04 -4.22061078e-02 -1.30570781e+00] [-2.81201275e-05 9.99987807e-01 4.93802597e-03 8.41296468e-02] [ 4.22067611e-02 -4.93243884e-03 9.99096722e-01 -2.71065993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.753133365 meters Centerline goodness : 0.103717 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99104494e-01 1.97688879e-04 -4.23104227e-02 -1.30525474e+00] [ 2.87853958e-06 9.99988765e-01 4.74026509e-03 8.51830738e-02] [ 4.23108844e-02 -4.73614194e-03 9.99093268e-01 -2.71460825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.783133365 meters Centerline goodness : 0.104917 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99106356e-01 1.29507330e-04 -4.22666863e-02 -1.30526182e+00] [ 6.24229540e-05 9.99989694e-01 4.53958381e-03 8.61715974e-02] [ 4.22668387e-02 -4.53816545e-03 9.99096051e-01 -2.71675893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.813133365 meters Centerline goodness : 0.111597 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99123661e-01 5.75545975e-05 -4.18557772e-02 -1.30653700e+00] [ 1.19845677e-04 9.99991022e-01 4.23584853e-03 8.78995971e-02] [ 4.18556452e-02 -4.23715273e-03 9.99114684e-01 -2.71333479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.843133365 meters Centerline goodness : 0.122107 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.09, Z:-0.27 [[ 0.99915249 0.00835283 -0.04030541 -1.2869964 ] [-0.00823325 0.9999612 0.00313192 0.08763589] [ 0.04033001 -0.00279742 0.9991825 -0.26967385] [ 0. 0. 0. 1. ]] SLAMing on 237.873133365 meters Centerline goodness : 0.106220 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99183655e-01 -2.01907835e-04 -4.03978043e-02 -1.30807306e+00] [ 3.59221367e-04 9.99992381e-01 3.88689000e-03 9.22441347e-02] [ 4.03967117e-02 -3.89822871e-03 9.99176115e-01 -2.71363517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90313336499997 meters Centerline goodness : 0.106635 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99178446e-01 -2.80943614e-04 -4.05259636e-02 -1.30753018e+00] [ 4.27750273e-04 9.99993378e-01 3.61390788e-03 9.37372938e-02] [ 4.05246799e-02 -3.62827385e-03 9.99171950e-01 -2.71800856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93313336499997 meters Centerline goodness : 0.129247 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99171623e-01 -3.93420968e-04 -4.06929178e-02 -1.30665826e+00] [ 5.29589528e-04 9.99994297e-01 3.33552152e-03 9.50925927e-02] [ 4.06913735e-02 -3.35430899e-03 9.99166133e-01 -2.72583721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96313336499998 meters Centerline goodness : 0.124332 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99167382e-01 -5.09630634e-04 -4.07956268e-02 -1.30611163e+00] [ 6.34581478e-04 9.99995148e-01 3.04995810e-03 9.64932041e-02] [ 4.07938745e-02 -3.07330680e-03 9.99162857e-01 -2.73079210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99313336499998 meters Centerline goodness : 0.112930 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99168389e-01 -6.79907604e-04 -4.07684708e-02 -1.30634091e+00] [ 7.89453712e-04 9.99996121e-01 2.67099120e-03 9.82867870e-02] [ 4.07664966e-02 -2.70095479e-03 9.99165050e-01 -2.72896691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02313336499998 meters Centerline goodness : 0.105938 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99167547e-01 -7.18214546e-04 -4.07884503e-02 -1.30657658e+00] [ 8.24352993e-04 9.99996318e-01 2.58540973e-03 9.88450984e-02] [ 4.07864432e-02 -2.61688157e-03 9.99164460e-01 -2.72498322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05313336499998 meters Centerline goodness : 0.142368 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99167711e-01 -7.44829414e-04 -4.07839382e-02 -1.30685676e+00] [ 8.49075371e-04 9.99996417e-01 2.53879234e-03 9.91548672e-02] [ 4.07819011e-02 -2.57130797e-03 9.99164764e-01 -2.72107470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08313336499998 meters Centerline goodness : 0.091264 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99171501e-01 -7.90653594e-04 -4.06901201e-02 -1.30737588e+00] [ 8.92944361e-04 9.99996487e-01 2.49578377e-03 9.92825126e-02] [ 4.06880038e-02 -2.53005003e-03 9.99168697e-01 -2.71655194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11313336499998 meters Centerline goodness : 0.106428 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99180533e-01 -8.35768093e-04 -4.04668336e-02 -1.30802289e+00] [ 9.35203083e-04 9.99996590e-01 2.43832945e-03 9.94440038e-02] [ 4.04646577e-02 -2.47417602e-03 9.99177907e-01 -2.71476306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14313336499998 meters Centerline goodness : 0.091604 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99185770e-01 -9.35825755e-04 -4.03351188e-02 -1.30837900e+00] [ 1.02592075e-03 9.99997025e-01 2.21302042e-03 1.00454984e-01] [ 4.03329278e-02 -2.25259915e-03 9.99183757e-01 -2.71473405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17313336499998 meters Centerline goodness : 0.106190 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99177696e-01 -1.03634488e-03 -4.05321882e-02 -1.30767383e+00] [ 1.11616679e-03 9.99997482e-01 1.94676589e-03 1.01721571e-01] [ 4.05300687e-02 -1.99040574e-03 9.99176337e-01 -2.71891603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20313336499999 meters Centerline goodness : 0.106685 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99168020e-01 -1.12544870e-03 -4.07676588e-02 -1.30695292e+00] [ 1.19407031e-03 9.99997911e-01 1.65892578e-03 1.03148751e-01] [ 4.07657066e-02 -1.70622504e-03 9.99167276e-01 -2.72201418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.233133365 meters Centerline goodness : 0.107954 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99164107e-01 -1.17649035e-03 -4.08620107e-02 -1.30677414e+00] [ 1.23570993e-03 9.99998223e-01 1.42403039e-03 1.04377016e-01] [ 4.08602627e-02 -1.47333365e-03 9.99163784e-01 -2.72192713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.263133365 meters Centerline goodness : 0.130478 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99167359e-01 -1.29995430e-03 -4.07786521e-02 -1.30716570e+00] [ 1.34592657e-03 9.99998489e-01 1.09992759e-03 1.05901017e-01] [ 4.07771606e-02 -1.15389681e-03 9.99167599e-01 -2.71987657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.293133365 meters Centerline goodness : 0.131441 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99174419e-01 -1.35172638e-03 -4.06036080e-02 -1.30777069e+00] [ 1.38986166e-03 9.99998619e-01 9.10995470e-04 1.06959881e-01] [ 4.06023205e-02 -9.66676767e-04 9.99174918e-01 -2.71807683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.323133365 meters Centerline goodness : 0.171349 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99193989e-01 -1.41455052e-03 -4.01169705e-02 -1.30930286e+00] [ 1.44006137e-03 9.99998779e-01 6.07021778e-04 1.08949759e-01] [ 4.01160629e-02 -6.64303412e-04 9.99194806e-01 -2.71355948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.353133365 meters Centerline goodness : 0.132010 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99200840e-01 -1.44121079e-03 -3.99450193e-02 -1.30978334e+00] [ 1.46164177e-03 9.99998816e-01 4.82277929e-04 1.09892758e-01] [ 3.99442769e-02 -5.40277820e-04 9.99201763e-01 -2.71285801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.383133365 meters Centerline goodness : 0.088987 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99201898e-01 -1.50993040e-03 -3.99160047e-02 -1.30994846e+00] [ 1.52269136e-03 9.99998799e-01 2.89295287e-04 1.11039287e-01] [ 3.99155199e-02 -3.49844155e-04 9.99202997e-01 -2.71181917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.413133365 meters Centerline goodness : 0.128236 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99198468e-01 -1.60699522e-03 -3.99979853e-02 -1.30962215e+00] [ 1.61109919e-03 9.99998700e-01 7.03715671e-05 1.12106527e-01] [ 3.99978202e-02 -1.34755884e-04 9.99199758e-01 -2.71380806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.443133365 meters Centerline goodness : 0.143272 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99196429e-01 -1.73529576e-03 -4.00435459e-02 -1.30935356e+00] [ 1.72940542e-03 9.99998488e-01 -1.81737392e-04 1.13198846e-01] [ 4.00438008e-02 1.12339827e-04 9.99197919e-01 -2.71653287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.473133365 meters Centerline goodness : 0.147596 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.12, Z:-0.27 [[ 9.99199804e-01 -1.98619406e-03 -3.99475602e-02 -1.30980804e+00] [ 1.96120256e-03 9.99997856e-01 -6.64786391e-04 1.15273461e-01] [ 3.99487949e-02 5.85909174e-04 9.99201556e-01 -2.71371974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.503133365 meters Centerline goodness : 0.096080 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.12, Z:-0.27 [[ 9.99203826e-01 -2.03536710e-03 -3.98443310e-02 -1.31044575e+00] [ 2.00573365e-03 9.99997681e-01 -7.83690915e-04 1.16043303e-01] [ 3.98458337e-02 7.03149845e-04 9.99205592e-01 -2.70838741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.533133365 meters Centerline goodness : 0.099985 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.12, Z:-0.27 [[ 9.99206109e-01 -2.04768472e-03 -3.97864105e-02 -1.31084136e+00] [ 2.01856033e-03 9.99997665e-01 -7.72176176e-04 1.16096067e-01] [ 3.97878988e-02 6.91251883e-04 9.99207909e-01 -2.70455482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.563133365 meters SLAMing on 238.593133365 meters Centerline goodness : 0.133437 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99216895e-01 -2.89746676e-03 -3.94613827e-02 -1.31163046e+00] [ 2.86157391e-03 9.99995439e-01 -9.66021498e-04 1.13658174e-01] [ 3.94640017e-02 8.52343339e-04 9.99220629e-01 -2.70167797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.623133365 meters Centerline goodness : 0.169554 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.11, Z:-0.27 [[ 0.99926209 0.00238904 -0.03833486 -1.33295035] [-0.00254279 0.99998892 -0.00396237 0.10702869] [ 0.03832497 0.00405693 0.99925709 -0.27180234] [ 0. 0. 0. 1. ]] SLAMing on 238.65313336499997 meters Centerline goodness : 0.104853 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.11, Z:-0.27 [[ 0.99925706 0.00236566 -0.03846716 -1.33267186] [-0.00250911 0.99999008 -0.00368134 0.10507237] [ 0.03845807 0.00377512 0.99925308 -0.27168427] [ 0. 0. 0. 1. ]] SLAMing on 238.68313336499997 meters Centerline goodness : 0.098701 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99925367 0.0024949 -0.03854707 -1.33240124] [-0.00262245 0.99999125 -0.00325864 0.10300433] [ 0.0385386 0.0033573 0.99925147 -0.27172167] [ 0. 0. 0. 1. ]] SLAMing on 238.71313336499998 meters Centerline goodness : 0.184935 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99924866 0.00263797 -0.03866735 -1.3319866 ] [-0.00275108 0.99999209 -0.00287223 0.10114149] [ 0.03865947 0.00297645 0.99924801 -0.27188747] [ 0. 0. 0. 1. ]] SLAMing on 238.74313336499998 meters Centerline goodness : 0.093712 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.9992238 0.00264057 -0.03930418 -1.32984778] [-0.00274032 0.99999316 -0.00248412 0.09818187] [ 0.03929735 0.0025899 0.9992242 -0.27272921] [ 0. 0. 0. 1. ]] SLAMing on 238.77313336499998 meters Centerline goodness : 0.107140 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99921368 0.00267382 -0.03955838 -1.32888114] [-0.00276995 0.99999334 -0.00237563 0.09745484] [ 0.03955176 0.00248333 0.99921444 -0.27327271] [ 0. 0. 0. 1. ]] SLAMing on 238.80313336499998 meters Centerline goodness : 0.102856 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99920396 0.00272771 -0.03979961 -1.32800047] [-0.00282232 0.99999332 -0.00232119 0.09732158] [ 0.03979301 0.00243167 0.99920499 -0.27375035] [ 0. 0. 0. 1. ]] SLAMing on 238.83313336499998 meters Centerline goodness : 0.125751 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99919519 0.00277929 -0.04001562 -1.32735776] [-0.00287618 0.99999307 -0.00236388 0.09787099] [ 0.04000877 0.00247707 0.99919626 -0.27399972] [ 0. 0. 0. 1. ]] SLAMing on 238.86313336499998 meters Centerline goodness : 0.132134 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99919166 0.00278323 -0.04010331 -1.32696056] [-0.00288629 0.99999268 -0.00251214 0.09887993] [ 0.04009603 0.00262586 0.99919238 -0.27433568] [ 0. 0. 0. 1. ]] SLAMing on 238.89313336499998 meters Centerline goodness : 0.133854 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99919622 0.00274891 -0.039992 -1.32716442] [-0.00286007 0.9999922 -0.00272256 0.1001123 ] [ 0.0399842 0.00283475 0.99919629 -0.27447435] [ 0. 0. 0. 1. ]] SLAMing on 238.92313336499998 meters Centerline goodness : 0.125189 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99919641 0.00270437 -0.03999025 -1.32721574] [-0.00282624 0.99999153 -0.00299141 0.10157886] [ 0.03998183 0.00310203 0.99919559 -0.27449277] [ 0. 0. 0. 1. ]] SLAMing on 238.95313336499999 meters Centerline goodness : 0.186888 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99920129 0.00264807 -0.03987186 -1.32767945] [-0.00278004 0.99999084 -0.00325466 0.10301052] [ 0.03986288 0.0033629 0.9991995 -0.27428832] [ 0. 0. 0. 1. ]] SLAMing on 238.983133365 meters Centerline goodness : 0.156053 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99920724 0.0025459 -0.03972916 -1.32829034] [-0.00269108 0.99998989 -0.00360131 0.10481577] [ 0.03971959 0.00370537 0.999204 -0.27395886] [ 0. 0. 0. 1. ]] SLAMing on 239.013133365 meters Centerline goodness : 0.096472 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.28 [[ 0.99925036 -0.00492768 -0.03839849 -1.34821787] [ 0.00482253 0.99998437 -0.00283051 0.11252464] [ 0.03841184 0.00264321 0.9992585 -0.27616634] [ 0. 0. 0. 1. ]] SLAMing on 239.043133365 meters Centerline goodness : 0.108251 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.11, Z:-0.27 [[ 0.99930329 0.0031613 -0.03718781 -1.32865318] [-0.00331504 0.99998621 -0.00407329 0.11141539] [ 0.03717442 0.00419373 0.99929999 -0.27459058] [ 0. 0. 0. 1. ]] SLAMing on 239.073133365 meters Centerline goodness : 0.113941 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.28 [[ 0.99932691 -0.00529517 -0.03629996 -1.35061379] [ 0.00517295 0.99998063 -0.00346025 0.11536732] [ 0.03631758 0.00327014 0.99933495 -0.27591442] [ 0. 0. 0. 1. ]] SLAMing on 239.103133365 meters Centerline goodness : 0.123287 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.28 [[ 0.99933821 -0.0052746 -0.03599066 -1.35173483] [ 0.00515595 0.99998097 -0.00338884 0.1151705 ] [ 0.03600785 0.00320103 0.99934638 -0.27531936] [ 0. 0. 0. 1. ]] SLAMing on 239.133133365 meters Centerline goodness : 0.185170 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 0.99934179 -0.00523191 -0.03589734 -1.35234332] [ 0.00511787 0.99998156 -0.00326792 0.11474001] [ 0.03591377 0.00308205 0.99935014 -0.27472183] [ 0. 0. 0. 1. ]] SLAMing on 239.163133365 meters Centerline goodness : 0.187722 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 0.99934035 -0.00522065 -0.03593887 -1.35239471] [ 0.00510829 0.99998178 -0.0032177 0.1145287 ] [ 0.03595502 0.00303199 0.99934881 -0.27448846] [ 0. 0. 0. 1. ]] SLAMing on 239.193133365 meters Centerline goodness : 0.089505 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.99932628 -0.00535629 -0.03630844 -1.35129826] [ 0.00523657 0.99998054 -0.00339166 0.1152033 ] [ 0.0363259 0.00319925 0.99933488 -0.27481067] [ 0. 0. 0. 1. ]] SLAMing on 239.223133365 meters Centerline goodness : 0.093118 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.28 [[ 0.99932397 -0.00538353 -0.03636781 -1.35101398] [ 0.00526189 0.99998024 -0.00343947 0.11552917] [ 0.03638561 0.00324578 0.99933255 -0.27504754] [ 0. 0. 0. 1. ]] SLAMing on 239.253133365 meters Centerline goodness : 0.093118 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.28 [[ 0.99932397 -0.00538353 -0.03636781 -1.35101398] [ 0.00526189 0.99998024 -0.00343947 0.11552917] [ 0.03638561 0.00324578 0.99933255 -0.27504754] [ 0. 0. 0. 1. ]] SLAMing on 239.283133365 meters Centerline goodness : 0.129964 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.28 [[ 0.99932686 -0.00536822 -0.03629067 -1.3511974 ] [ 0.00524765 0.99998039 -0.00341656 0.11561894] [ 0.0363083 0.00322382 0.99933544 -0.27505459] [ 0. 0. 0. 1. ]] SLAMing on 239.313133365 meters Centerline goodness : 0.185454 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.99932858 -0.00538464 -0.03624083 -1.35163264] [ 0.00526292 0.99998019 -0.00345324 0.11597465] [ 0.03625871 0.00326019 0.99933712 -0.2746236 ] [ 0. 0. 0. 1. ]] SLAMing on 239.343133365 meters Centerline goodness : 0.153150 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.99933439 -0.00534283 -0.0360864 -1.35228282] [ 0.00522298 0.99998053 -0.00341444 0.11615967] [ 0.03610394 0.00322369 0.99934284 -0.27421777] [ 0. 0. 0. 1. ]] SLAMing on 239.373133365 meters Centerline goodness : 0.095802 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.9993476 0.00216442 -0.03605109 -1.37154481] [-0.00233675 0.99998604 -0.00473885 0.11101911] [ 0.03604033 0.00482 0.99933871 -0.27596542] [ 0. 0. 0. 1. ]] SLAMing on 239.40313336499997 meters Centerline goodness : 0.097743 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99934683 0.00210355 -0.03607625 -1.37133902] [-0.00227412 0.99998643 -0.00468771 0.11016041] [ 0.0360659 0.00476669 0.99933805 -0.27615171] [ 0. 0. 0. 1. ]] SLAMing on 239.43313336499997 meters Centerline goodness : 0.150274 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99934553 0.0020508 -0.03611511 -1.37125144] [-0.00221521 0.99998736 -0.00451304 0.10856872] [ 0.0361054 0.00459009 0.99933745 -0.27610096] [ 0. 0. 0. 1. ]] SLAMing on 239.46313336499998 meters Centerline goodness : 0.096885 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99934924 0.00206821 -0.03601125 -1.37149411] [-0.00222044 0.99998877 -0.00418797 0.10644964] [ 0.03600219 0.0042652 0.99934261 -0.27605308] [ 0. 0. 0. 1. ]] SLAMing on 239.49313336499998 meters Centerline goodness : 0.149816 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.10, Z:-0.28 [[ 0.99935142 0.0021517 -0.03594588 -1.37167112] [-0.00228947 0.99999019 -0.00379212 0.10423086] [ 0.03593737 0.00387196 0.99934654 -0.27596151] [ 0. 0. 0. 1. ]] SLAMing on 239.52313336499998 meters Centerline goodness : 0.115373 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.10, Z:-0.28 [[ 0.99935514 0.00222482 -0.03583795 -1.37192003] [-0.00235117 0.99999117 -0.00348409 0.10245983] [ 0.03582988 0.0035661 0.99935154 -0.27591882] [ 0. 0. 0. 1. ]] SLAMing on 239.55313336499998 meters Centerline goodness : 0.097619 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.10, Z:-0.28 [[ 0.99935955 0.00226926 -0.03571192 -1.37215001] [-0.00238724 0.99999183 -0.00326157 0.1009006 ] [ 0.03570422 0.00334473 0.9993568 -0.27596539] [ 0. 0. 0. 1. ]] SLAMing on 239.58313336499998 meters Centerline goodness : 0.106756 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.10, Z:-0.28 [[ 0.99935935 0.00224738 -0.03571877 -1.3719145 ] [-0.00236878 0.99999156 -0.0033567 0.10129313] [ 0.03571093 0.00343916 0.99935624 -0.2763222 ] [ 0. 0. 0. 1. ]] SLAMing on 239.61313336499998 meters Centerline goodness : 0.093500 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.10, Z:-0.28 [[ 0.99935076 0.00224227 -0.03595886 -1.37108568] [-0.00237183 0.99999085 -0.00356066 0.10251077] [ 0.03595055 0.00364364 0.99934693 -0.276783 ] [ 0. 0. 0. 1. ]] SLAMing on 239.64313336499998 meters Centerline goodness : 0.186770 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.10, Z:-0.28 [[ 0.99933304 0.00232167 -0.03644299 -1.36961916] [-0.00246106 0.99998983 -0.00378051 0.10408353] [ 0.03643385 0.00386767 0.99932858 -0.27734531] [ 0. 0. 0. 1. ]] SLAMing on 239.67313336499998 meters Centerline goodness : 0.185279 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99932661 0.00228987 -0.03662081 -1.36894273] [-0.00244252 0.99998851 -0.00412425 0.10602197] [ 0.03661094 0.00421092 0.99932072 -0.2778575 ] [ 0. 0. 0. 1. ]] SLAMing on 239.70313336499999 meters Centerline goodness : 0.135333 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99932275 0.00226642 -0.0367275 -1.36855451] [-0.00243107 0.99998719 -0.004439 0.10786082] [ 0.03671697 0.00452528 0.99931546 -0.27820818] [ 0. 0. 0. 1. ]] SLAMing on 239.733133365 meters Centerline goodness : 0.184629 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99932479 0.00242522 -0.03666181 -1.36892009] [-0.00260026 0.99998544 -0.00472748 0.11055059] [ 0.03664981 0.00481962 0.99931655 -0.27807762] [ 0. 0. 0. 1. ]] SLAMing on 239.763133365 meters Centerline goodness : 0.122657 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99932393 0.00237538 -0.03668835 -1.36899372] [-0.00255718 0.99998468 -0.00490896 0.11160955] [ 0.03667613 0.00499946 0.9993147 -0.27789195] [ 0. 0. 0. 1. ]] SLAMing on 239.793133365 meters Centerline goodness : 0.102854 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99932176 0.00225643 -0.03675509 -1.36878606] [-0.00244673 0.99998383 -0.00513325 0.11263097] [ 0.03674291 0.0052197 0.99931112 -0.27799225] [ 0. 0. 0. 1. ]] SLAMing on 239.823133365 meters Centerline goodness : 0.091555 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99931994 0.00216403 -0.03681004 -1.3686172 ] [-0.00235847 0.99998349 -0.00523954 0.11282026] [ 0.03679809 0.00532279 0.99930855 -0.27803548] [ 0. 0. 0. 1. ]] SLAMing on 239.853133365 meters Centerline goodness : 0.110397 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99931944 0.00210666 -0.03682684 -1.36872922] [-0.00230429 0.99998317 -0.00532506 0.11317237] [ 0.03681501 0.0054063 0.99930747 -0.27779804] [ 0. 0. 0. 1. ]] SLAMing on 239.883133365 meters Centerline goodness : 0.186748 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.28 [[ 0.99931135 -0.00527802 -0.03672824 -1.35113847] [ 0.00514211 0.99997958 -0.00379382 0.11859307] [ 0.03674752 0.00360235 0.99931809 -0.27501788] [ 0. 0. 0. 1. ]] SLAMing on 239.913133365 meters Centerline goodness : 0.185909 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.99930754 -0.00515444 -0.03684944 -1.35102103] [ 0.0050292 0.99998126 -0.00349059 0.11742033] [ 0.03686674 0.00330285 0.99931473 -0.27470757] [ 0. 0. 0. 1. ]] SLAMing on 239.943133365 meters Centerline goodness : 0.140386 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.9993066 -0.00517475 -0.03687205 -1.35096264] [ 0.0050496 0.99998117 -0.00348627 0.11724065] [ 0.0368894 0.00329766 0.99931391 -0.27471275] [ 0. 0. 0. 1. ]] SLAMing on 239.973133365 meters Centerline goodness : 0.109337 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.99931317 -0.00520488 -0.03668925 -1.35147749] [ 0.00507945 0.99998094 -0.0035111 0.11715075] [ 0.03670682 0.00332232 0.99932055 -0.27459862] [ 0. 0. 0. 1. ]] SLAMing on 240.003133365 meters Centerline goodness : 0.120834 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.99932373 -0.00526409 -0.03639192 -1.35239924] [ 0.00513507 0.9999802 -0.00363791 0.1176515 ] [ 0.03641035 0.00344857 0.99933097 -0.27428312] [ 0. 0. 0. 1. ]] SLAMing on 240.033133365 meters Centerline goodness : 0.147667 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.99933449 -0.00525285 -0.03609692 -1.35328996] [ 0.00512052 0.99997983 -0.00375752 0.11861147] [ 0.03611593 0.00357018 0.99934123 -0.27405213] [ 0. 0. 0. 1. ]] SLAMing on 240.063133365 meters Centerline goodness : 0.119211 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.12, Z:-0.27 [[ 0.99936923 -0.00352258 -0.03533731 -1.35628545] [ 0.00344015 0.99999122 -0.00239313 0.1204819 ] [ 0.03534543 0.00227005 0.99937258 -0.27292401] [ 0. 0. 0. 1. ]] SLAMing on 240.093133365 meters Centerline goodness : 0.188862 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.12, Z:-0.27 [[ 0.99936985 -0.00346465 -0.03532558 -1.35628513] [ 0.00337613 0.99999101 -0.00256503 0.12194856] [ 0.03533415 0.00244415 0.99937257 -0.27304105] [ 0. 0. 0. 1. ]] SLAMing on 240.123133365 meters Centerline goodness : 0.188862 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.12, Z:-0.27 [[ 0.99936985 -0.00346465 -0.03532558 -1.35628513] [ 0.00337613 0.99999101 -0.00256503 0.12194856] [ 0.03533415 0.00244415 0.99937257 -0.27304105] [ 0. 0. 0. 1. ]] SLAMing on 240.15313336499997 meters Centerline goodness : 0.184650 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.12, Z:-0.27 [[ 0.99936054 -0.00357785 -0.03557668 -1.35550864] [ 0.00346843 0.99998907 -0.00313682 0.12489681] [ 0.03558752 0.00301142 0.99936203 -0.27350424] [ 0. 0. 0. 1. ]] SLAMing on 240.18313336499997 meters Centerline goodness : 0.127233 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.12, Z:-0.28 [[ 0.99934257 0.00430435 -0.0359987 -1.37426251] [-0.00447242 0.99997947 -0.00458948 0.12101567] [ 0.03597821 0.00474747 0.9993413 -0.27578897] [ 0. 0. 0. 1. ]] SLAMing on 240.21313336499998 meters Centerline goodness : 0.123927 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.12, Z:-0.28 [[ 0.99934065 0.0042351 -0.03605996 -1.37397452] [-0.00440906 0.99997902 -0.00474611 0.12176484] [ 0.0360391 0.00490197 0.99933836 -0.27603729] [ 0. 0. 0. 1. ]] SLAMing on 240.24313336499998 meters Centerline goodness : 0.120693 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.12, Z:-0.28 [[ 0.99934534 0.00419007 -0.0359352 -1.37435841] [-0.00436605 0.99997885 -0.00481999 0.12207703] [ 0.03591424 0.00497373 0.9993425 -0.27591617] [ 0. 0. 0. 1. ]] SLAMing on 240.27313336499998 meters Centerline goodness : 0.181393 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.12, Z:-0.28 [[ 0.99935301 0.00413513 -0.03572768 -1.37502474] [-0.00431029 0.99997906 -0.00482697 0.12179637] [ 0.03570697 0.00497784 0.99934991 -0.27566266] [ 0. 0. 0. 1. ]] SLAMing on 240.30313336499998 meters Centerline goodness : 0.095172 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.12, Z:-0.28 [[ 0.99936176 0.00403295 -0.03549384 -1.37583053] [-0.00420816 0.99997932 -0.00486318 0.12149523] [ 0.03547349 0.00500944 0.99935806 -0.27524854] [ 0. 0. 0. 1. ]] SLAMing on 240.33313336499998 meters Centerline goodness : 0.120828 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.13, Z:-0.27 [[ 0.99940067 -0.00417645 -0.0343636 -1.3574652 ] [ 0.00404166 0.99998387 -0.00399101 0.12635216] [ 0.03437971 0.00384973 0.99940143 -0.2731822 ] [ 0. 0. 0. 1. ]] SLAMing on 240.36313336499998 meters Centerline goodness : 0.094666 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.13, Z:-0.27 [[ 0.99940322 -0.00420217 -0.03428631 -1.3578208 ] [ 0.00406483 0.99998344 -0.00407464 0.12687745] [ 0.03430286 0.00393284 0.99940375 -0.27296408] [ 0. 0. 0. 1. ]] SLAMing on 240.39313336499998 meters SLAMing on 240.42313336499998 meters Centerline goodness : 0.095089 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.13, Z:-0.27 [[ 0.99938648 -0.0042286 -0.03476744 -1.35641159] [ 0.00408095 0.99998235 -0.0043169 0.12846595] [ 0.03478508 0.00417237 0.99938611 -0.27343187] [ 0. 0. 0. 1. ]] SLAMing on 240.45313336499999 meters Centerline goodness : 0.140283 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.13, Z:-0.27 [[ 0.99937364 -0.00422814 -0.03513476 -1.35513046] [ 0.00407359 0.99998172 -0.00446907 0.12945631] [ 0.03515302 0.00432315 0.99937259 -0.2741144 ] [ 0. 0. 0. 1. ]] SLAMing on 240.483133365 meters Centerline goodness : 0.127520 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.27 [[ 0.99936023 -0.00423603 -0.03551318 -1.35394684] [ 0.00407465 0.99998105 -0.00461536 0.13036978] [ 0.03553206 0.0044677 0.99935855 -0.27460183] [ 0. 0. 0. 1. ]] SLAMing on 240.513133365 meters Centerline goodness : 0.126433 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99934624 -0.00425489 -0.03590259 -1.3525908 ] [ 0.00408356 0.99997993 -0.00484402 0.13172423] [ 0.03592248 0.00469424 0.99934355 -0.27536105] [ 0. 0. 0. 1. ]] SLAMing on 240.543133365 meters Centerline goodness : 0.127649 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99934846 -0.00424709 -0.03584142 -1.35286754] [ 0.00407679 0.99998006 -0.00482334 0.13161871] [ 0.03586119 0.00467408 0.99934585 -0.27518769] [ 0. 0. 0. 1. ]] SLAMing on 240.573133365 meters Centerline goodness : 0.141926 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.27 [[ 0.99935782 -0.00428044 -0.03557554 -1.35372804] [ 0.00411198 0.99997999 -0.00480711 0.13130119] [ 0.0355954 0.00465774 0.99935543 -0.27483502] [ 0. 0. 0. 1. ]] SLAMing on 240.603133365 meters SLAMing on 240.633133365 meters Centerline goodness : 0.097491 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.27 [[ 0.99937141 -0.00427852 -0.03519211 -1.35496047] [ 0.00411593 0.99998053 -0.00469112 0.13074024] [ 0.03521149 0.00454332 0.99936956 -0.2742882 ] [ 0. 0. 0. 1. ]] SLAMing on 240.663133365 meters Centerline goodness : 0.113212 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99936357 -0.00421268 -0.03542197 -1.35362353] [ 0.00404838 0.99998072 -0.00470874 0.131585 ] [ 0.03544112 0.00456235 0.99936135 -0.27543095] [ 0. 0. 0. 1. ]] SLAMing on 240.693133365 meters SLAMing on 240.723133365 meters Centerline goodness : 0.101945 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99935281 -0.00430567 -0.03571298 -1.3521623 ] [ 0.00413258 0.99997936 -0.00491904 0.13245612] [ 0.03573343 0.00476826 0.99934998 -0.2766471 ] [ 0. 0. 0. 1. ]] SLAMing on 240.753133365 meters Centerline goodness : 0.135243 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99934908 -0.00431125 -0.03581664 -1.35192233] [ 0.00413722 0.99997928 -0.0049315 0.13257528] [ 0.03583715 0.00478011 0.99934621 -0.27664057] [ 0. 0. 0. 1. ]] SLAMing on 240.783133365 meters Centerline goodness : 0.093104 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99935058 -0.00429775 -0.0357764 -1.35212924] [ 0.00412374 0.99997931 -0.00493614 0.13277704] [ 0.03579687 0.0047854 0.99934763 -0.2764985 ] [ 0. 0. 0. 1. ]] SLAMing on 240.813133365 meters Centerline goodness : 0.089852 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99935309 -0.00430491 -0.03570536 -1.35250279] [ 0.00412953 0.99997905 -0.00498415 0.13317106] [ 0.03572607 0.00483348 0.99934993 -0.27618977] [ 0. 0. 0. 1. ]] SLAMing on 240.843133365 meters SLAMing on 240.873133365 meters Centerline goodness : 0.175347 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99936541 -0.00442011 -0.03534456 -1.35364314] [ 0.00424042 0.99997771 -0.00515726 0.13352356] [ 0.03536657 0.00500411 0.99936188 -0.27577861] [ 0. 0. 0. 1. ]] SLAMing on 240.90313336499997 meters Centerline goodness : 0.128455 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99936782 -0.00434298 -0.03528587 -1.35374388] [ 0.00416692 0.99997851 -0.00506167 0.13333103] [ 0.0353071 0.00491144 0.99936444 -0.27585454] [ 0. 0. 0. 1. ]] SLAMing on 240.93313336499997 meters Centerline goodness : 0.187555 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99937187 -0.00427813 -0.03517905 -1.35398832] [ 0.00410506 0.99997912 -0.00499058 0.13327617] [ 0.03519967 0.00484303 0.99936856 -0.27588542] [ 0. 0. 0. 1. ]] SLAMing on 240.96313336499998 meters Centerline goodness : 0.092961 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99937448 -0.00428274 -0.03510435 -1.35408959] [ 0.00410917 0.99997898 -0.00501512 0.13343445] [ 0.03512509 0.00486773 0.99937107 -0.27604609] [ 0. 0. 0. 1. ]] SLAMing on 240.99313336499998 meters Centerline goodness : 0.103996 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99937681 -0.00434396 -0.0350304 -1.35437134] [ 0.00416622 0.99997808 -0.00514539 0.13395124] [ 0.03505198 0.00499624 0.999373 -0.27593893] [ 0. 0. 0. 1. ]] SLAMing on 241.02313336499998 meters SLAMing on 241.05313336499998 meters Centerline goodness : 0.090473 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.14, Z:-0.28 [[ 0.99937867 -0.00448518 -0.03495949 -1.35457465] [ 0.00429477 0.99997554 -0.00552001 0.13579258] [ 0.0349834 0.00536644 0.99937349 -0.27597178] [ 0. 0. 0. 1. ]] SLAMing on 241.08313336499998 meters Centerline goodness : 0.092765 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.14, Z:-0.28 [[ 0.99938089 -0.00450423 -0.03489353 -1.35472333] [ 0.00431232 0.99997517 -0.0055732 0.13618472] [ 0.03491776 0.00541928 0.9993755 -0.27599623] [ 0. 0. 0. 1. ]] SLAMing on 241.11313336499998 meters Centerline goodness : 0.131441 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.13, Z:-0.27 [[ 0.99937713 0.00306646 -0.03515611 -1.33600783] [-0.00330886 0.99997114 -0.00683859 0.13320854] [ 0.03513413 0.00695066 0.99935843 -0.27358939] [ 0. 0. 0. 1. ]] SLAMing on 241.14313336499998 meters Centerline goodness : 0.318116 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.13, Z:-0.27 [[ 0.99938222 0.00304329 -0.03501299 -1.33655998] [-0.00328402 0.99997135 -0.00682015 0.13296982] [ 0.03499123 0.00693092 0.99936359 -0.27326222] [ 0. 0. 0. 1. ]] SLAMing on 241.17313336499998 meters Centerline goodness : 0.318116 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.13, Z:-0.27 [[ 0.99938222 0.00304329 -0.03501299 -1.33655998] [-0.00328402 0.99997135 -0.00682015 0.13296982] [ 0.03499123 0.00693092 0.99936359 -0.27326222] [ 0. 0. 0. 1. ]] SLAMing on 241.20313336499999 meters SLAMing on 241.233133365 meters Centerline goodness : 0.178230 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.13, Z:-0.27 [[ 9.99415084e-01 6.03736608e-04 -3.41924647e-02 -1.34065791e+00] [-9.00358497e-04 9.99962093e-01 -8.66033330e-03 1.29604946e-01] [ 3.41859400e-02 8.68605321e-03 9.99377743e-01 -2.70842960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.263133365 meters Centerline goodness : 0.133627 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.13, Z:-0.27 [[ 0.99938863 -0.0074782 -0.03415333 -1.32028337] [ 0.00721856 0.99994415 -0.00771929 0.13324336] [ 0.03420915 0.00746804 0.99938679 -0.26962313] [ 0. 0. 0. 1. ]] SLAMing on 241.293133365 meters Centerline goodness : 0.110046 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.13, Z:-0.27 [[ 9.99390717e-01 5.64226821e-04 -3.48980892e-02 -1.33918170e+00] [-8.65485420e-04 9.99962490e-01 -8.61802018e-03 1.26491363e-01] [ 3.48919177e-02 8.64297316e-03 9.99353718e-01 -2.71459225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.323133365 meters Centerline goodness : 0.219297 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.13, Z:-0.27 [[ 9.99385392e-01 6.08149432e-04 -3.50495059e-02 -1.33852682e+00] [-9.04677289e-04 9.99963931e-01 -8.44501977e-03 1.25427656e-01] [ 3.50431059e-02 8.47153789e-03 9.99349896e-01 -2.71900256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.353133365 meters SLAMing on 241.383133365 meters Centerline goodness : 0.116699 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.13, Z:-0.27 [[ 0.99933725 -0.00730093 -0.03566182 -1.31881288] [ 0.00704457 0.99994848 -0.00730894 0.12793159] [ 0.03571334 0.00705288 0.99933719 -0.27013845] [ 0. 0. 0. 1. ]] SLAMing on 241.413133365 meters Centerline goodness : 0.142150 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.13, Z:-0.27 [[ 0.99933613 -0.00715763 -0.03572207 -1.31869691] [ 0.00691275 0.99995179 -0.00697409 0.12634322] [ 0.03577026 0.00672252 0.99933743 -0.27007441] [ 0. 0. 0. 1. ]] SLAMing on 241.443133365 meters Centerline goodness : 0.154334 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.12, Z:-0.27 [[ 0.99933989 -0.00699816 -0.03564837 -1.31895236] [ 0.0067667 0.99995526 -0.00660939 0.12464889] [ 0.03569303 0.0063638 0.99934254 -0.26991721] [ 0. 0. 0. 1. ]] SLAMing on 241.473133365 meters Centerline goodness : 0.207230 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.12, Z:-0.27 [[ 9.99350371e-01 7.59277248e-04 -3.60313794e-02 -1.30006556e+00] [-1.02335232e-03 9.99972750e-01 -7.31115393e-03 1.17437501e-01] [ 3.60248464e-02 7.34327719e-03 9.99323915e-01 -2.67780331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.503133365 meters Centerline goodness : 0.128231 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.27 [[ 9.99265560e-01 5.86952852e-04 -3.83144256e-02 -1.34489628e+00] [-8.67549069e-04 9.99972925e-01 -7.30729855e-03 1.13168427e-01] [ 3.83090992e-02 7.33517142e-03 9.99239015e-01 -2.69019455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.533133365 meters Centerline goodness : 0.188379 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.12, Z:-0.27 [[ 0.99925936 -0.00686597 -0.03786283 -1.32588319] [ 0.00664702 0.99996047 -0.00590537 0.11729732] [ 0.03790188 0.00564932 0.9992655 -0.26759366] [ 0. 0. 0. 1. ]] SLAMing on 241.563133365 meters SLAMing on 241.593133365 meters Centerline goodness : 0.125375 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99311406e-01 1.03909751e-03 -3.70895464e-02 -1.34511033e+00] [-1.28429065e-03 9.99977477e-01 -6.58762973e-03 1.08526133e-01] [ 3.70818658e-02 6.63072729e-03 9.99290232e-01 -2.70204432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.623133365 meters SLAMing on 241.65313336499997 meters SLAMing on 241.68313336499997 meters Centerline goodness : 0.124364 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.27 [[ 9.99309091e-01 1.25520613e-03 -3.71451877e-02 -1.34462387e+00] [-1.48679351e-03 9.99979627e-01 -6.20768751e-03 1.06537804e-01] [ 3.71366390e-02 6.25862578e-03 9.99290598e-01 -2.70741396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71313336499998 meters Centerline goodness : 0.129231 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.10, Z:-0.27 [[ 9.99222708e-01 9.35129733e-04 -3.94094504e-02 -1.38887130e+00] [-1.18494086e-03 9.99979352e-01 -6.31598232e-03 1.02882283e-01] [ 3.94027304e-02 6.35777083e-03 9.99203184e-01 -2.72152710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74313336499998 meters Centerline goodness : 0.097771 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.27 [[ 0.99921481 -0.00684387 -0.03902472 -1.36963743] [ 0.00663763 0.99996333 -0.00541186 0.10765976] [ 0.03906033 0.00514858 0.99922359 -0.27081737] [ 0. 0. 0. 1. ]] SLAMing on 241.77313336499998 meters Centerline goodness : 0.109289 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.27 [[ 0.99921756 -0.00685612 -0.03895193 -1.3698829 ] [ 0.00664919 0.9999631 -0.00543952 0.1076886 ] [ 0.03898779 0.00517627 0.99922628 -0.27076517] [ 0. 0. 0. 1. ]] SLAMing on 241.80313336499998 meters Centerline goodness : 0.102593 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99277352e-01 1.16939229e-03 -3.79921784e-02 -1.35057066e+00] [-1.42312433e-03 9.99976861e-01 -6.65217660e-03 1.05671609e-01] [ 3.79835203e-02 6.70143701e-03 9.99255895e-01 -2.69125004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83313336499998 meters Centerline goodness : 0.113747 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99280595e-01 1.24692298e-03 -3.79043284e-02 -1.35046575e+00] [-1.49717478e-03 9.99977267e-01 -6.57452824e-03 1.05665054e-01] [ 3.78952688e-02 6.62654790e-03 9.99259745e-01 -2.69623803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86313336499998 meters Centerline goodness : 0.125024 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99279542e-01 1.22006822e-03 -3.79329476e-02 -1.35026567e+00] [-1.47120321e-03 9.99977182e-01 -6.59328913e-03 1.05620423e-01] [ 3.79240377e-02 6.64434602e-03 9.99258535e-01 -2.69821559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89313336499998 meters Centerline goodness : 0.117240 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99276180e-01 1.15156189e-03 -3.80235335e-02 -1.34990042e+00] [-1.40567016e-03 9.99976855e-01 -6.65686350e-03 1.05523764e-01] [ 3.80149876e-02 6.70549367e-03 9.99254671e-01 -2.70047315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92313336499998 meters Centerline goodness : 0.115435 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99270698e-01 1.10354225e-03 -3.81687696e-02 -1.34954036e+00] [-1.36052826e-03 9.99976578e-01 -6.70756805e-03 1.05505696e-01] [ 3.81604735e-02 6.75460589e-03 9.99248795e-01 -2.70098953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95313336499999 meters Centerline goodness : 0.118019 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99268128e-01 1.15360921e-03 -3.82345122e-02 -1.34938370e+00] [-1.40902706e-03 9.99976869e-01 -6.65402237e-03 1.05555089e-01] [ 3.82259517e-02 6.70302594e-03 9.99246639e-01 -2.70121722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.983133365 meters Centerline goodness : 0.132158 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99282168e-01 1.31824204e-03 -3.78604155e-02 -1.35067083e+00] [-1.56536020e-03 9.99977661e-01 -6.49818393e-03 1.05880605e-01] [ 3.78510035e-02 6.55278451e-03 9.99261909e-01 -2.69534567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.013133365 meters Centerline goodness : 0.091976 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99293466e-01 1.26861968e-03 -3.75627462e-02 -1.35173134e+00] [-1.51720669e-03 9.99977134e-01 -6.59014810e-03 1.06231802e-01] [ 3.75535269e-02 6.64248239e-03 9.99272540e-01 -2.69029148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.043133365 meters Centerline goodness : 0.126810 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99300860e-01 1.19175906e-03 -3.73680529e-02 -1.35240475e+00] [-1.44436669e-03 9.99976285e-01 -6.73372193e-03 1.06728061e-01] [ 3.73591417e-02 6.78298728e-03 9.99278883e-01 -2.68768160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.073133365 meters Centerline goodness : 0.131665 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99299865e-01 1.10292101e-03 -3.73973645e-02 -1.35233689e+00] [-1.36243456e-03 9.99975166e-01 -6.91457967e-03 1.07445272e-01] [ 3.73888096e-02 6.96069000e-03 9.99276551e-01 -2.68820951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.103133365 meters Centerline goodness : 0.115831 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99296549e-01 1.04106262e-03 -3.74876418e-02 -1.35184421e+00] [-1.30588575e-03 9.99974363e-01 -7.04048513e-03 1.08035616e-01] [ 3.74793511e-02 7.08448707e-03 9.99272289e-01 -2.69274988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.133133365 meters Centerline goodness : 0.164417 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99294343e-01 1.05065895e-03 -3.75461226e-02 -1.35140845e+00] [-1.31836608e-03 9.99973883e-01 -7.10604041e-03 1.08656699e-01] [ 3.75376759e-02 7.15052552e-03 9.99269630e-01 -2.69747173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.163133365 meters Centerline goodness : 0.126017 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99289760e-01 1.17852414e-03 -3.76641402e-02 -1.35138475e+00] [-1.43817235e-03 9.99975385e-01 -6.86742804e-03 1.07879402e-01] [ 3.76551196e-02 6.91671804e-03 9.99266857e-01 -2.69369032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.193133365 meters Centerline goodness : 0.126580 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99284359e-01 1.20937342e-03 -3.78061835e-02 -1.35107821e+00] [-1.46436054e-03 9.99976364e-01 -6.71762475e-03 1.06953742e-01] [ 3.77971658e-02 6.76817923e-03 9.99262511e-01 -2.69320346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.223133365 meters Centerline goodness : 0.145264 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99282253e-01 1.21700163e-03 -3.78615526e-02 -1.35083529e+00] [-1.46784799e-03 9.99977154e-01 -6.59826669e-03 1.06013813e-01] [ 3.78526575e-02 6.64910581e-03 9.99261210e-01 -2.69489928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.253133365 meters Centerline goodness : 0.133781 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99283339e-01 1.22613697e-03 -3.78325938e-02 -1.35075522e+00] [-1.47421826e-03 9.99977592e-01 -6.53014289e-03 1.05411445e-01] [ 3.78237392e-02 6.58123649e-03 9.99262754e-01 -2.69710358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.283133365 meters Centerline goodness : 0.129359 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99288563e-01 1.22200978e-03 -3.76944839e-02 -1.35099403e+00] [-1.47034176e-03 9.99977395e-01 -6.56100108e-03 1.05621800e-01] [ 3.76856142e-02 6.61175712e-03 9.99267771e-01 -2.69892834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.313133365 meters Centerline goodness : 0.189386 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99297800e-01 1.26970431e-03 -3.74472150e-02 -1.35149747e+00] [-1.51807363e-03 9.99977036e-01 -6.60482995e-03 1.06338883e-01] [ 3.74379688e-02 6.65703967e-03 9.99276780e-01 -2.70038320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.343133365 meters Centerline goodness : 0.113808 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99320143e-01 1.34524995e-03 -3.68434728e-02 -1.35306677e+00] [-1.59661341e-03 9.99975647e-01 -6.79389678e-03 1.08075181e-01] [ 3.68334360e-02 6.84810268e-03 9.99297954e-01 -2.69870783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.373133365 meters Centerline goodness : 0.125830 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99320189e-01 1.22004421e-03 -3.68465866e-02 -1.35299873e+00] [-1.48275740e-03 9.99973671e-01 -7.10343473e-03 1.09519815e-01] [ 3.68369499e-02 7.15324028e-03 9.99295687e-01 -2.69992757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40313336499997 meters Centerline goodness : 0.130954 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99319305e-01 1.12097560e-03 -3.68737025e-02 -1.35266304e+00] [-1.39496602e-03 9.99971605e-01 -7.40562214e-03 1.11091085e-01] [ 3.68643539e-02 7.45201873e-03 9.99292493e-01 -2.70497805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43313336499997 meters Centerline goodness : 0.187944 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99311988e-01 1.02774394e-03 -3.70741792e-02 -1.35181480e+00] [-1.31710021e-03 9.99968858e-01 -7.78121344e-03 1.13263651e-01] [ 3.70650275e-02 7.82469028e-03 9.99282221e-01 -2.71134440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46313336499998 meters Centerline goodness : 0.122472 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 9.99297966e-01 8.70250568e-04 -3.74541968e-02 -1.35048868e+00] [-1.19018318e-03 9.99962991e-01 -8.52052099e-03 1.17975459e-01] [ 3.74453957e-02 8.55911665e-03 9.99262020e-01 -2.71876000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49313336499998 meters Centerline goodness : 0.180857 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 9.99303478e-01 6.88287991e-04 -3.73106538e-02 -1.35104146e+00] [-1.02177480e-03 9.99959696e-01 -8.91978099e-03 1.19794416e-01] [ 3.73030107e-02 8.95169125e-03 9.99263905e-01 -2.71599506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52313336499998 meters SLAMing on 242.55313336499998 meters Centerline goodness : 0.182953 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 9.99325911e-01 3.21770279e-04 -3.67099341e-02 -1.35305951e+00] [-6.73541264e-04 9.99953975e-01 -9.57048213e-03 1.22574849e-01] [ 3.67051650e-02 9.58875643e-03 9.99280134e-01 -2.70775478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58313336499998 meters SLAMing on 242.61313336499998 meters Centerline goodness : 0.138458 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.27 [[ 9.99342192e-01 -2.14036118e-05 -3.62654508e-02 -1.35406310e+00] [-3.49688249e-04 9.99947649e-01 -1.02262816e-02 1.26029575e-01] [ 3.62637712e-02 1.02322363e-02 9.99289868e-01 -2.70815821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64313336499998 meters Centerline goodness : 0.136516 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.27 [[ 9.99333262e-01 -1.95355208e-04 -3.65101878e-02 -1.35323059e+00] [-1.89715816e-04 9.99944401e-01 -1.05431852e-02 1.27287225e-01] [ 3.65102176e-02 1.05430822e-02 9.99277663e-01 -2.71183549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67313336499998 meters Centerline goodness : 0.144844 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.27 [[ 9.99320735e-01 -3.70384709e-04 -3.68501092e-02 -1.35206437e+00] [-3.07139214e-05 9.99940773e-01 -1.08834367e-02 1.28644036e-01] [ 3.68519577e-02 1.08771758e-02 9.99261537e-01 -2.71779253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70313336499999 meters Centerline goodness : 0.127154 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.14, Z:-0.27 [[ 0.99923104 -0.00793177 -0.03839819 -1.33174204] [ 0.00754022 0.9999182 -0.01033114 0.13621557] [ 0.038477 0.01003367 0.99920911 -0.27024408] [ 0. 0. 0. 1. ]] SLAMing on 242.733133365 meters SLAMing on 242.763133365 meters Centerline goodness : 0.150329 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.27 [[ 9.99180634e-01 5.31049721e-04 -4.04694888e-02 -1.35060615e+00] [-9.83971274e-04 9.99937101e-01 -1.11725830e-02 1.34137354e-01] [ 4.04610101e-02 1.12032494e-02 9.99118308e-01 -2.71650001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.793133365 meters Centerline goodness : 0.097517 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.14, Z:-0.27 [[ 9.99184174e-01 3.71672919e-04 -4.03837625e-02 -1.35119486e+00] [-8.37400469e-04 9.99933335e-01 -1.15162413e-02 1.35686831e-01] [ 4.03767900e-02 1.15406635e-02 9.99117875e-01 -2.71093507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.823133365 meters Centerline goodness : 0.146398 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.14, Z:-0.27 [[ 0.99919359 -0.00747644 -0.03944965 -1.33295329] [ 0.00706672 0.99991974 -0.01051519 0.141635 ] [ 0.0395251 0.01022793 0.99916623 -0.26907474] [ 0. 0. 0. 1. ]] SLAMing on 242.853133365 meters Centerline goodness : 0.108449 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.14, Z:-0.27 [[ 0.99920814 -0.00750516 -0.0390738 -1.33409333] [ 0.00709477 0.99991832 -0.01063097 0.14246729] [ 0.0391504 0.01034533 0.99917977 -0.26877213] [ 0. 0. 0. 1. ]] SLAMing on 242.883133365 meters Centerline goodness : 0.149669 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.14, Z:-0.27 [[ 9.99277552e-01 7.98552692e-04 -3.79965223e-02 -1.35425291e+00] [-1.22827208e-03 9.99935540e-01 -1.12874409e-02 1.38144922e-01] [ 3.79850594e-02 1.13259564e-02 9.99214120e-01 -2.70820104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.913133365 meters Centerline goodness : 0.105660 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.14, Z:-0.27 [[ 9.99286991e-01 8.39060398e-04 -3.77465880e-02 -1.35494124e+00] [-1.26761587e-03 9.99934999e-01 -1.13309895e-02 1.38897060e-01] [ 3.77346270e-02 1.13707586e-02 9.99223100e-01 -2.70704325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.943133365 meters Centerline goodness : 0.302324 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.14, Z:-0.27 [[ 9.99293568e-01 8.13120234e-04 -3.75726601e-02 -1.35545837e+00] [-1.24373243e-03 9.99933801e-01 -1.14388338e-02 1.39523415e-01] [ 3.75608717e-02 1.14774833e-02 9.99228426e-01 -2.70562153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.973133365 meters Centerline goodness : 0.097640 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.14, Z:-0.27 [[ 9.99292028e-01 6.79523039e-04 -3.76162426e-02 -1.35550936e+00] [-1.12000767e-03 9.99931041e-01 -1.16901244e-02 1.40391999e-01] [ 3.76057050e-02 1.17239786e-02 9.99223878e-01 -2.70378915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.003133365 meters Centerline goodness : 0.111920 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.14, Z:-0.27 [[ 9.99286137e-01 7.00497394e-04 -3.77720358e-02 -1.35513778e+00] [-1.14237094e-03 9.99931156e-01 -1.16781174e-02 1.40528324e-01] [ 3.77612550e-02 1.17129305e-02 9.99218142e-01 -2.70403466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.033133365 meters SLAMing on 243.063133365 meters SLAMing on 243.093133365 meters Centerline goodness : 0.096090 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.14, Z:-0.27 [[ 9.99285505e-01 7.79704812e-04 -3.77871808e-02 -1.35517642e+00] [-1.20686561e-03 9.99935618e-01 -1.12828925e-02 1.38598819e-01] [ 3.77759507e-02 1.13204350e-02 9.99222110e-01 -2.70228740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.123133365 meters Centerline goodness : 0.171078 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.13, Z:-0.27 [[ 9.99222215e-01 -2.78259208e-04 -3.94320621e-02 -1.40109517e+00] [-2.01630178e-04 9.99925977e-01 -1.21655307e-02 1.34681094e-01] [ 3.94325284e-02 1.21640192e-02 9.99148193e-01 -2.71151705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15313336499997 meters SLAMing on 243.18313336499997 meters Centerline goodness : 0.097948 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.13, Z:-0.27 [[ 9.99251560e-01 -4.16985766e-04 -3.86800546e-02 -1.40303213e+00] [-3.92095908e-05 9.99930465e-01 -1.17925639e-02 1.31557453e-01] [ 3.86822823e-02 1.17852545e-02 9.99182060e-01 -2.70803270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21313336499998 meters SLAMing on 243.24313336499998 meters Centerline goodness : 0.101088 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.13, Z:-0.27 [[ 9.99260883e-01 -2.18738398e-04 -3.84400817e-02 -1.40380731e+00] [-2.15677490e-04 9.99936168e-01 -1.12966075e-02 1.29286091e-01] [ 3.84400990e-02 1.12965486e-02 9.99197051e-01 -2.70439736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27313336499998 meters Centerline goodness : 0.219413 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.13, Z:-0.27 [[ 9.99240353e-01 -2.88739857e-04 -3.89696536e-02 -1.40182919e+00] [-1.53695255e-04 9.99935577e-01 -1.13498509e-02 1.28858997e-01] [ 3.89704202e-02 1.13472184e-02 9.99175934e-01 -2.71568096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30313336499998 meters Centerline goodness : 0.202922 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.13, Z:-0.27 [[ 9.99220580e-01 -2.38282278e-04 -3.94737362e-02 -1.40002030e+00] [-2.12557364e-04 9.99934805e-01 -1.14166653e-02 1.29464849e-01] [ 3.94738831e-02 1.14161574e-02 9.99155385e-01 -2.72562892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33313336499998 meters SLAMing on 243.36313336499998 meters SLAMing on 243.39313336499998 meters Centerline goodness : 0.061712 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.13, Z:-0.27 [[ 0.99921399 0.00367365 -0.0394702 -1.3997018 ] [-0.00399683 0.99995911 -0.00811217 0.13257014] [ 0.03943879 0.00826355 0.99918782 -0.27305743] [ 0. 0. 0. 1. ]] SLAMing on 243.42313336499998 meters Centerline goodness : 0.218582 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.13, Z:-0.27 [[ 0.99922369 0.00353675 -0.03923647 -1.40052931] [-0.0038741 0.99995616 -0.00852518 0.13451771] [ 0.0392046 0.00867057 0.99919359 -0.27269979] [ 0. 0. 0. 1. ]] SLAMing on 243.45313336499999 meters Centerline goodness : 0.200481 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.14, Z:-0.27 [[ 0.99925278 0.00356549 -0.03848599 -1.40284137] [-0.00390779 0.99995345 -0.00882237 0.13678902] [ 0.03845274 0.00896617 0.99922019 -0.27198703] [ 0. 0. 0. 1. ]] SLAMing on 243.483133365 meters Centerline goodness : 0.109834 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.14, Z:-0.27 [[ 0.99926719 -0.00381674 -0.03808562 -1.38522612] [ 0.00354358 0.99996753 -0.00723726 0.14286896] [ 0.03811201 0.00709699 0.99924827 -0.2696728 ] [ 0. 0. 0. 1. ]] SLAMing on 243.513133365 meters Centerline goodness : 0.094234 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.14, Z:-0.27 [[ 0.99926894 -0.00379671 -0.03804163 -1.3852089 ] [ 0.00352379 0.99996759 -0.00723875 0.14301288] [ 0.03806788 0.0070994 0.99924994 -0.26986753] [ 0. 0. 0. 1. ]] SLAMing on 243.543133365 meters SLAMing on 243.573133365 meters SLAMing on 243.603133365 meters Centerline goodness : 0.095790 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.14, Z:-0.27 [[ 0.99925421 -0.00392814 -0.03841335 -1.38398564] [ 0.003644 0.9999655 -0.00746426 0.14367892] [ 0.03844134 0.00731871 0.99923406 -0.2704344 ] [ 0. 0. 0. 1. ]] SLAMing on 243.633133365 meters Centerline goodness : 0.096502 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.15, Z:-0.27 [[ 0.99925802 -0.00352764 -0.03835308 -1.38425948] [ 0.00324171 0.99996651 -0.0075149 0.14616474] [ 0.03837831 0.007385 0.99923599 -0.27039941] [ 0. 0. 0. 1. ]] SLAMing on 243.663133365 meters Centerline goodness : 0.092149 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.15, Z:-0.27 [[ 0.99925631 -0.00360506 -0.03839045 -1.38410352] [ 0.00330156 0.99996282 -0.007966 0.14869451] [ 0.03841775 0.00783333 0.99923106 -0.2706313 ] [ 0. 0. 0. 1. ]] SLAMing on 243.693133365 meters Centerline goodness : 0.182585 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.15, Z:-0.27 [[ 0.99926075 -0.00360733 -0.03827445 -1.38430094] [ 0.00329052 0.99995983 -0.00833709 0.15107807] [ 0.03830299 0.00820499 0.99923249 -0.27091196] [ 0. 0. 0. 1. ]] SLAMing on 243.723133365 meters Centerline goodness : 0.097086 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.15, Z:-0.27 [[ 0.99926378 -0.00360353 -0.03819559 -1.38448694] [ 0.00327129 0.9999563 -0.0087574 0.15395949] [ 0.03822548 0.008626 0.99923191 -0.27106841] [ 0. 0. 0. 1. ]] SLAMing on 243.753133365 meters Centerline goodness : 0.057919 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.16, Z:-0.27 [[ 9.99261656e-01 1.63082846e-04 -3.84202680e-02 -1.38371582e+00] [-3.68858764e-04 9.99985627e-01 -5.34889339e-03 1.55479824e-01] [ 3.84188434e-02 5.35911571e-03 9.99247353e-01 -2.71414396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.783133365 meters Centerline goodness : 0.100327 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.16, Z:-0.27 [[ 0.99924504 0.00279356 -0.03874986 -1.38136337] [-0.00293714 0.99998903 -0.00364887 0.16215735] [ 0.03873924 0.00375992 0.99924228 -0.27321712] [ 0. 0. 0. 1. ]] SLAMing on 243.813133365 meters Centerline goodness : 0.092183 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.16, Z:-0.27 [[ 0.99917066 0.00260039 -0.04063522 -1.42653559] [-0.00278042 0.99998657 -0.00437451 0.16161319] [ 0.0406233 0.00448387 0.99916447 -0.2744871 ] [ 0. 0. 0. 1. ]] SLAMing on 243.843133365 meters Centerline goodness : 0.203690 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.17, Z:-0.27 [[ 0.99918231 -0.0051051 -0.04010806 -1.40865347] [ 0.00497298 0.99998188 -0.00339314 0.16947245] [ 0.04012466 0.00319091 0.99918959 -0.27253141] [ 0. 0. 0. 1. ]] SLAMing on 243.873133365 meters Centerline goodness : 0.225343 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.17, Z:-0.27 [[ 0.99918646 -0.00518936 -0.03999365 -1.40904038] [ 0.00504818 0.99998067 -0.00363003 0.17079295] [ 0.04001172 0.00342519 0.99919334 -0.27242593] [ 0. 0. 0. 1. ]] SLAMing on 243.90313336499997 meters Centerline goodness : 0.100606 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.17, Z:-0.27 [[ 0.99918559 -0.00523364 -0.04000948 -1.40874534] [ 0.0050828 0.99997959 -0.00387089 0.17276281] [ 0.04002893 0.00366438 0.9991918 -0.27283122] [ 0. 0. 0. 1. ]] SLAMing on 243.93313336499997 meters Centerline goodness : 0.106563 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.17, Z:-0.27 [[ 0.9991663 0.00284891 -0.04072584 -1.42772513] [-0.00306018 0.99998218 -0.00512619 0.16844321] [ 0.04071051 0.00524655 0.99915721 -0.27481367] [ 0. 0. 0. 1. ]] SLAMing on 243.96313336499998 meters Centerline goodness : 0.102356 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.17, Z:-0.28 [[ 0.99916282 0.00273636 -0.04081878 -1.42727167] [-0.00295634 0.99998143 -0.00532987 0.16915844] [ 0.04080344 0.00544608 0.99915235 -0.2751978 ] [ 0. 0. 0. 1. ]] SLAMing on 243.99313336499998 meters Centerline goodness : 0.239056 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.9992131 0.00213624 -0.03960577 -1.38295605] [-0.00237581 0.99997916 -0.00600273 0.17382901] [ 0.03959212 0.0060921 0.99919735 -0.27382318] [ 0. 0. 0. 1. ]] SLAMing on 244.02313336499998 meters Centerline goodness : 0.092287 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99921141 0.00206426 -0.03965207 -1.38274505] [-0.00230895 0.99997857 -0.00612616 0.1742836 ] [ 0.03963858 0.00621288 0.99919477 -0.2740058 ] [ 0. 0. 0. 1. ]] SLAMing on 244.05313336499998 meters Centerline goodness : 0.189645 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.18, Z:-0.28 [[ 0.99917026 -0.00606183 -0.04027464 -1.40330213] [ 0.00586368 0.99997013 -0.00503639 0.17704968] [ 0.04030397 0.00479605 0.99917595 -0.27596871] [ 0. 0. 0. 1. ]] SLAMing on 244.08313336499998 meters Centerline goodness : 0.180459 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99926342 0.00168906 -0.03833756 -1.38402055] [-0.00191868 0.99998044 -0.00595331 0.17484974] [ 0.03832676 0.00602248 0.99924711 -0.2745803 ] [ 0. 0. 0. 1. ]] SLAMing on 244.11313336499998 meters Centerline goodness : 0.198142 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99926645 0.00168546 -0.03825868 -1.38438917] [-0.00191123 0.99998097 -0.00586528 0.17412818] [ 0.03824807 0.0059341 0.99925066 -0.27429151] [ 0. 0. 0. 1. ]] SLAMing on 244.14313336499998 meters Centerline goodness : 0.137718 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99926529 0.00163104 -0.03829117 -1.38423825] [-0.00185611 0.99998121 -0.00584299 0.17349535] [ 0.03828092 0.00590977 0.99924954 -0.2743813 ] [ 0. 0. 0. 1. ]] SLAMing on 244.17313336499998 meters Centerline goodness : 0.091779 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99925616 0.00168335 -0.03852664 -1.38360442] [-0.00190383 0.99998202 -0.00568689 0.17260376] [ 0.03851638 0.005756 0.99924139 -0.27450111] [ 0. 0. 0. 1. ]] SLAMing on 244.20313336499999 meters Centerline goodness : 0.094446 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99924919 0.00175867 -0.03870342 -1.38309982] [-0.00197474 0.99998268 -0.00554517 0.17202929] [ 0.038693 0.00561744 0.99923536 -0.27462379] [ 0. 0. 0. 1. ]] SLAMing on 244.233133365 meters Centerline goodness : 0.096187 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99924761 0.00182816 -0.03874117 -1.38301792] [-0.00204076 0.99998307 -0.00544886 0.17176179] [ 0.03873055 0.00552382 0.99923442 -0.27464062] [ 0. 0. 0. 1. ]] SLAMing on 244.263133365 meters Centerline goodness : 0.104312 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.17, Z:-0.28 [[ 0.99916581 0.00175664 -0.04079955 -1.42817968] [-0.00199691 0.9999809 -0.00584895 0.16780842] [ 0.0407885 0.00592554 0.99915023 -0.27559522] [ 0. 0. 0. 1. ]] SLAMing on 244.293133365 meters Centerline goodness : 0.087357 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99921403 0.00179427 -0.03959939 -1.38392047] [-0.00202525 0.99998117 -0.0057936 0.17089589] [ 0.03958825 0.00586924 0.99919884 -0.27429629] [ 0. 0. 0. 1. ]] SLAMing on 244.323133365 meters Centerline goodness : 0.092429 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.9992085 0.00181566 -0.03973751 -1.3832388 ] [-0.00204556 0.9999814 -0.00574558 0.17064896] [ 0.03972633 0.00582231 0.99919363 -0.27484888] [ 0. 0. 0. 1. ]] SLAMing on 244.353133365 meters Centerline goodness : 0.103079 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.28 [[ 0.99920625 0.00185376 -0.03979248 -1.38286059] [-0.00208002 0.9999819 -0.00564537 0.1701634 ] [ 0.03978129 0.00572366 0.99919202 -0.27523452] [ 0. 0. 0. 1. ]] SLAMing on 244.383133365 meters Centerline goodness : 0.090782 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.18, Z:-0.27 [[ 0.99919859 -0.0061628 -0.03954988 -1.36377705] [ 0.00598776 0.99997175 -0.00454286 0.17511947] [ 0.03957675 0.00430241 0.99920727 -0.27342206] [ 0. 0. 0. 1. ]] SLAMing on 244.413133365 meters Centerline goodness : 0.097723 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.17, Z:-0.27 [[ 0.9992013 -0.00620721 -0.03947443 -1.36420835] [ 0.00603634 0.9999719 -0.00444625 0.17410954] [ 0.03950092 0.00420441 0.99921069 -0.27299552] [ 0. 0. 0. 1. ]] SLAMing on 244.443133365 meters Centerline goodness : 0.093248 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.17, Z:-0.27 [[ 0.99924716 -0.00727037 -0.03810841 -1.36862645] [ 0.00708684 0.99996264 -0.00494888 0.1710392 ] [ 0.03814296 0.00467508 0.99926136 -0.27138904] [ 0. 0. 0. 1. ]] SLAMing on 244.473133365 meters SLAMing on 244.503133365 meters Centerline goodness : 0.212267 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.17, Z:-0.27 [[ 0.99928531 -0.0073103 -0.0370867 -1.37111188] [ 0.00715703 0.9999653 -0.00426383 0.16697651] [ 0.03711658 0.00399535 0.99930296 -0.27102603] [ 0. 0. 0. 1. ]] SLAMing on 244.533133365 meters Centerline goodness : 0.098655 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.16, Z:-0.27 [[ 0.99928564 -0.00723304 -0.03709293 -1.37096397] [ 0.00709361 0.99996728 -0.00388911 0.16482118] [ 0.03711984 0.00362321 0.99930425 -0.27110101] [ 0. 0. 0. 1. ]] SLAMing on 244.563133365 meters Centerline goodness : 0.140520 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.16, Z:-0.27 [[ 9.99260576e-01 -4.48005206e-04 -3.84460683e-02 -1.35210159e+00] [ 2.50476223e-04 9.99986746e-01 -5.14248302e-03 1.58826585e-01] [ 3.84478626e-02 5.12905072e-03 9.99247444e-01 -2.68434012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.593133365 meters Centerline goodness : 0.040631 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.15, Z:-0.27 [[ 9.99151967e-01 -1.13528258e-03 -4.11589401e-02 -1.39612575e+00] [ 8.93661346e-04 9.99982264e-01 -5.88836719e-03 1.54283980e-01] [ 4.11648951e-02 5.84659151e-03 9.99135261e-01 -2.69747429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.623133365 meters Centerline goodness : 0.157684 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.15, Z:-0.27 [[ 9.99135696e-01 -9.18832159e-04 -4.15573877e-02 -1.39480674e+00] [ 6.97755358e-04 9.99985531e-01 -5.33398733e-03 1.51560520e-01] [ 4.15616874e-02 5.30038025e-03 9.99121881e-01 -2.70276580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65313336499997 meters Centerline goodness : 0.219391 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.15, Z:-0.27 [[ 9.99129799e-01 -8.12422750e-04 -4.17011316e-02 -1.39430908e+00] [ 6.01461204e-04 9.99986961e-01 -5.07118958e-03 1.50238410e-01] [ 4.17047078e-02 5.04169501e-03 9.99117260e-01 -2.70491032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68313336499997 meters Centerline goodness : 0.100832 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.15, Z:-0.27 [[ 9.99127586e-01 -7.69796107e-04 -4.17549384e-02 -1.39404684e+00] [ 5.64377760e-04 9.99987682e-01 -4.93118285e-03 1.49327880e-01] [ 4.17582200e-02 4.90331525e-03 9.99115713e-01 -2.70634203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71313336499998 meters Centerline goodness : 0.062437 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.15, Z:-0.27 [[ 9.99128014e-01 -7.67327865e-04 -4.17447444e-02 -1.39410147e+00] [ 5.62693418e-04 9.99987770e-01 -4.91357000e-03 1.49082382e-01] [ 4.17480041e-02 4.88579594e-03 9.99116226e-01 -2.70613335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74313336499998 meters Centerline goodness : 0.163406 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.15, Z:-0.27 [[ 9.99127166e-01 -7.23502567e-04 -4.17658151e-02 -1.39397699e+00] [ 5.17885550e-04 9.99987695e-01 -4.93370338e-03 1.49423143e-01] [ 4.17688708e-02 4.90776716e-03 9.99115246e-01 -2.70794255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77313336499998 meters Centerline goodness : 0.220223 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.15, Z:-0.27 [[ 0.9990712 0.00801173 -0.0423386 -1.41450628] [-0.00825322 0.99995064 -0.00553212 0.14544413] [ 0.04229219 0.00587641 0.999088 -0.27249454] [ 0. 0. 0. 1. ]] SLAMing on 244.80313336499998 meters Centerline goodness : 0.091540 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.15, Z:-0.27 [[ 0.99903852 0.00346902 -0.04370358 -1.39274632] [-0.00357836 0.99999066 -0.00242373 0.15306029] [ 0.04369476 0.00257778 0.9990416 -0.27221927] [ 0. 0. 0. 1. ]] SLAMing on 244.83313336499998 meters Centerline goodness : 0.182332 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.15, Z:-0.27 [[ 0.99892675 0.00359327 -0.04617836 -1.43717281] [-0.0037291 0.99998897 -0.00285565 0.15245357] [ 0.04616759 0.00302479 0.99892913 -0.27360554] [ 0. 0. 0. 1. ]] SLAMing on 244.86313336499998 meters Centerline goodness : 0.099831 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.15, Z:-0.27 [[ 0.99892881 0.0034564 -0.04614422 -1.43721401] [-0.00361396 0.99998792 -0.00333148 0.15476106] [ 0.04613215 0.00349468 0.99892923 -0.27382675] [ 0. 0. 0. 1. ]] SLAMing on 244.89313336499998 meters SLAMing on 244.92313336499998 meters Centerline goodness : 0.104403 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99894937 0.00347274 -0.04569567 -1.43837707] [-0.0036615 0.99998511 -0.0040476 0.159731 ] [ 0.04568093 0.00421066 0.99894721 -0.27390839] [ 0. 0. 0. 1. ]] SLAMing on 244.95313336499999 meters Centerline goodness : 0.113028 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99896525 0.00338496 -0.04535386 -1.43920704] [-0.00359386 0.9999833 -0.00452538 0.16271829] [ 0.04533778 0.00468369 0.99896073 -0.27400294] [ 0. 0. 0. 1. ]] SLAMing on 244.983133365 meters Centerline goodness : 0.113028 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99896525 0.00338496 -0.04535386 -1.43920704] [-0.00359386 0.9999833 -0.00452538 0.16271829] [ 0.04533778 0.00468369 0.99896073 -0.27400294] [ 0. 0. 0. 1. ]] SLAMing on 245.013133365 meters Centerline goodness : 0.186937 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99897964 0.00314911 -0.04505278 -1.44008588] [-0.00339794 0.99997939 -0.00544767 0.16889871] [ 0.04503469 0.0055952 0.99896975 -0.27401378] [ 0. 0. 0. 1. ]] SLAMing on 245.043133365 meters SLAMing on 245.073133365 meters Centerline goodness : 0.217983 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99897126 0.00276033 -0.0452636 -1.4393525 ] [-0.00305461 0.99997464 -0.00643347 0.17373212] [ 0.0452447 0.00656512 0.99895436 -0.27454459] [ 0. 0. 0. 1. ]] SLAMing on 245.103133365 meters SLAMing on 245.133133365 meters SLAMing on 245.163133365 meters Centerline goodness : 0.131112 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.18, Z:-0.27 [[ 0.99901022 0.00504629 -0.04419396 -1.44295448] [-0.00528121 0.99997253 -0.00520053 0.18362136] [ 0.0441665 0.00542878 0.99900943 -0.27342078] [ 0. 0. 0. 1. ]] SLAMing on 245.193133365 meters Centerline goodness : 0.211034 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.27 [[ 0.99900381 0.00473037 -0.04437363 -1.44245444] [-0.00499721 0.99997008 -0.00590456 0.1867369 ] [ 0.04434437 0.00612042 0.99899756 -0.27362333] [ 0. 0. 0. 1. ]] SLAMing on 245.223133365 meters SLAMing on 245.253133365 meters SLAMing on 245.283133365 meters SLAMing on 245.313133365 meters Centerline goodness : 0.092468 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.20, Z:-0.27 [[ 0.99897529 0.00804156 -0.0445387 -1.44273843] [-0.00822914 0.99995802 -0.00402988 0.20068627] [ 0.04450443 0.00439227 0.99899953 -0.27298552] [ 0. 0. 0. 1. ]] SLAMing on 245.343133365 meters Centerline goodness : 0.104614 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.21, Z:-0.27 [[ 0.99899137 0.00761116 -0.04425272 -1.44417132] [-0.0078414 0.9999566 -0.00503162 0.20592478] [ 0.04421251 0.00537355 0.9990077 -0.27206442] [ 0. 0. 0. 1. ]] SLAMing on 245.373133365 meters SLAMing on 245.40313336499997 meters Centerline goodness : 0.097580 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.21, Z:-0.27 [[ 9.99011447e-01 1.44713005e-03 -4.44301093e-02 -1.46672892e+00] [-1.56040237e-03 9.99995620e-01 -2.51487388e-03 2.10621607e-01] [ 4.44262754e-02 2.58171664e-03 9.99009330e-01 -2.72806179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43313336499997 meters Centerline goodness : 0.102772 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.22, Z:-0.27 [[ 9.98989900e-01 -6.68698145e-03 -4.44349362e-02 -1.44799917e+00] [ 6.62836474e-03 9.99976957e-01 -1.46636714e-03 2.17329615e-01] [ 4.44437179e-02 1.17035500e-03 9.99011204e-01 -2.70679326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46313336499998 meters SLAMing on 245.49313336499998 meters SLAMing on 245.52313336499998 meters Centerline goodness : 0.103307 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.22, Z:-0.27 [[ 0.99896894 -0.00771489 -0.0447386 -1.44657696] [ 0.00763318 0.99996887 -0.00199695 0.21638432] [ 0.04475262 0.00165339 0.99899673 -0.2714782 ] [ 0. 0. 0. 1. ]] SLAMing on 245.55313336499998 meters SLAMing on 245.58313336499998 meters Centerline goodness : 0.093009 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.21, Z:-0.27 [[ 9.98927513e-01 -8.00565450e-03 -4.56040826e-02 -1.44402990e+00] [ 7.93937520e-03 9.99967147e-01 -1.63430898e-03 2.12350633e-01] [ 4.56156681e-02 1.27048828e-03 9.98958256e-01 -2.71908455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61313336499998 meters SLAMing on 245.64313336499998 meters SLAMing on 245.67313336499998 meters SLAMing on 245.70313336499999 meters Centerline goodness : 0.105433 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.20, Z:-0.28 [[ 0.9990993 -0.0035925 -0.04228102 -1.4619507 ] [ 0.00345336 0.99998838 -0.0033635 0.19502067] [ 0.04229261 0.00321446 0.9991001 -0.27550247] [ 0. 0. 0. 1. ]] SLAMing on 245.733133365 meters Centerline goodness : 0.095006 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99910656 -0.00343155 -0.04212243 -1.46250329] [ 0.00330763 0.99999 -0.00301132 0.19330508] [ 0.04213235 0.0028693 0.99910792 -0.2752435 ] [ 0. 0. 0. 1. ]] SLAMing on 245.763133365 meters Centerline goodness : 0.043953 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99911112 -0.00324023 -0.04202935 -1.46276405] [ 0.00313026 0.9999915 -0.00268205 0.1918913 ] [ 0.04203769 0.0025481 0.99911278 -0.27518924] [ 0. 0. 0. 1. ]] SLAMing on 245.793133365 meters Centerline goodness : 0.213800 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99910923 -0.00307622 -0.0420865 -1.46237923] [ 0.00297601 0.99999259 -0.00244353 0.19089027] [ 0.04209371 0.0023161 0.99911098 -0.27559179] [ 0. 0. 0. 1. ]] SLAMing on 245.823133365 meters SLAMing on 245.853133365 meters Centerline goodness : 0.143153 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99907287 -0.00282839 -0.04295818 -1.4593551 ] [ 0.00273582 0.99999381 -0.00221349 0.18881609] [ 0.04296417 0.00209392 0.99907442 -0.27707807] [ 0. 0. 0. 1. ]] SLAMing on 245.883133365 meters SLAMing on 245.913133365 meters SLAMing on 245.943133365 meters SLAMing on 245.973133365 meters SLAMing on 246.003133365 meters Centerline goodness : 0.102167 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.18, Z:-0.28 [[ 9.99149715e-01 -1.47692036e-03 -4.12027483e-02 -1.46437653e+00] [ 1.45865531e-03 9.99998824e-01 -4.73356324e-04 1.83528646e-01] [ 4.12033989e-02 4.12853228e-04 9.99150694e-01 -2.75990368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.033133365 meters SLAMing on 246.063133365 meters SLAMing on 246.093133365 meters Centerline goodness : 0.148556 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 9.99165619e-01 -1.33858518e-03 -4.08200079e-02 -1.46477306e+00] [ 1.31528320e-03 9.99998956e-01 -5.97697830e-04 1.85153907e-01] [ 4.08207653e-02 5.43509252e-04 9.99166337e-01 -2.76887412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.123133365 meters Centerline goodness : 0.107074 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 9.99167104e-01 -1.40388900e-03 -4.07814701e-02 -1.46486056e+00] [ 1.37114181e-03 9.99998715e-01 -8.30950851e-04 1.86481741e-01] [ 4.07825842e-02 7.74341576e-04 9.99167744e-01 -2.76998941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15313336499997 meters SLAMing on 246.18313336499997 meters SLAMing on 246.21313336499998 meters Centerline goodness : 0.281132 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 9.99126490e-01 -1.39425120e-03 -4.17649637e-02 -1.46246720e+00] [ 1.33443003e-03 9.99998044e-01 -1.46017307e-03 1.91447954e-01] [ 4.17669179e-02 1.40316518e-03 9.99126396e-01 -2.77398880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24313336499998 meters Centerline goodness : 0.105580 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 9.99126862e-01 -1.47221243e-03 -4.17534034e-02 -1.46276629e+00] [ 1.40872749e-03 9.99997807e-01 -1.54985511e-03 1.91701484e-01] [ 4.17555935e-02 1.48968270e-03 9.99126744e-01 -2.77017447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27313336499998 meters SLAMing on 246.30313336499998 meters SLAMing on 246.33313336499998 meters Centerline goodness : 0.212243 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99914048 -0.00184459 -0.04141133 -1.46376415] [ 0.00177677 0.99999702 -0.00167459 0.19153245] [ 0.0414143 0.00159957 0.99914078 -0.27665053] [ 0. 0. 0. 1. ]] SLAMing on 246.36313336499998 meters SLAMing on 246.39313336499998 meters SLAMing on 246.42313336499998 meters Centerline goodness : 0.273764 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99912074 -0.00254716 -0.04184796 -1.4628543 ] [ 0.00246593 0.99999497 -0.00199241 0.19061885] [ 0.04185282 0.00188746 0.999122 -0.2762989 ] [ 0. 0. 0. 1. ]] SLAMing on 246.45313336499999 meters Centerline goodness : 0.152410 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99911142 -0.00255464 -0.04206949 -1.46227478] [ 0.00247509 0.99999505 -0.00194297 0.19014521] [ 0.04207425 0.00183712 0.9991128 -0.27635325] [ 0. 0. 0. 1. ]] SLAMing on 246.483133365 meters Centerline goodness : 0.235286 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99910535 -0.00241862 -0.04222136 -1.46196762] [ 0.0023484 0.99999578 -0.00171251 0.18952323] [ 0.04222533 0.00161183 0.99910681 -0.27625475] [ 0. 0. 0. 1. ]] SLAMing on 246.513133365 meters Centerline goodness : 0.301754 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99910787 -0.00243301 -0.042161 -1.46217023] [ 0.00236256 0.99999573 -0.00172053 0.18945604] [ 0.042165 0.00161939 0.99910935 -0.27618102] [ 0. 0. 0. 1. ]] SLAMing on 246.543133365 meters Centerline goodness : 0.210116 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99910718 -0.00246744 -0.04217534 -1.46216157] [ 0.00239711 0.99999565 -0.0017181 0.18913205] [ 0.04217939 0.00161546 0.99910875 -0.27611957] [ 0. 0. 0. 1. ]] SLAMing on 246.573133365 meters Centerline goodness : 0.206972 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99910287 -0.00250576 -0.04227512 -1.46183259] [ 0.00243412 0.99999551 -0.00174596 0.1889421 ] [ 0.0422793 0.00164149 0.99910448 -0.27624524] [ 0. 0. 0. 1. ]] SLAMing on 246.603133365 meters Centerline goodness : 0.046655 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.9990951 -0.00251834 -0.0424574 -1.46129913] [ 0.0024475 0.99999553 -0.00172036 0.1885742 ] [ 0.04246154 0.00161489 0.9990968 -0.27642103] [ 0. 0. 0. 1. ]] SLAMing on 246.633133365 meters SLAMing on 246.663133365 meters Centerline goodness : 0.212263 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 9.99086594e-01 -2.35817973e-03 -4.26663297e-02 -1.46047432e+00] [ 2.29473493e-03 9.99996188e-01 -1.53591433e-03 1.88208708e-01] [ 4.26697890e-02 1.43660350e-03 9.99088197e-01 -2.76949190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.693133365 meters SLAMing on 246.723133365 meters Centerline goodness : 0.104082 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.28 [[ 0.9991301 0.00542852 -0.04134705 -1.44130803] [-0.00555565 0.99998018 -0.00296051 0.18623899] [ 0.04133016 0.00318765 0.99914046 -0.27500513] [ 0. 0. 0. 1. ]] SLAMing on 246.753133365 meters SLAMing on 246.783133365 meters SLAMing on 246.813133365 meters Centerline goodness : 0.155444 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.28 [[ 0.99912479 0.00571618 -0.04143633 -1.44093514] [-0.0058456 0.99997841 -0.00300287 0.18773046] [ 0.04141827 0.00324246 0.99913663 -0.27537999] [ 0. 0. 0. 1. ]] SLAMing on 246.843133365 meters Centerline goodness : 0.135063 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.28 [[ 0.99911303 0.00564733 -0.04172847 -1.43989619] [-0.00579527 0.99997734 -0.00342505 0.18962812] [ 0.04170818 0.00366384 0.99912312 -0.27608611] [ 0. 0. 0. 1. ]] SLAMing on 246.873133365 meters Centerline goodness : 0.135063 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.28 [[ 0.99911303 0.00564733 -0.04172847 -1.43989619] [-0.00579527 0.99997734 -0.00342505 0.18962812] [ 0.04170818 0.00366384 0.99912312 -0.27608611] [ 0. 0. 0. 1. ]] SLAMing on 246.90313336499997 meters Centerline goodness : 0.154873 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.28 [[ 0.99911508 0.0056604 -0.04167754 -1.44001719] [-0.00581246 0.99997688 -0.00352828 0.19038593] [ 0.0416566 0.00376741 0.99912488 -0.27620277] [ 0. 0. 0. 1. ]] SLAMing on 246.93313336499997 meters Centerline goodness : 0.153211 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.28 [[ 0.99911795 0.00570735 -0.04160227 -1.44020222] [-0.00585954 0.99997658 -0.00353714 0.19082892] [ 0.04158111 0.00377779 0.99912799 -0.27624483] [ 0. 0. 0. 1. ]] SLAMing on 246.96313336499998 meters SLAMing on 246.99313336499998 meters Centerline goodness : 0.162093 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.28 [[ 0.99910885 0.00575026 -0.04181435 -1.43979552] [-0.00589833 0.99997676 -0.0034188 0.19009477] [ 0.04179372 0.00366239 0.99911955 -0.27607889] [ 0. 0. 0. 1. ]] SLAMing on 247.02313336499998 meters Centerline goodness : 0.154464 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99909391 -0.00198719 -0.04251376 -1.42155175] [ 0.00189157 0.99999559 -0.00228911 0.19555527] [ 0.04251812 0.00220662 0.99909326 -0.27364988] [ 0. 0. 0. 1. ]] SLAMing on 247.05313336499998 meters Centerline goodness : 0.155565 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99909074 -0.00195716 -0.04258936 -1.42154072] [ 0.00186226 0.99999569 -0.00226779 0.19564598] [ 0.04259362 0.00218642 0.99909009 -0.27339738] [ 0. 0. 0. 1. ]] SLAMing on 247.08313336499998 meters Centerline goodness : 0.159541 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99909584 -0.00193013 -0.04247078 -1.42202328] [ 0.00183493 0.99999572 -0.00228028 0.19605459] [ 0.042475 0.00220028 0.99909511 -0.27315224] [ 0. 0. 0. 1. ]] SLAMing on 247.11313336499998 meters Centerline goodness : 0.160716 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.9991017 -0.0019054 -0.04233396 -1.42262631] [ 0.00181133 0.99999581 -0.00226019 0.19612414] [ 0.04233809 0.00218148 0.99910096 -0.27280298] [ 0. 0. 0. 1. ]] SLAMing on 247.14313336499998 meters Centerline goodness : 0.092065 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99909814 -0.00197076 -0.04241481 -1.42244152] [ 0.00187304 0.9999955 -0.00234349 0.19629849] [ 0.04241924 0.00226193 0.99909734 -0.27276218] [ 0. 0. 0. 1. ]] SLAMing on 247.17313336499998 meters Centerline goodness : 0.105999 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99909048 -0.00201981 -0.04259266 -1.42177628] [ 0.00191922 0.99999527 -0.00240245 0.19635807] [ 0.04259731 0.00231852 0.99908963 -0.27312976] [ 0. 0. 0. 1. ]] SLAMing on 247.20313336499999 meters Centerline goodness : 0.157278 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99907574 -0.00202337 -0.04293683 -1.42069213] [ 0.00192041 0.99999518 -0.00243922 0.1965454 ] [ 0.04294155 0.00235451 0.99907481 -0.27353179] [ 0. 0. 0. 1. ]] SLAMing on 247.233133365 meters Centerline goodness : 0.151092 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99906576 -0.00202769 -0.04316812 -1.41999139] [ 0.00192451 0.99999519 -0.00243155 0.19639783] [ 0.04317284 0.00234621 0.99906486 -0.27373324] [ 0. 0. 0. 1. ]] SLAMing on 247.263133365 meters Centerline goodness : 0.149024 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99905874 -0.00205703 -0.04332904 -1.41974815] [ 0.00195139 0.99999502 -0.00248014 0.19651582] [ 0.04333393 0.00239326 0.99905778 -0.27351942] [ 0. 0. 0. 1. ]] SLAMing on 247.293133365 meters Centerline goodness : 0.157591 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99905226 -0.00209337 -0.04347648 -1.41942186] [ 0.00198175 0.99999463 -0.00261029 0.19720423] [ 0.04348171 0.00252165 0.99905104 -0.27352758] [ 0. 0. 0. 1. ]] SLAMing on 247.323133365 meters Centerline goodness : 0.156943 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99904921 -0.00196082 -0.04355262 -1.41917428] [ 0.00183609 0.9999941 -0.00290374 0.19977761] [ 0.04355805 0.00282102 0.99904691 -0.27375903] [ 0. 0. 0. 1. ]] SLAMing on 247.353133365 meters Centerline goodness : 0.151001 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99906582 -0.00203568 -0.04316655 -1.42034783] [ 0.00189637 0.99999286 -0.00326794 0.20186696] [ 0.04317289 0.00318302 0.99906255 -0.27352666] [ 0. 0. 0. 1. ]] SLAMing on 247.383133365 meters Centerline goodness : 0.156717 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99909195 -0.00211606 -0.04255349 -1.42229664] [ 0.00195857 0.99999108 -0.00374226 0.20467203] [ 0.04256103 0.00365551 0.99908718 -0.27299658] [ 0. 0. 0. 1. ]] SLAMing on 247.413133365 meters Centerline goodness : 0.097720 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.21, Z:-0.27 [[ 0.99910885 -0.00219593 -0.0421508 -1.42370478] [ 0.00201775 0.99998885 -0.00426926 0.20793917] [ 0.04215971 0.0041804 0.99910214 -0.2725404 ] [ 0. 0. 0. 1. ]] SLAMing on 247.443133365 meters Centerline goodness : 0.158012 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.21, Z:-0.27 [[ 0.99911027 -0.00222599 -0.04211557 -1.42404131] [ 0.00202389 0.99998624 -0.00484077 0.21177227] [ 0.04212577 0.00475122 0.99910102 -0.27244482] [ 0. 0. 0. 1. ]] SLAMing on 247.473133365 meters Centerline goodness : 0.111371 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.22, Z:-0.27 [[ 0.99910316 -0.00236684 -0.04227613 -1.42372703] [ 0.00213357 0.99998226 -0.00556183 0.21595321] [ 0.04228855 0.00546664 0.99909048 -0.27260598] [ 0. 0. 0. 1. ]] SLAMing on 247.503133365 meters SLAMing on 247.533133365 meters Centerline goodness : 0.156345 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.23, Z:-0.27 [[ 0.99909353 0.00658438 -0.04205657 -1.40017024] [-0.00688218 0.99995223 -0.00694002 0.22727156] [ 0.04200886 0.00722317 0.99909113 -0.27214839] [ 0. 0. 0. 1. ]] SLAMing on 247.563133365 meters Centerline goodness : 0.111797 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.23, Z:-0.27 [[ 9.99120547e-01 -1.05398667e-03 -4.19168505e-02 -1.42090221e+00] [ 7.98497098e-04 9.99981006e-01 -6.11142744e-03 2.33792218e-01] [ 4.19224958e-02 6.07258224e-03 9.99102411e-01 -2.74223728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.593133365 meters SLAMing on 247.623133365 meters SLAMing on 247.65313336499997 meters SLAMing on 247.68313336499997 meters SLAMing on 247.71313336499998 meters SLAMing on 247.74313336499998 meters Centerline goodness : 0.100937 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.25, Z:-0.27 [[ 9.99151929e-01 8.86812328e-04 -4.11659625e-02 -1.42497051e+00] [-1.10177693e-03 9.99985876e-01 -5.19950785e-03 2.49023444e-01] [ 4.11607700e-02 5.24045401e-03 9.99138793e-01 -2.71960383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77313336499998 meters SLAMing on 247.80313336499998 meters SLAMing on 247.83313336499998 meters SLAMing on 247.86313336499998 meters SLAMing on 247.89313336499998 meters SLAMing on 247.92313336499998 meters Centerline goodness : 0.213927 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.26, Z:-0.27 [[ 9.99125993e-01 -5.07350950e-04 -4.17970460e-02 -1.42422418e+00] [ 2.22384039e-04 9.99976704e-01 -6.82223945e-03 2.56397485e-01] [ 4.17995336e-02 6.80698177e-03 9.99102830e-01 -2.71137222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95313336499999 meters Centerline goodness : 0.097000 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.26, Z:-0.27 [[ 9.99155318e-01 -1.05671170e-03 -4.10796083e-02 -1.42644915e+00] [ 7.63510203e-04 9.99974130e-01 -7.15243149e-03 2.56634298e-01] [ 4.10861036e-02 7.11502526e-03 9.99130276e-01 -2.70221558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.983133365 meters Centerline goodness : 0.124633 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.26, Z:-0.27 [[ 9.99162217e-01 -1.21327425e-03 -4.09071170e-02 -1.42706518e+00] [ 9.18331305e-04 9.99973455e-01 -7.22808446e-03 2.56478988e-01] [ 4.09148008e-02 7.18446261e-03 9.99136809e-01 -2.69817737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.013133365 meters SLAMing on 248.043133365 meters Centerline goodness : 0.120816 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.26, Z:-0.27 [[ 9.99157895e-01 -1.51275450e-03 -4.10026026e-02 -1.42703819e+00] [ 1.21295179e-03 9.99972358e-01 -7.33568855e-03 2.56156196e-01] [ 4.10125663e-02 7.27977694e-03 9.99132111e-01 -2.69358920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.073133365 meters SLAMing on 248.103133365 meters Centerline goodness : 0.119022 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.25, Z:-0.27 [[ 0.99913422 -0.00176545 -0.04156547 -1.42562905] [ 0.0014644 0.99997249 -0.00727215 0.25488579] [ 0.04157716 0.00720498 0.99910932 -0.26932817] [ 0. 0. 0. 1. ]] SLAMing on 248.133133365 meters Centerline goodness : 0.148830 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.25, Z:-0.27 [[ 0.99911597 -0.00244402 -0.04196796 -1.42429248] [ 0.00213229 0.99996982 -0.00747092 0.252711 ] [ 0.04198495 0.00737483 0.99909102 -0.26973316] [ 0. 0. 0. 1. ]] SLAMing on 248.163133365 meters Centerline goodness : 0.102378 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.25, Z:-0.27 [[ 0.99911567 -0.00244821 -0.04197488 -1.42426305] [ 0.00214654 0.99997156 -0.00723056 0.2509467 ] [ 0.04199139 0.00713407 0.9990925 -0.26967831] [ 0. 0. 0. 1. ]] SLAMing on 248.193133365 meters Centerline goodness : 0.266756 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.25, Z:-0.27 [[ 0.99911694 -0.00241191 -0.04194657 -1.42436294] [ 0.00212021 0.99997327 -0.006997 0.24950473] [ 0.04196232 0.00690189 0.99909535 -0.2695811 ] [ 0. 0. 0. 1. ]] SLAMing on 248.223133365 meters Centerline goodness : 0.144814 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.25, Z:-0.27 [[ 0.99911734 -0.00233629 -0.04194152 -1.42446851] [ 0.00205579 0.99997524 -0.00672979 0.24813675] [ 0.04195621 0.00663762 0.9990974 -0.26935443] [ 0. 0. 0. 1. ]] SLAMing on 248.253133365 meters Centerline goodness : 0.114911 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.25, Z:-0.27 [[ 0.99910331 -0.00208781 -0.04228727 -1.42347723] [ 0.00182744 0.99997914 -0.00619494 0.2458086 ] [ 0.04229932 0.0061121 0.99908629 -0.26952652] [ 0. 0. 0. 1. ]] SLAMing on 248.283133365 meters Centerline goodness : 0.098783 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.27 [[ 0.99910078 -0.00200182 -0.0423511 -1.4230393 ] [ 0.00175216 0.99998088 -0.00593119 0.24423966] [ 0.04236216 0.00585165 0.99908518 -0.26990556] [ 0. 0. 0. 1. ]] SLAMing on 248.313133365 meters Centerline goodness : 0.104670 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.27 [[ 0.99910006 -0.00198844 -0.04236886 -1.42281794] [ 0.0017513 0.9999826 -0.00563341 0.24193322] [ 0.04237932 0.00555414 0.99908615 -0.27006498] [ 0. 0. 0. 1. ]] SLAMing on 248.343133365 meters Centerline goodness : 0.128082 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.27 [[ 0.9991007 -0.00191474 -0.04235715 -1.42270312] [ 0.0016975 0.99998522 -0.00516428 0.23883557] [ 0.04236642 0.00508774 0.99908919 -0.27021073] [ 0. 0. 0. 1. ]] SLAMing on 248.373133365 meters SLAMing on 248.40313336499997 meters Centerline goodness : 0.136296 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.23, Z:-0.27 [[ 0.99910621 -0.00415328 -0.04206584 -1.42458357] [ 0.00391381 0.99997567 -0.0057736 0.22683705] [ 0.0420888 0.0056038 0.99909816 -0.26865465] [ 0. 0. 0. 1. ]] SLAMing on 248.43313336499997 meters Centerline goodness : 0.095229 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.22, Z:-0.27 [[ 0.99916687 -0.00521797 -0.04047634 -1.38134439] [ 0.00500544 0.99997316 -0.00535024 0.2236088 ] [ 0.04050318 0.00514318 0.99916617 -0.26717545] [ 0. 0. 0. 1. ]] SLAMing on 248.46313336499998 meters Centerline goodness : 0.124219 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.22, Z:-0.27 [[ 0.9991825 -0.00516562 -0.04009554 -1.38215321] [ 0.00497794 0.99997619 -0.00477924 0.21994992] [ 0.04011927 0.00457574 0.99918442 -0.26717273] [ 0. 0. 0. 1. ]] SLAMing on 248.49313336499998 meters Centerline goodness : 0.109126 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 0.99910617 -0.00537921 -0.04192758 -1.42754761] [ 0.00516356 0.99997289 -0.00524999 0.21398933] [ 0.04195468 0.0050288 0.99910686 -0.26816294] [ 0. 0. 0. 1. ]] SLAMing on 248.52313336499998 meters Centerline goodness : 0.098645 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 0.9990998 -0.00511396 -0.04211225 -1.42670358] [ 0.00493629 0.99997848 -0.00432185 0.20894307] [ 0.04213344 0.00411008 0.99910354 -0.26859768] [ 0. 0. 0. 1. ]] SLAMing on 248.55313336499998 meters Centerline goodness : 0.107016 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 0.99909884 -0.00498136 -0.04215088 -1.42656474] [ 0.00482394 0.99998101 -0.00383572 0.20617117] [ 0.04216918 0.00362893 0.99910389 -0.26861626] [ 0. 0. 0. 1. ]] SLAMing on 248.58313336499998 meters Centerline goodness : 0.096451 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99910732 -0.00491236 -0.04195752 -1.42722214] [ 0.00477785 0.99998312 -0.00330553 0.20283511] [ 0.04197305 0.00310212 0.99911393 -0.26822026] [ 0. 0. 0. 1. ]] SLAMing on 248.61313336499998 meters Centerline goodness : 0.122288 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99912316 -0.00487182 -0.04158337 -1.42838708] [ 0.00476159 0.99998488 -0.00274943 0.19920119] [ 0.04159613 0.00254902 0.99913125 -0.26766828] [ 0. 0. 0. 1. ]] SLAMing on 248.64313336499998 meters Centerline goodness : 0.121373 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99913743 -0.00478658 -0.04124902 -1.42936359] [ 0.00470187 0.99998663 -0.00215026 0.19557157] [ 0.04125876 0.00195446 0.99914658 -0.26731049] [ 0. 0. 0. 1. ]] SLAMing on 248.67313336499998 meters Centerline goodness : 0.100004 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.19, Z:-0.27 [[ 0.99921658 0.00232225 -0.03950729 -1.44839759] [-0.00244845 0.99999205 -0.00314627 0.18569065] [ 0.03949967 0.00324053 0.99921433 -0.27009781] [ 0. 0. 0. 1. ]] SLAMing on 248.70313336499999 meters Centerline goodness : 0.127175 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99223038e-01 -1.39783596e-03 -3.93873761e-02 -1.44850482e+00] [ 1.15849366e-03 9.99980731e-01 -6.09879342e-03 1.80812605e-01] [ 3.93951423e-02 6.04842486e-03 9.99205404e-01 -2.70274994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.733133365 meters Centerline goodness : 0.149134 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99219566e-01 -1.26657675e-03 -3.94797921e-02 -1.44816579e+00] [ 1.04573224e-03 9.99983695e-01 -5.61401074e-03 1.77882468e-01] [ 3.94862589e-02 5.56834409e-03 9.99204598e-01 -2.70410933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.763133365 meters Centerline goodness : 0.099749 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99206222e-01 -1.10603245e-03 -3.98208747e-02 -1.44723633e+00] [ 8.97732200e-04 9.99985824e-01 -5.24843244e-03 1.75940158e-01] [ 3.98261151e-02 5.20851787e-03 9.99193050e-01 -2.70570920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.793133365 meters Centerline goodness : 0.099749 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99206222e-01 -1.10603245e-03 -3.98208747e-02 -1.44723633e+00] [ 8.97732200e-04 9.99985824e-01 -5.24843244e-03 1.75940158e-01] [ 3.98261151e-02 5.20851787e-03 9.99193050e-01 -2.70570920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.823133365 meters Centerline goodness : 0.135695 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99197497e-01 -9.43669982e-04 -4.00433740e-02 -1.44649646e+00] [ 7.43186281e-04 9.99987117e-01 -5.02125403e-03 1.75162191e-01] [ 4.00475966e-02 4.98746477e-03 9.99185326e-01 -2.70890203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.853133365 meters Centerline goodness : 0.041797 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:-0.27 [[ 9.99194409e-01 -8.19266940e-04 -4.01230901e-02 -1.44616734e+00] [ 6.23285715e-04 9.99987817e-01 -4.89676535e-03 1.74822277e-01] [ 4.01266130e-02 4.86781241e-03 9.99182746e-01 -2.71123670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.883133365 meters Centerline goodness : 0.091966 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99192637e-01 -7.33885874e-04 -4.01688339e-02 -1.44605579e+00] [ 5.37861038e-04 9.99987896e-01 -4.89061254e-03 1.75006002e-01] [ 4.01719368e-02 4.86505879e-03 9.99180938e-01 -2.71212890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.913133365 meters Centerline goodness : 0.107469 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99184558e-01 -5.64700271e-04 -4.03720155e-02 -1.44537520e+00] [ 3.67025076e-04 9.99987910e-01 -4.90358612e-03 1.75232308e-01] [ 4.03742965e-02 4.88476999e-03 9.99172685e-01 -2.71616842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.943133365 meters Centerline goodness : 0.160778 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99181891e-01 -4.79284029e-04 -4.04390729e-02 -1.44516942e+00] [ 2.80246305e-04 9.99987821e-01 -4.92744132e-03 1.75612625e-01] [ 4.04409420e-02 4.91207724e-03 9.99169856e-01 -2.71776829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.973133365 meters Centerline goodness : 0.295900 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99181399e-01 -4.71466381e-04 -4.04513122e-02 -1.44502036e+00] [ 2.69254727e-04 9.99987443e-01 -5.00419233e-03 1.76059708e-01] [ 4.04531636e-02 4.98920418e-03 9.99168979e-01 -2.72023279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.003133365 meters Centerline goodness : 0.104890 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.18, Z:-0.27 [[ 9.99179607e-01 -4.75449023e-04 -4.04955231e-02 -1.44475125e+00] [ 2.69450066e-04 9.99986998e-01 -5.09226241e-03 1.76536013e-01] [ 4.04974177e-02 5.07717323e-03 9.99166744e-01 -2.72321180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.033133365 meters SLAMing on 249.063133365 meters SLAMing on 249.093133365 meters SLAMing on 249.123133365 meters SLAMing on 249.15313336499997 meters SLAMing on 249.18313336499997 meters SLAMing on 249.21313336499998 meters Centerline goodness : 0.200871 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 0.99918961 0.00331256 -0.04011425 -1.44566836] [-0.00340453 0.99999173 -0.00222448 0.18217753] [ 0.04010655 0.00235924 0.99919262 -0.27250259] [ 0. 0. 0. 1. ]] SLAMing on 249.24313336499998 meters Centerline goodness : 0.093069 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.19, Z:-0.27 [[ 9.99197073e-01 -5.09274378e-03 -3.97400667e-02 -1.42645821e+00] [ 5.04950942e-03 9.99986545e-01 -1.18822699e-03 1.85746451e-01] [ 3.97455833e-02 9.86605092e-04 9.99209345e-01 -2.70395458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27313336499998 meters Centerline goodness : 0.097573 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.18, Z:-0.27 [[ 9.99200176e-01 -5.04996003e-03 -3.96674424e-02 -1.42690303e+00] [ 5.01811603e-03 9.99987002e-01 -9.02301018e-04 1.84186818e-01] [ 3.96714834e-02 7.02523508e-04 9.99212530e-01 -2.69925305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30313336499998 meters Centerline goodness : 0.212712 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.18, Z:-0.27 [[ 9.99206661e-01 -4.95466594e-03 -3.95158104e-02 -1.42747853e+00] [ 4.93887171e-03 9.99987680e-01 -4.97304329e-04 1.82164738e-01] [ 3.95177875e-02 3.01746281e-04 9.99218822e-01 -2.69530465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33313336499998 meters Centerline goodness : 0.209065 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.17, Z:-0.27 [[ 9.99169962e-01 -6.66818016e-03 -4.01860982e-02 -1.47493934e+00] [ 6.62131960e-03 9.99977235e-01 -1.29907365e-03 1.74622437e-01] [ 4.01938458e-02 1.03191037e-03 9.99191368e-01 -2.69645555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36313336499998 meters Centerline goodness : 0.090346 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:-0.27 [[ 0.99922159 -0.00166291 -0.03941376 -1.45261575] [ 0.00148811 0.99998893 -0.00446391 0.17165635] [ 0.03942074 0.00440178 0.99921301 -0.26901015] [ 0. 0. 0. 1. ]] SLAMing on 249.39313336499998 meters Centerline goodness : 0.090672 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:-0.27 [[ 0.9992213 -0.00163362 -0.03942248 -1.45258156] [ 0.00146874 0.99999005 -0.0042111 0.16989612] [ 0.03942897 0.00414992 0.99921376 -0.26899526] [ 0. 0. 0. 1. ]] SLAMing on 249.42313336499998 meters Centerline goodness : 0.128281 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:-0.27 [[ 9.99214322e-01 -1.54511861e-03 -3.96024236e-02 -1.45219230e+00] [ 1.38677395e-03 9.99990936e-01 -4.02551672e-03 1.69014483e-01] [ 3.96082846e-02 3.96743435e-03 9.99207408e-01 -2.68933428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45313336499999 meters Centerline goodness : 0.116674 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:-0.27 [[ 9.99207669e-01 -1.45954507e-03 -3.97731473e-02 -1.45169081e+00] [ 1.30112550e-03 9.99991119e-01 -4.00867264e-03 1.69351044e-01] [ 3.97786449e-02 3.95374659e-03 9.99200694e-01 -2.69112026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.483133365 meters SLAMing on 249.513133365 meters Centerline goodness : 0.208240 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:-0.27 [[ 9.99197419e-01 -4.20198255e-04 -4.00542335e-02 -1.45071876e+00] [ 2.64011654e-04 9.99992342e-01 -3.90458785e-03 1.73560013e-01] [ 4.00555675e-02 3.89087931e-03 9.99189878e-01 -2.69819274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.543133365 meters SLAMing on 249.573133365 meters SLAMing on 249.603133365 meters SLAMing on 249.633133365 meters SLAMing on 249.663133365 meters SLAMing on 249.693133365 meters SLAMing on 249.723133365 meters SLAMing on 249.753133365 meters SLAMing on 249.783133365 meters SLAMing on 249.813133365 meters SLAMing on 249.843133365 meters Centerline goodness : 0.126951 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99170069e-01 -5.43007631e-04 -4.07293406e-02 -1.44835767e+00] [ 3.45357983e-04 9.99988132e-01 -4.85963740e-03 1.79084900e-01] [ 4.07314960e-02 4.84153803e-03 9.99158398e-01 -2.71309621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.873133365 meters SLAMing on 249.90313336499997 meters SLAMing on 249.93313336499997 meters SLAMing on 249.96313336499998 meters Centerline goodness : 0.297462 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.17, Z:-0.27 [[ 0.99912782 0.00852321 -0.04087722 -1.4693161 ] [-0.00874824 0.99994753 -0.00532948 0.1742294 ] [ 0.04082965 0.00568244 0.99914996 -0.27352871] [ 0. 0. 0. 1. ]] SLAMing on 249.99313336499998 meters SLAMing on 250.02313336499998 meters Centerline goodness : 0.161816 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 0.99909574 0.00358587 -0.0423657 -1.4491506 ] [-0.00368816 0.99999047 -0.00233655 0.18056224] [ 0.04235692 0.00249069 0.99909944 -0.27216522] [ 0. 0. 0. 1. ]] SLAMing on 250.05313336499998 meters SLAMing on 250.08313336499998 meters Centerline goodness : 0.109836 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 0.99910312 0.00355214 -0.04219413 -1.44981621] [-0.00365747 0.99999038 -0.00241956 0.18092712] [ 0.04218513 0.00257171 0.9991065 -0.27185498] [ 0. 0. 0. 1. ]] SLAMing on 250.11313336499998 meters SLAMing on 250.14313336499998 meters SLAMing on 250.17313336499998 meters SLAMing on 250.20313336499999 meters SLAMing on 250.233133365 meters SLAMing on 250.263133365 meters SLAMing on 250.293133365 meters SLAMing on 250.323133365 meters SLAMing on 250.353133365 meters Centerline goodness : 0.161002 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.19, Z:-0.27 [[ 9.99053532e-01 8.27497249e-03 -4.27032263e-02 -1.44879932e+00] [-8.26814685e-03 9.99965762e-01 3.36458394e-04 1.93588820e-01] [ 4.27045484e-02 1.69365993e-05 9.99087745e-01 -2.72245848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.383133365 meters SLAMing on 250.413133365 meters Centerline goodness : 0.109570 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 9.99134320e-01 1.06491657e-03 -4.15869738e-02 -1.43347939e+00] [-9.96328741e-04 9.99998109e-01 1.66995354e-03 2.04180000e-01] [ 4.15886736e-02 -1.62707359e-03 9.99133492e-01 -2.69175302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.443133365 meters Centerline goodness : 0.099138 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 9.99135492e-01 9.78843311e-04 -4.15609314e-02 -1.43379839e+00] [-9.23674127e-04 9.99998667e-01 1.34661091e-03 2.06145693e-01] [ 4.15621941e-02 -1.30705800e-03 9.99135064e-01 -2.68917653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.473133365 meters SLAMing on 250.503133365 meters Centerline goodness : 0.159805 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 9.99141696e-01 6.35280712e-04 -4.14181957e-02 -1.43405377e+00] [-6.16818764e-04 9.99999705e-01 4.58522589e-04 2.10899956e-01] [ 4.14184748e-02 -4.32581518e-04 9.99141793e-01 -2.69199726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.533133365 meters SLAMing on 250.563133365 meters Centerline goodness : 0.184156 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 9.99147145e-01 4.45257300e-04 -4.12890379e-02 -1.43430216e+00] [-4.39733178e-04 9.99999893e-01 1.42873341e-04 2.12155220e-01] [ 4.12890971e-02 -1.24595331e-04 9.99147234e-01 -2.69311260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.593133365 meters SLAMing on 250.623133365 meters SLAMing on 250.65313336499997 meters SLAMing on 250.68313336499997 meters SLAMing on 250.71313336499998 meters SLAMing on 250.74313336499998 meters Centerline goodness : 0.201393 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 9.99127805e-01 2.54135073e-04 -4.17560092e-02 -1.43301081e+00] [-2.33109220e-04 9.99999844e-01 5.08408978e-04 2.08659448e-01] [ 4.17561318e-02 -4.98231835e-04 9.99127708e-01 -2.69365681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77313336499998 meters SLAMing on 250.80313336499998 meters SLAMing on 250.83313336499998 meters SLAMing on 250.86313336499998 meters SLAMing on 250.89313336499998 meters SLAMing on 250.92313336499998 meters SLAMing on 250.95313336499999 meters Centerline goodness : 0.108393 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 9.99145455e-01 1.11474164e-03 -4.13172629e-02 -1.43499687e+00] [-1.06701030e-03 9.99998738e-01 1.17727401e-03 2.07887288e-01] [ 4.13185231e-02 -1.13218203e-03 9.99145384e-01 -2.68245808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.983133365 meters SLAMing on 251.013133365 meters SLAMing on 251.043133365 meters SLAMing on 251.073133365 meters SLAMing on 251.103133365 meters Centerline goodness : 0.109918 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 9.99129288e-01 8.99446122e-04 -4.17115906e-02 -1.43386092e+00] [-8.66190118e-04 9.99999292e-01 8.15350581e-04 2.09017640e-01] [ 4.17122945e-02 -7.78510478e-04 9.99129360e-01 -2.68587062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.133133365 meters Centerline goodness : 0.159404 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 9.99134663e-01 7.86506476e-04 -4.15849364e-02 -1.43445540e+00] [-7.60923525e-04 9.99999511e-01 6.31022290e-04 2.09639033e-01] [ 4.15854124e-02 -5.98833286e-04 9.99134773e-01 -2.68193286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.163133365 meters SLAMing on 251.193133365 meters SLAMing on 251.223133365 meters SLAMing on 251.253133365 meters SLAMing on 251.283133365 meters SLAMing on 251.313133365 meters SLAMing on 251.343133365 meters SLAMing on 251.373133365 meters SLAMing on 251.40313336499997 meters SLAMing on 251.43313336499997 meters SLAMing on 251.46313336499998 meters SLAMing on 251.49313336499998 meters Centerline goodness : 0.104010 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.23, Z:-0.27 [[ 0.99902034 0.01684909 -0.04092028 -1.41377566] [-0.01668618 0.99985145 0.00431953 0.22667523] [ 0.04098698 -0.00363249 0.99915308 -0.26576387] [ 0. 0. 0. 1. ]] SLAMing on 251.52313336499998 meters SLAMing on 251.55313336499998 meters Centerline goodness : 0.147375 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.23, Z:-0.27 [[ 0.99901796 0.01676786 -0.04101162 -1.41382569] [-0.01663238 0.99985504 0.00364235 0.2306765 ] [ 0.04106675 -0.00295665 0.99915203 -0.26572578] [ 0. 0. 0. 1. ]] SLAMing on 251.58313336499998 meters Centerline goodness : 0.150499 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.24, Z:-0.27 [[ 0.99917136 0.00892872 -0.03970996 -1.43637877] [-0.00877237 0.99995308 0.00410963 0.23687169] [ 0.03974479 -0.00375788 0.9992028 -0.26726361] [ 0. 0. 0. 1. ]] SLAMing on 251.61313336499998 meters SLAMing on 251.64313336499998 meters SLAMing on 251.67313336499998 meters SLAMing on 251.70313336499999 meters Centerline goodness : 0.299341 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.25, Z:-0.27 [[ 9.99167103e-01 -5.13234860e-04 -4.08024211e-02 -1.41508026e+00] [ 6.64096251e-04 9.99992994e-01 3.68389569e-03 2.45370542e-01] [ 4.08002445e-02 -3.70792412e-03 9.99160443e-01 -2.65965658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.733133365 meters Centerline goodness : 0.334656 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.27 [[ 9.99190047e-01 -8.63472139e-04 -4.02306309e-02 -1.41673236e+00] [ 1.01434689e-03 9.99992529e-01 3.72998446e-03 2.43906322e-01] [ 4.02271096e-02 -3.76777117e-03 9.99183458e-01 -2.65321229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.763133365 meters Centerline goodness : 0.042877 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.27 [[ 9.99186064e-01 -7.83190953e-04 -4.03310692e-02 -1.41643524e+00] [ 9.44819419e-04 9.99991599e-01 3.98863769e-03 2.42823983e-01] [ 4.03276065e-02 -4.02349677e-03 9.99178410e-01 -2.65299349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.793133365 meters Centerline goodness : 0.106438 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.27 [[ 9.99171837e-01 -7.85201600e-04 -4.06819859e-02 -1.41534096e+00] [ 9.52779386e-04 9.99991141e-01 4.09998878e-03 2.42127323e-01] [ 4.06784061e-02 -4.13535427e-03 9.99163733e-01 -2.65612272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.823133365 meters Centerline goodness : 0.105159 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.24, Z:-0.27 [[ 9.99124224e-01 -1.25594579e-03 -4.18235205e-02 -1.41226193e+00] [ 1.41773038e-03 9.99991627e-01 3.83883264e-03 2.41307648e-01] [ 4.18183490e-02 -3.89476516e-03 9.99117639e-01 -2.66079779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.853133365 meters Centerline goodness : 0.098577 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.24, Z:-0.27 [[ 9.99128526e-01 -1.29321816e-03 -4.17194994e-02 -1.41287806e+00] [ 1.45801741e-03 9.99991254e-01 3.91998799e-03 2.40592813e-01] [ 4.17140651e-02 -3.97739957e-03 9.99121673e-01 -2.65461539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.883133365 meters Centerline goodness : 0.042209 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.24, Z:-0.26 [[ 9.99145128e-01 -1.27401365e-03 -4.13205814e-02 -1.41453427e+00] [ 1.44567112e-03 9.99990449e-01 4.12467017e-03 2.39654038e-01] [ 4.13149318e-02 -4.18088007e-03 9.99137426e-01 -2.64345084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.913133365 meters Centerline goodness : 0.043189 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.26 [[ 9.99161225e-01 -1.27415411e-03 -4.09294810e-02 -1.41587049e+00] [ 1.45290750e-03 9.99989536e-01 4.33790166e-03 2.38441776e-01] [ 4.09235256e-02 -4.39372989e-03 9.99152621e-01 -2.63622280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.943133365 meters Centerline goodness : 0.226308 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.26 [[ 9.99162865e-01 -1.34878473e-03 -4.08870289e-02 -1.41583226e+00] [ 1.53201050e-03 9.99988924e-01 4.45026748e-03 2.37258056e-01] [ 4.08805736e-02 -4.50918137e-03 9.99153865e-01 -2.63699377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.973133365 meters Centerline goodness : 0.099596 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.24, Z:-0.26 [[ 0.99914255 -0.00148154 -0.04137597 -1.41431506] [ 0.00167018 0.99998837 0.00452491 0.23570356] [ 0.04136879 -0.00459013 0.9991334 -0.2641264 ] [ 0. 0. 0. 1. ]] SLAMing on 252.003133365 meters Centerline goodness : 0.103548 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.23, Z:-0.26 [[ 0.99911698 -0.00161745 -0.04198384 -1.41241387] [ 0.00181393 0.99998758 0.00464225 0.23396204] [ 0.04197581 -0.00471431 0.9991075 -0.26470883] [ 0. 0. 0. 1. ]] SLAMing on 252.033133365 meters SLAMing on 252.063133365 meters SLAMing on 252.093133365 meters SLAMing on 252.123133365 meters SLAMing on 252.15313336499997 meters Centerline goodness : 0.094677 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.21, Z:-0.26 [[ 0.99913137 -0.0075319 -0.040985 -1.41534261] [ 0.00761102 0.99996946 0.00177481 0.21263519] [ 0.04097038 -0.0020852 0.99915819 -0.26292514] [ 0. 0. 0. 1. ]] SLAMing on 252.18313336499997 meters SLAMing on 252.21313336499998 meters Centerline goodness : 0.088188 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.21, Z:-0.26 [[ 0.99912849 -0.00713928 -0.04112537 -1.41432495] [ 0.00724885 0.99997056 0.00251566 0.2095421 ] [ 0.0411062 -0.00281158 0.99915083 -0.26385169] [ 0. 0. 0. 1. ]] SLAMing on 252.24313336499998 meters SLAMing on 252.27313336499998 meters Centerline goodness : 0.101335 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.21, Z:-0.26 [[ 0.99913161 -0.00688873 -0.04109222 -1.41386987] [ 0.00701524 0.99997108 0.00293531 0.20707484] [ 0.04107081 -0.00322103 0.99915105 -0.26461081] [ 0. 0. 0. 1. ]] SLAMing on 252.30313336499998 meters SLAMing on 252.33313336499998 meters SLAMing on 252.36313336499998 meters Centerline goodness : 0.161185 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.21, Z:-0.27 [[ 0.99910177 -0.00655787 -0.04186467 -1.41170085] [ 0.00669938 0.99997231 0.00324079 0.20567453] [ 0.04184226 -0.00351834 0.99911803 -0.26522007] [ 0. 0. 0. 1. ]] SLAMing on 252.39313336499998 meters Centerline goodness : 0.094418 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.21, Z:-0.27 [[ 0.99910439 -0.00648066 -0.04181408 -1.41186684] [ 0.00662631 0.99997245 0.00334559 0.20518286] [ 0.04179125 -0.00361966 0.99911981 -0.26521773] [ 0. 0. 0. 1. ]] SLAMing on 252.42313336499998 meters Centerline goodness : 0.101168 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.20, Z:-0.26 [[ 0.99911668 -0.00639346 -0.04153299 -1.41275142] [ 0.00654351 0.99997254 0.00347794 0.20460288] [ 0.04150962 -0.00374663 0.99913108 -0.26493178] [ 0. 0. 0. 1. ]] SLAMing on 252.45313336499999 meters SLAMing on 252.483133365 meters Centerline goodness : 0.150068 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99914798 0.00266215 -0.04118531 -1.43384149] [-0.00254433 0.99999252 0.002913 0.19972661] [ 0.04119276 -0.00280573 0.99914728 -0.26657607] [ 0. 0. 0. 1. ]] SLAMing on 252.513133365 meters Centerline goodness : 0.155510 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99913547 0.00263489 -0.04148935 -1.4329948 ] [-0.00252429 0.99999312 0.00271798 0.2007717 ] [ 0.04149622 -0.0026109 0.99913525 -0.2668771 ] [ 0. 0. 0. 1. ]] SLAMing on 252.543133365 meters SLAMing on 252.573133365 meters Centerline goodness : 0.161762 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99911701 0.0026032 -0.04193359 -1.43228098] [-0.00250589 0.99999404 0.00237305 0.2031078 ] [ 0.04193952 -0.00226587 0.99911758 -0.26654825] [ 0. 0. 0. 1. ]] SLAMing on 252.603133365 meters Centerline goodness : 0.161762 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99911701 0.0026032 -0.04193359 -1.43228098] [-0.00250589 0.99999404 0.00237305 0.2031078 ] [ 0.04193952 -0.00226587 0.99911758 -0.26654825] [ 0. 0. 0. 1. ]] SLAMing on 252.633133365 meters SLAMing on 252.663133365 meters SLAMing on 252.693133365 meters SLAMing on 252.723133365 meters SLAMing on 252.753133365 meters Centerline goodness : 0.110254 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.21, Z:-0.27 [[ 0.99928762 -0.00540491 -0.03735033 -1.45826224] [ 0.00547883 0.99998323 0.00187709 0.2109487 ] [ 0.03733956 -0.00208039 0.99930047 -0.26668475] [ 0. 0. 0. 1. ]] SLAMing on 252.783133365 meters SLAMing on 252.813133365 meters SLAMing on 252.843133365 meters Centerline goodness : 0.089556 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.21, Z:-0.27 [[ 9.99479190e-01 -2.52613168e-03 -3.21709235e-02 -1.43800535e+00] [ 2.49655049e-03 9.99996423e-01 -9.59636317e-04 2.10133342e-01] [ 3.21732326e-02 8.78820194e-04 9.99481921e-01 -2.65734851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.873133365 meters Centerline goodness : 0.097251 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.21, Z:-0.27 [[ 9.99480625e-01 -2.46794765e-03 -3.21308291e-02 -1.43809188e+00] [ 2.44884463e-03 9.99996801e-01 -6.33876985e-04 2.08065067e-01] [ 3.21322906e-02 5.54864357e-04 9.99483471e-01 -2.65658744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90313336499997 meters Centerline goodness : 0.108979 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.21, Z:-0.27 [[ 9.99479375e-01 -2.33883888e-03 -3.21793104e-02 -1.43779233e+00] [ 2.33283310e-03 9.99997254e-01 -2.24177951e-04 2.05893468e-01] [ 3.21797463e-02 1.48992278e-04 9.99482087e-01 -2.65848599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93313336499997 meters Centerline goodness : 0.208107 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.20, Z:-0.27 [[ 9.99477867e-01 -2.19078590e-03 -3.22365237e-02 -1.43720562e+00] [ 2.19861016e-03 9.99997562e-01 2.07269044e-04 2.03660165e-01] [ 3.22359910e-02 -2.78036370e-04 9.99480247e-01 -2.66466847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96313336499998 meters SLAMing on 252.99313336499998 meters Centerline goodness : 0.195569 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99945353 -0.00551519 -0.03259186 -1.43497221] [ 0.00544517 0.99998267 -0.00223665 0.19713877] [ 0.03260363 0.00205796 0.99946624 -0.26807838] [ 0. 0. 0. 1. ]] SLAMing on 253.02313336499998 meters SLAMing on 253.05313336499998 meters Centerline goodness : 0.245433 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.19, Z:-0.27 [[ 9.99434296e-01 -5.15490937e-03 -3.32342449e-02 -1.43283511e+00] [ 5.11413356e-03 9.99986062e-01 -1.31181102e-03 1.92406130e-01] [ 3.32405439e-02 1.14110455e-03 9.99446729e-01 -2.68879386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08313336499998 meters SLAMing on 253.11313336499998 meters Centerline goodness : 0.097973 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.18, Z:-0.27 [[ 0.99941485 0.00241735 -0.03411898 -1.41259867] [-0.00247902 0.99999537 -0.00176546 0.18228128] [ 0.03411455 0.00184901 0.99941622 -0.26702011] [ 0. 0. 0. 1. ]] SLAMing on 253.14313336499998 meters SLAMing on 253.17313336499998 meters Centerline goodness : 0.098235 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.18, Z:-0.27 [[ 9.99346703e-01 3.96067389e-03 -3.59232438e-02 -1.45785132e+00] [-3.99137106e-03 9.99991728e-01 -7.82846333e-04 1.75982748e-01] [ 3.59198460e-02 9.25717898e-04 9.99354245e-01 -2.67981168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20313336499999 meters Centerline goodness : 0.093545 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99346720e-01 4.04019049e-03 -3.59139323e-02 -1.45757022e+00] [-4.06516983e-03 9.99991543e-01 -6.22538627e-04 1.74952324e-01] [ 3.59111135e-02 7.68128169e-04 9.99354693e-01 -2.68501089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.233133365 meters SLAMing on 253.263133365 meters Centerline goodness : 0.094741 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99337720e-01 4.13985300e-03 -3.61522121e-02 -1.45667967e+00] [-4.15450945e-03 9.99991315e-01 -3.30296665e-04 1.72546827e-01] [ 3.61505307e-02 4.80272623e-04 9.99346241e-01 -2.69054806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.293133365 meters Centerline goodness : 0.109979 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99325770e-01 4.40530018e-03 -3.64499545e-02 -1.45592010e+00] [-4.39890269e-03 9.99990292e-01 2.55709587e-04 1.69499340e-01] [ 3.64507271e-02 -9.51973773e-05 9.99335447e-01 -2.69123101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.323133365 meters SLAMing on 253.353133365 meters Centerline goodness : 0.094655 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99331451e-01 4.65078980e-03 -3.62632124e-02 -1.45620130e+00] [-4.62153524e-03 9.99988924e-01 8.90510396e-04 1.66001932e-01] [ 3.62669523e-02 -7.22323333e-04 9.99341877e-01 -2.69294972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.383133365 meters Centerline goodness : 0.139287 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99941478 -0.00337406 -0.03404001 -1.43793765] [ 0.00345327 0.99999146 0.00226843 0.16694327] [ 0.03403206 -0.00238465 0.9994179 -0.26810905] [ 0. 0. 0. 1. ]] SLAMing on 253.413133365 meters Centerline goodness : 0.086212 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99941674 -0.00328124 -0.03399131 -1.4380368 ] [ 0.00336853 0.99999117 0.00251094 0.16568932] [ 0.03398278 -0.00262398 0.99941897 -0.26810895] [ 0. 0. 0. 1. ]] SLAMing on 253.443133365 meters Centerline goodness : 0.103242 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99941246 -0.00319696 -0.03412504 -1.43758037] [ 0.00329021 0.999991 0.00267692 0.16497571] [ 0.03411617 -0.00278762 0.99941399 -0.26833028] [ 0. 0. 0. 1. ]] SLAMing on 253.473133365 meters Centerline goodness : 0.125052 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99940818 -0.00310231 -0.03425891 -1.43710091] [ 0.00319975 0.99999099 0.00278973 0.16484017] [ 0.03424994 -0.0028977 0.9994091 -0.26859611] [ 0. 0. 0. 1. ]] SLAMing on 253.503133365 meters Centerline goodness : 0.225456 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99940292 -0.00300063 -0.034421 -1.43656649] [ 0.00309917 0.99999125 0.00280964 0.16541516] [ 0.03441227 -0.00291464 0.99940347 -0.26887665] [ 0. 0. 0. 1. ]] SLAMing on 253.533133365 meters Centerline goodness : 0.097229 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99940357 -0.00303506 -0.03439895 -1.43646931] [ 0.00312646 0.99999172 0.0026035 0.16679421] [ 0.03439076 -0.0027095 0.99940479 -0.26916394] [ 0. 0. 0. 1. ]] SLAMing on 253.563133365 meters Centerline goodness : 0.207154 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99940454 -0.00314324 -0.03436099 -1.43654778] [ 0.0032218 0.99999232 0.00223092 0.16871114] [ 0.03435372 -0.00234029 0.999407 -0.26932271] [ 0. 0. 0. 1. ]] SLAMing on 253.593133365 meters Centerline goodness : 0.177982 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99941293 -0.003277 -0.03410353 -1.4374127 ] [ 0.00333107 0.99999328 0.00152877 0.17272339] [ 0.03409829 -0.00164147 0.99941714 -0.26927496] [ 0. 0. 0. 1. ]] SLAMing on 253.623133365 meters Centerline goodness : 0.091718 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 9.99421810e-01 -3.30294299e-03 -3.38398596e-02 -1.43835365e+00] [ 3.35086030e-03 9.99993462e-01 1.35938717e-03 1.74093429e-01] [ 3.38351484e-02 -1.47199383e-03 9.99426343e-01 -2.68880216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65313336499997 meters Centerline goodness : 0.133547 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 9.99429469e-01 -3.24909296e-03 -3.36181584e-02 -1.43916517e+00] [ 3.29841900e-03 9.99993563e-01 1.41188901e-03 1.74376857e-01] [ 3.36133547e-02 -1.52197025e-03 9.99433753e-01 -2.68450487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68313336499997 meters Centerline goodness : 0.214815 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.99947909 0.00176352 -0.0322249 -1.46121052] [-0.00182342 0.99999666 -0.00182949 0.16827163] [ 0.03222157 0.0018873 0.99947897 -0.26932488] [ 0. 0. 0. 1. ]] SLAMing on 253.71313336499998 meters Centerline goodness : 0.095629 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.99947327 0.00165737 -0.03241028 -1.4607368 ] [-0.00171421 0.99999704 -0.00172588 0.16687755] [ 0.03240733 0.00178053 0.99947316 -0.26929931] [ 0. 0. 0. 1. ]] SLAMing on 253.74313336499998 meters Centerline goodness : 0.112227 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.99946037 0.0016195 -0.03280763 -1.45967831] [-0.00166977 0.99999747 -0.0015048 0.16508984] [ 0.03280511 0.00155877 0.99946055 -0.26940019] [ 0. 0. 0. 1. ]] SLAMing on 253.77313336499998 meters Centerline goodness : 0.095819 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 9.99455000e-01 1.72939090e-03 -3.29653206e-02 -1.45923023e+00] [-1.76783770e-03 9.99997791e-01 -1.13716926e-03 1.63157227e-01] [ 3.29632812e-02 1.19482684e-03 9.99455849e-01 -2.69390323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80313336499998 meters SLAMing on 253.83313336499998 meters Centerline goodness : 0.194388 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 9.99482203e-01 1.78255896e-03 -3.21270702e-02 -1.46153322e+00] [-1.80424428e-03 9.99998164e-01 -6.46008402e-04 1.60324812e-01] [ 3.21258597e-02 7.03638984e-04 9.99483584e-01 -2.68687807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86313336499998 meters SLAMing on 253.89313336499998 meters Centerline goodness : 0.098726 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 9.99471617e-01 1.79150196e-03 -3.24542395e-02 -1.46008945e+00] [-1.81453367e-03 9.99998122e-01 -6.80228590e-04 1.59986575e-01] [ 3.24529599e-02 7.38758479e-04 9.99472991e-01 -2.69773868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92313336499998 meters SLAMing on 253.95313336499999 meters Centerline goodness : 0.146326 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.16, Z:-0.27 [[ 0.99925678 0.0103148 -0.0371415 -1.47423545] [-0.01038423 0.99994468 -0.00167694 0.15876348] [ 0.03712215 0.00206138 0.99930861 -0.2735913 ] [ 0. 0. 0. 1. ]] SLAMing on 253.983133365 meters SLAMing on 254.013133365 meters Centerline goodness : 0.136631 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 9.99365620e-01 2.80608879e-03 -3.55032785e-02 -1.45632766e+00] [-2.81368731e-03 9.99996028e-01 -1.64061299e-04 1.63085829e-01] [ 3.55026771e-02 2.63852346e-04 9.99369546e-01 -2.71628572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.043133365 meters Centerline goodness : 0.111201 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 9.99371231e-01 2.86593552e-03 -3.53401853e-02 -1.45708869e+00] [-2.86425700e-03 9.99995893e-01 9.81238370e-05 1.61522149e-01] [ 3.53403214e-02 3.16123327e-06 9.99375336e-01 -2.70990699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.073133365 meters Centerline goodness : 0.138975 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 9.99370906e-01 2.86987736e-03 -3.53490497e-02 -1.45707683e+00] [-2.86001105e-03 9.99995856e-01 3.29673178e-04 1.59737765e-01] [ 3.53498493e-02 -2.28367110e-04 9.99374973e-01 -2.70907573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.103133365 meters Centerline goodness : 0.140920 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 9.99367910e-01 2.86108323e-03 -3.54343697e-02 -1.45691100e+00] [-2.84456171e-03 9.99995821e-01 5.16661846e-04 1.58269613e-01] [ 3.54356999e-02 -4.15540018e-04 9.99371872e-01 -2.70782131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.133133365 meters Centerline goodness : 0.139037 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99942851 -0.00475845 -0.0334666 -1.43859352] [ 0.00483557 0.99998584 0.00222396 0.16117828] [ 0.03345554 -0.00238452 0.99943736 -0.26881952] [ 0. 0. 0. 1. ]] SLAMing on 254.163133365 meters Centerline goodness : 0.174365 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99944373 -0.00461663 -0.03302918 -1.44015403] [ 0.00470175 0.99998582 0.00249991 0.16033373] [ 0.03301717 -0.00265382 0.99945126 -0.26800718] [ 0. 0. 0. 1. ]] SLAMing on 254.193133365 meters Centerline goodness : 0.104976 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99945452 -0.00452441 -0.03271376 -1.44119113] [ 0.00461552 0.99998568 0.00271013 0.15954897] [ 0.03270102 -0.00285964 0.99946109 -0.2675278 ] [ 0. 0. 0. 1. ]] SLAMing on 254.223133365 meters Centerline goodness : 0.215372 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.9994551 -0.00449457 -0.03270005 -1.44122127] [ 0.00458932 0.99998548 0.00282301 0.15884526] [ 0.03268689 -0.00297154 0.99946122 -0.26750997] [ 0. 0. 0. 1. ]] SLAMing on 254.253133365 meters SLAMing on 254.283133365 meters Centerline goodness : 0.225540 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99943399 -0.00450906 -0.0333373 -1.43959979] [ 0.00460925 0.99998509 0.00292925 0.15768474] [ 0.03332359 -0.00308126 0.99943987 -0.26763949] [ 0. 0. 0. 1. ]] SLAMing on 254.313133365 meters Centerline goodness : 0.130489 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99943804 -0.00440958 -0.0332288 -1.4400603 ] [ 0.00451669 0.99998484 0.00314903 0.15666559] [ 0.03321441 -0.00329735 0.99944281 -0.26728321] [ 0. 0. 0. 1. ]] SLAMing on 254.343133365 meters Centerline goodness : 0.111109 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.15, Z:-0.27 [[ 0.99951886 0.00332525 -0.03083818 -1.42165432] [-0.00326916 0.99999291 0.00186888 0.1542359 ] [ 0.03084417 -0.00176716 0.99952264 -0.26533411] [ 0. 0. 0. 1. ]] SLAMing on 254.373133365 meters Centerline goodness : 0.099129 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.15, Z:-0.26 [[ 0.99952878 0.00334165 -0.03051305 -1.42267622] [-0.00328284 0.99999266 0.00197743 0.15347012] [ 0.03051943 -0.00187633 0.99953241 -0.26495364] [ 0. 0. 0. 1. ]] SLAMing on 254.40313336499997 meters Centerline goodness : 0.049284 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.9995218 -0.00494535 -0.03052398 -1.44307524] [ 0.00503706 0.99998303 0.00292854 0.15564543] [ 0.03050898 -0.00308089 0.99952974 -0.26697852] [ 0. 0. 0. 1. ]] SLAMing on 254.43313336499997 meters SLAMing on 254.46313336499998 meters SLAMing on 254.49313336499998 meters SLAMing on 254.52313336499998 meters Centerline goodness : 0.134581 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.16, Z:-0.27 [[ 0.99946551 0.00351808 -0.03250105 -1.41883539] [-0.00345387 0.99999197 0.00203138 0.15523912] [ 0.03250793 -0.00191804 0.99946964 -0.26629205] [ 0. 0. 0. 1. ]] SLAMing on 254.55313336499998 meters Centerline goodness : 0.135764 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.16, Z:-0.27 [[ 0.99947113 0.00349516 -0.03233016 -1.41940171] [-0.00343618 0.99999233 0.00187952 0.15607887] [ 0.03233648 -0.00176743 0.99947548 -0.26615124] [ 0. 0. 0. 1. ]] SLAMing on 254.58313336499998 meters SLAMing on 254.61313336499998 meters Centerline goodness : 0.133474 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.16, Z:-0.27 [[ 0.99947928 0.00365151 -0.03205998 -1.42034584] [-0.00359599 0.99999193 0.00178915 0.15750354] [ 0.03206625 -0.00167293 0.99948435 -0.26581168] [ 0. 0. 0. 1. ]] SLAMing on 254.64313336499998 meters SLAMing on 254.67313336499998 meters Centerline goodness : 0.173916 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.16, Z:-0.27 [[ 0.99944415 0.0040889 -0.03308572 -1.41709211] [-0.00403523 0.99999043 0.00168875 0.15977828] [ 0.03309231 -0.0015543 0.99945109 -0.26742014] [ 0. 0. 0. 1. ]] SLAMing on 254.70313336499999 meters Centerline goodness : 0.131511 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.16, Z:-0.27 [[ 9.99438659e-01 4.02117314e-03 -3.32595468e-02 -1.41646138e+00] [-3.97548914e-03 9.99991062e-01 1.43957641e-03 1.60989041e-01] [ 3.32650383e-02 -1.30654535e-03 9.99445711e-01 -2.67873020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.733133365 meters Centerline goodness : 0.104734 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99942094 -0.00401599 -0.03378846 -1.43694572] [ 0.00410049 0.99998864 0.00243193 0.1650366 ] [ 0.03377831 -0.00256907 0.99942605 -0.26955628] [ 0. 0. 0. 1. ]] SLAMing on 254.763133365 meters Centerline goodness : 0.172357 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.9994226 -0.00403139 -0.0337373 -1.43727427] [ 0.0041078 0.99998915 0.00219565 0.16675759] [ 0.03372809 -0.00233297 0.99942832 -0.26937845] [ 0. 0. 0. 1. ]] SLAMing on 254.793133365 meters Centerline goodness : 0.133747 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.17, Z:-0.27 [[ 0.99938304 -0.00186786 -0.03507213 -1.43268741] [ 0.00199809 0.99999124 0.00367835 0.17195166] [ 0.03506495 -0.00374615 0.99937801 -0.2710679 ] [ 0. 0. 0. 1. ]] SLAMing on 254.823133365 meters Centerline goodness : 0.139102 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.17, Z:-0.27 [[ 0.99937483 -0.00201708 -0.03529711 -1.43185616] [ 0.00213163 0.99999258 0.00320791 0.17448152] [ 0.03529037 -0.00328114 0.99937171 -0.27167987] [ 0. 0. 0. 1. ]] SLAMing on 254.853133365 meters Centerline goodness : 0.134049 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.18, Z:-0.27 [[ 0.99937063 -0.00216888 -0.03540665 -1.43138838] [ 0.00226696 0.9999937 0.00273037 0.17719611] [ 0.0354005 -0.00280892 0.99936926 -0.27214035] [ 0. 0. 0. 1. ]] SLAMing on 254.883133365 meters Centerline goodness : 0.140528 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.18, Z:-0.27 [[ 0.99937076 -0.00227451 -0.03539643 -1.43153163] [ 0.00236018 0.99999439 0.00237875 0.17934262] [ 0.03539082 -0.0024608 0.99937052 -0.27208344] [ 0. 0. 0. 1. ]] SLAMing on 254.913133365 meters Centerline goodness : 0.137543 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.18, Z:-0.27 [[ 0.99937788 -0.00236471 -0.03518888 -1.43240318] [ 0.00244181 0.99999471 0.00214827 0.18081882] [ 0.03518361 -0.00223286 0.99937837 -0.27158128] [ 0. 0. 0. 1. ]] SLAMing on 254.943133365 meters Centerline goodness : 0.097855 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.18, Z:-0.27 [[ 9.99545157e-01 -4.22242272e-03 -2.98605263e-02 -1.47656306e+00] [ 4.26559103e-03 9.99989947e-01 1.38211149e-03 1.78655975e-01] [ 2.98543903e-02 -1.50885564e-03 9.99553120e-01 -2.73649313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.973133365 meters Centerline goodness : 0.139376 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.18, Z:-0.27 [[ 9.99588744e-01 1.56922917e-03 -2.86335377e-02 -1.45579011e+00] [-1.60589064e-03 9.99997920e-01 -1.25741727e-03 1.77826892e-01] [ 2.86315049e-02 1.30288248e-03 9.99589185e-01 -2.72770389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.003133365 meters Centerline goodness : 0.089735 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99581142e-01 1.40857560e-03 -2.89060108e-02 -1.45488613e+00] [-1.44127883e-03 9.99998345e-01 -1.11056056e-03 1.76239325e-01] [ 2.89043986e-02 1.15175701e-03 9.99581517e-01 -2.73052322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.033133365 meters Centerline goodness : 0.099069 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:-0.27 [[ 9.99573342e-01 1.27690043e-03 -2.91805177e-02 -1.45396791e+00] [-1.30521854e-03 9.99998696e-01 -9.51418743e-04 1.74567051e-01] [ 2.91792648e-02 9.89099766e-04 9.99573705e-01 -2.73318311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.063133365 meters SLAMing on 255.093133365 meters Centerline goodness : 0.191549 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.99960451 -0.00163274 -0.02807404 -1.45813892] [ 0.00154364 0.9999937 -0.00319512 0.17020742] [ 0.02807908 0.00315052 0.99960074 -0.27130027] [ 0. 0. 0. 1. ]] SLAMing on 255.123133365 meters SLAMing on 255.15313336499997 meters Centerline goodness : 0.099935 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99593565e-01 -1.47122035e-03 -2.84699930e-02 -1.45688675e+00] [ 1.38038317e-03 9.99993895e-01 -3.21001928e-03 1.71354003e-01] [ 2.84745419e-02 3.16941511e-03 9.99589493e-01 -2.71867464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18313336499997 meters SLAMing on 255.21313336499998 meters Centerline goodness : 0.206587 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99585031e-01 -1.40450123e-03 -2.87713845e-02 -1.45603511e+00] [ 1.30459287e-03 9.99993056e-01 -3.49096738e-03 1.73299941e-01] [ 2.87760878e-02 3.45198380e-03 9.99579922e-01 -2.72261981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24313336499998 meters Centerline goodness : 0.100591 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99586271e-01 -1.40568991e-03 -2.87282314e-02 -1.45626073e+00] [ 1.30288480e-03 9.99992682e-01 -3.59694476e-03 1.74082436e-01] [ 2.87330774e-02 3.55802702e-03 9.99580787e-01 -2.72181409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27313336499998 meters Centerline goodness : 0.111667 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99586379e-01 -1.36759260e-03 -2.87263072e-02 -1.45631603e+00] [ 1.26552840e-03 9.99992824e-01 -3.57086733e-03 1.74097205e-01] [ 2.87309845e-02 3.53303639e-03 9.99580936e-01 -2.72148699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30313336499998 meters SLAMing on 255.33313336499998 meters SLAMing on 255.36313336499998 meters SLAMing on 255.39313336499998 meters Centerline goodness : 0.109150 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.99959528 -0.00530045 -0.02794956 -1.45866246] [ 0.00512209 0.99996609 -0.00644906 0.16842996] [ 0.0279828 0.00630329 0.99958853 -0.27106493] [ 0. 0. 0. 1. ]] SLAMing on 255.42313336499998 meters SLAMing on 255.45313336499999 meters Centerline goodness : 0.108158 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.9995895 -0.00548858 -0.02811966 -1.45810359] [ 0.00531737 0.99996689 -0.00615982 0.16558796] [ 0.02815254 0.00600777 0.99958558 -0.27112992] [ 0. 0. 0. 1. ]] SLAMing on 255.483133365 meters Centerline goodness : 0.149724 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.16, Z:-0.27 [[ 0.99957652 0.00234532 -0.02900472 -1.47563683] [-0.00256318 0.99996877 -0.00747622 0.15878067] [ 0.02898628 0.0075474 0.99955132 -0.27331824] [ 0. 0. 0. 1. ]] SLAMing on 255.513133365 meters SLAMing on 255.543133365 meters Centerline goodness : 0.110009 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.16, Z:-0.27 [[ 0.99956164 0.00236079 -0.0295118 -1.47416123] [-0.00258101 0.99996909 -0.00742619 0.15844195] [ 0.02949335 0.00749911 0.99953685 -0.27376232] [ 0. 0. 0. 1. ]] SLAMing on 255.573133365 meters Centerline goodness : 0.048251 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.16, Z:-0.27 [[ 0.99955816 0.00231258 -0.02963341 -1.4739276 ] [-0.00253615 0.99996859 -0.00750929 0.15861819] [ 0.02961511 0.00758113 0.99953263 -0.27371386] [ 0. 0. 0. 1. ]] SLAMing on 255.603133365 meters Centerline goodness : 0.125298 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.16, Z:-0.27 [[ 0.99956119 0.00230473 -0.02953173 -1.47427988] [-0.00252877 0.99996829 -0.00755133 0.15882814] [ 0.02951339 0.00762269 0.99953532 -0.27356722] [ 0. 0. 0. 1. ]] SLAMing on 255.633133365 meters Centerline goodness : 0.163922 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.16, Z:-0.27 [[ 0.99957007 0.00234172 -0.02922669 -1.47524864] [-0.00256273 0.99996839 -0.00752672 0.15908761] [ 0.02920814 0.00759839 0.99954447 -0.27318869] [ 0. 0. 0. 1. ]] SLAMing on 255.663133365 meters Centerline goodness : 0.213459 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 0.99963792 -0.00506959 -0.02642607 -1.4586464 ] [ 0.00491733 0.99997095 -0.00582344 0.16480645] [ 0.02645483 0.00569139 0.99963381 -0.2714573 ] [ 0. 0. 0. 1. ]] SLAMing on 255.693133365 meters Centerline goodness : 0.194317 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 0.99964618 -0.00507582 -0.02611052 -1.45949261] [ 0.00492567 0.99997098 -0.00581194 0.16470842] [ 0.02613926 0.00568128 0.99964217 -0.2713267 ] [ 0. 0. 0. 1. ]] SLAMing on 255.723133365 meters Centerline goodness : 0.100254 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 0.99964778 -0.00506628 -0.02605076 -1.45966197] [ 0.00491693 0.99997113 -0.00579405 0.1647525 ] [ 0.02607936 0.00566392 0.99964383 -0.27127811] [ 0. 0. 0. 1. ]] SLAMing on 255.753133365 meters Centerline goodness : 0.243869 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 0.99964581 -0.00499347 -0.02614035 -1.45945667] [ 0.00484605 0.99997201 -0.0057 0.16467202] [ 0.02616808 0.00557131 0.99964203 -0.27130905] [ 0. 0. 0. 1. ]] SLAMing on 255.783133365 meters Centerline goodness : 0.193935 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 0.99964372 -0.00493689 -0.026231 -1.45918518] [ 0.00478996 0.9999725 -0.00566139 0.16486765] [ 0.02625823 0.00553373 0.99963988 -0.27137848] [ 0. 0. 0. 1. ]] SLAMing on 255.813133365 meters SLAMing on 255.843133365 meters Centerline goodness : 0.115620 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.99965321 -0.0048454 -0.025884 -1.4603072 ] [ 0.00469518 0.9999718 -0.00586095 0.16678753] [ 0.02591167 0.00573739 0.99964777 -0.27103466] [ 0. 0. 0. 1. ]] SLAMing on 255.873133365 meters SLAMing on 255.90313336499997 meters SLAMing on 255.93313336499997 meters SLAMing on 255.96313336499998 meters Centerline goodness : 0.089140 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.99966501 -0.00484911 -0.02542333 -1.4615852 ] [ 0.00470227 0.99997194 -0.00583242 0.16691042] [ 0.0254509 0.00571092 0.99965976 -0.27073351] [ 0. 0. 0. 1. ]] SLAMing on 255.99313336499998 meters SLAMing on 256.023133365 meters Centerline goodness : 0.110401 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 0.999642 -0.00578431 -0.02612299 -1.45980571] [ 0.00562863 0.99996598 -0.00602915 0.16268076] [ 0.02615698 0.00587995 0.99964055 -0.27074584] [ 0. 0. 0. 1. ]] SLAMing on 256.053133365 meters Centerline goodness : 0.185131 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 0.99963392 -0.00571318 -0.02644584 -1.45877277] [ 0.0055628 0.99996796 -0.00575636 0.16113087] [ 0.02647788 0.00560714 0.99963367 -0.27108058] [ 0. 0. 0. 1. ]] SLAMing on 256.083133365 meters SLAMing on 256.113133365 meters SLAMing on 256.143133365 meters Centerline goodness : 0.101979 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.15, Z:-0.27 [[ 0.99962088 0.00177462 -0.02747612 -1.47671976] [-0.00197787 0.99997087 -0.0073722 0.15279579] [ 0.02746224 0.00742375 0.99959527 -0.27337715] [ 0. 0. 0. 1. ]] SLAMing on 256.173133365 meters SLAMing on 256.203133365 meters SLAMing on 256.233133365 meters Centerline goodness : 0.050687 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.15, Z:-0.27 [[ 0.99960972 0.00187269 -0.0278728 -1.47513592] [-0.00207445 0.99997184 -0.00721168 0.15202696] [ 0.02785851 0.00726669 0.99958546 -0.2744419 ] [ 0. 0. 0. 1. ]] SLAMing on 256.263133365 meters Centerline goodness : 0.099036 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.15, Z:-0.27 [[ 0.99960318 0.00187407 -0.02810631 -1.47495539] [-0.00207114 0.99997347 -0.00698408 0.15018311] [ 0.02809247 0.00703952 0.99958054 -0.27392097] [ 0. 0. 0. 1. ]] SLAMing on 256.29313336499996 meters SLAMing on 256.323133365 meters SLAMing on 256.35313336499996 meters SLAMing on 256.383133365 meters Centerline goodness : 0.155125 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.14, Z:-0.27 [[ 9.99652736e-01 -1.93418222e-04 -2.63509044e-02 -1.43220000e+00] [ 9.30547776e-06 9.99975591e-01 -6.98690459e-03 1.42920136e-01] [ 2.63516126e-02 6.98423308e-03 9.99628337e-01 -2.72686383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41313336499996 meters Centerline goodness : 0.155125 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.14, Z:-0.27 [[ 9.99652736e-01 -1.93418222e-04 -2.63509044e-02 -1.43220000e+00] [ 9.30547776e-06 9.99975591e-01 -6.98690459e-03 1.42920136e-01] [ 2.63516126e-02 6.98423308e-03 9.99628337e-01 -2.72686383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.443133365 meters Centerline goodness : 0.104572 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.13, Z:-0.27 [[ 9.99632509e-01 -1.61710440e-03 -2.70597718e-02 -1.48018302e+00] [ 1.42238967e-03 9.99972971e-01 -7.21342857e-03 1.33476697e-01] [ 2.70707053e-02 7.17228816e-03 9.99607791e-01 -2.71561997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47313336499997 meters Centerline goodness : 0.103937 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.13, Z:-0.27 [[ 9.99631015e-01 -1.42395931e-03 -2.71257400e-02 -1.48006839e+00] [ 1.24413898e-03 9.99977149e-01 -6.64486434e-03 1.30517656e-01] [ 2.71345822e-02 6.60866430e-03 9.99609944e-01 -2.71462775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.503133365 meters Centerline goodness : 0.215210 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.13, Z:-0.27 [[ 9.99629196e-01 -1.26952441e-03 -2.72003446e-02 -1.47980413e+00] [ 1.10249730e-03 9.99980452e-01 -6.15474212e-03 1.27830289e-01] [ 2.72076265e-02 6.12247161e-03 9.99611055e-01 -2.71535279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53313336499997 meters Centerline goodness : 0.094417 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.12, Z:-0.27 [[ 9.99628343e-01 -1.06993659e-03 -2.72402382e-02 -1.47959599e+00] [ 9.17049806e-04 9.99983762e-01 -5.62440898e-03 1.24997237e-01] [ 2.72458137e-02 5.59733797e-03 9.99613093e-01 -2.71681910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.563133365 meters Centerline goodness : 0.097453 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.12, Z:-0.27 [[ 9.99634846e-01 -6.71808172e-04 -2.70134066e-02 -1.48004004e+00] [ 5.44791610e-04 9.99988764e-01 -4.70906719e-03 1.20583215e-01] [ 2.70162666e-02 4.69263098e-03 9.99623980e-01 -2.71755551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59313336499997 meters Centerline goodness : 0.092587 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.12, Z:-0.27 [[ 9.99633765e-01 -4.68366134e-04 -2.70576690e-02 -1.47990416e+00] [ 3.51216813e-04 9.99990546e-01 -4.33420636e-03 1.18945037e-01] [ 2.70594431e-02 4.32311591e-03 9.99624478e-01 -2.71836431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.623133365 meters Centerline goodness : 0.189089 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.12, Z:-0.27 [[ 9.99632670e-01 -3.17074395e-04 -2.71002759e-02 -1.47978386e+00] [ 2.09323801e-04 9.99992063e-01 -3.97874059e-03 1.16995844e-01] [ 2.71013223e-02 3.97160635e-03 9.99624802e-01 -2.71866033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.653133365 meters Centerline goodness : 0.048058 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.11, Z:-0.27 [[ 9.99630623e-01 -1.94797800e-04 -2.71768114e-02 -1.47966971e+00] [ 9.73846314e-05 9.99993567e-01 -3.58569978e-03 1.14605653e-01] [ 2.71773351e-02 3.58172871e-03 9.99624211e-01 -2.71755382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.683133365 meters Centerline goodness : 0.181630 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.11, Z:-0.27 [[ 9.99630857e-01 3.21536436e-05 -2.71688761e-02 -1.47977726e+00] [-1.13564977e-04 9.99995509e-01 -2.99495481e-03 1.11467034e-01] [ 2.71686577e-02 2.99693468e-03 9.99626371e-01 -2.71606445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.713133365 meters SLAMing on 256.743133365 meters Centerline goodness : 0.093768 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.10, Z:-0.27 [[ 0.99965443 -0.00157752 -0.02623999 -1.48168999] [ 0.0014952 0.9999939 -0.00315635 0.0996109 ] [ 0.02624481 0.00311602 0.99965069 -0.2716952 ] [ 0. 0. 0. 1. ]] SLAMing on 256.773133365 meters Centerline goodness : 0.050979 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.10, Z:-0.27 [[ 9.99657811e-01 -1.36103782e-03 -2.61229637e-02 -1.48182341e+00] [ 1.29716145e-03 9.99996128e-01 -2.46200937e-03 9.56607490e-02] [ 2.61262135e-02 2.42728120e-03 9.99655705e-01 -2.71828419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.803133365 meters Centerline goodness : 0.093263 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.09, Z:-0.27 [[ 9.99660865e-01 -1.16118341e-03 -2.60155085e-02 -1.48211113e+00] [ 1.11561967e-03 9.99997819e-01 -1.76585257e-03 9.15756689e-02] [ 2.60175022e-02 1.73623030e-03 9.99659980e-01 -2.71722470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.833133365 meters Centerline goodness : 0.096043 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.09, Z:-0.27 [[ 9.99662039e-01 -9.42644541e-04 -2.59791991e-02 -1.48226272e+00] [ 9.16277975e-04 9.99999053e-01 -1.02679609e-03 8.73043940e-02] [ 2.59801424e-02 1.00264491e-03 9.99661956e-01 -2.71558035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.863133365 meters Centerline goodness : 0.103165 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.08, Z:-0.27 [[ 0.99964924 -0.00432802 -0.02612773 -1.48144373] [ 0.00423709 0.99998478 -0.00353467 0.08081802] [ 0.02614263 0.00342272 0.99965236 -0.27208144] [ 0. 0. 0. 1. ]] SLAMing on 256.893133365 meters Centerline goodness : 0.119378 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.08, Z:-0.27 [[ 0.99964524 -0.00408116 -0.02631981 -1.48086067] [ 0.0040076 0.99998792 -0.00284693 0.07694393] [ 0.02633111 0.00274044 0.99964952 -0.27220839] [ 0. 0. 0. 1. ]] SLAMing on 256.923133365 meters SLAMing on 256.953133365 meters Centerline goodness : 0.095994 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.07, Z:-0.27 [[ 0.99963651 -0.00379322 -0.02669201 -1.47965425] [ 0.00374016 0.99999093 -0.00203743 0.07155964] [ 0.02669949 0.00193686 0.99964163 -0.2725958 ] [ 0. 0. 0. 1. ]] SLAMing on 256.983133365 meters Centerline goodness : 0.120746 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.07, Z:-0.27 [[ 0.99963011 -0.0036143 -0.02695503 -1.47876705] [ 0.00357025 0.99999221 -0.00168181 0.06980799] [ 0.0269609 0.00158496 0.99963523 -0.27297776] [ 0. 0. 0. 1. ]] SLAMing on 257.013133365 meters Centerline goodness : 0.120809 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.06, Z:-0.27 [[ 0.99960266 0.00471126 -0.0277906 -1.49896159] [-0.00477586 0.99998604 -0.00225856 0.06349698] [ 0.02777957 0.00239039 0.99961122 -0.27438877] [ 0. 0. 0. 1. ]] SLAMing on 257.04313336499996 meters Centerline goodness : 0.122869 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99665312e-01 -4.40043734e-04 -2.58664054e-02 -1.47771930e+00] [ 4.61612838e-04 9.99999551e-01 8.27900326e-04 6.43636268e-02] [ 2.58660295e-02 -8.39563502e-04 9.99665066e-01 -2.74626154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.073133365 meters Centerline goodness : 0.121718 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99671178e-01 -4.14661122e-04 -2.56391053e-02 -1.47845660e+00] [ 4.35149210e-04 9.99999590e-01 7.93521133e-04 6.45010270e-02] [ 2.56387658e-02 -8.04417043e-04 9.99670949e-01 -2.74355560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10313336499996 meters Centerline goodness : 0.127251 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99671866e-01 -4.26013243e-04 -2.56120906e-02 -1.47854209e+00] [ 4.45336510e-04 9.99999621e-01 7.48759595e-04 6.45109769e-02] [ 2.56117619e-02 -7.59919900e-04 9.99671676e-01 -2.74358126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.133133365 meters Centerline goodness : 0.128951 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99669474e-01 -3.87913988e-04 -2.57058730e-02 -1.47811123e+00] [ 4.08479787e-04 9.99999601e-01 7.94796617e-04 6.42459456e-02] [ 2.57055544e-02 -8.05034246e-04 9.99669233e-01 -2.74733037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16313336499996 meters Centerline goodness : 0.128945 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99666337e-01 -3.24717826e-04 -2.58284739e-02 -1.47756578e+00] [ 3.47074274e-04 9.99999569e-01 8.61095462e-04 6.40206828e-02] [ 2.58281832e-02 -8.69772545e-04 9.99666018e-01 -2.75200724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.193133365 meters Centerline goodness : 0.131033 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99663154e-01 -2.95370138e-04 -2.59516975e-02 -1.47700261e+00] [ 3.19014243e-04 9.99999538e-01 9.06945795e-04 6.37834364e-02] [ 2.59514176e-02 -9.14919256e-04 9.99662787e-01 -2.75650934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22313336499997 meters Centerline goodness : 0.132376 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99654443e-01 -2.70379891e-04 -2.62853812e-02 -1.47579031e+00] [ 2.96717198e-04 9.99999458e-01 9.98080287e-04 6.30104444e-02] [ 2.62850970e-02 -1.00553472e-03 9.99653981e-01 -2.76328407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.253133365 meters Centerline goodness : 0.131482 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99650494e-01 -2.37889964e-04 -2.64354684e-02 -1.47543129e+00] [ 2.66877102e-04 9.99999367e-01 1.09300174e-03 6.24029060e-02] [ 2.64351916e-02 -1.09967475e-03 9.99649924e-01 -2.76356804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28313336499997 meters Centerline goodness : 0.132358 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99647128e-01 -1.86308753e-04 -2.65628293e-02 -1.47523461e+00] [ 2.18845188e-04 9.99999229e-01 1.22198405e-03 6.18056820e-02] [ 2.65625812e-02 -1.22736600e-03 9.99646399e-01 -2.76191034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.313133365 meters Centerline goodness : 0.111605 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99645439e-01 -1.22830920e-04 -2.66266876e-02 -1.47530326e+00] [ 1.58750403e-04 9.99999080e-01 1.34689337e-03 6.13784851e-02] [ 2.66264977e-02 -1.35064281e-03 9.99644540e-01 -2.75836297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34313336499997 meters Centerline goodness : 0.129289 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99647734e-01 -8.93314857e-05 -2.65405202e-02 -1.47567130e+00] [ 1.25738293e-04 9.99999054e-01 1.37007861e-03 6.14502153e-02] [ 2.65403727e-02 -1.37293314e-03 9.99646799e-01 -2.75618886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.373133365 meters Centerline goodness : 0.109950 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99655366e-01 -7.47414468e-05 -2.62515604e-02 -1.47649982e+00] [ 1.10166596e-04 9.99999085e-01 1.34800561e-03 6.18091496e-02] [ 2.62514357e-02 -1.35043309e-03 9.99654460e-01 -2.75411247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.403133365 meters Centerline goodness : 0.110561 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99677300e-01 1.59509993e-04 -2.54021670e-02 -1.47878998e+00] [-1.24291731e-04 9.99999029e-01 1.38800035e-03 6.30519393e-02] [ 2.54023638e-02 -1.38439517e-03 9.99676349e-01 -2.74987159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.433133365 meters Centerline goodness : 0.114923 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99682524e-01 1.96648411e-04 -2.51954870e-02 -1.47933434e+00] [-1.62841505e-04 9.99999084e-01 1.34382892e-03 6.36993916e-02] [ 2.51957282e-02 -1.33929941e-03 9.99681640e-01 -2.74936173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.463133365 meters Centerline goodness : 0.114399 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99683871e-01 2.27432076e-04 -2.51417346e-02 -1.47945612e+00] [-1.93109164e-04 9.99999046e-01 1.36759630e-03 6.37746031e-02] [ 2.51420217e-02 -1.36230886e-03 9.99682961e-01 -2.74971814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.493133365 meters Centerline goodness : 0.114087 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99685505e-01 2.34339087e-04 -2.50766257e-02 -1.47952247e+00] [-1.98821435e-04 9.99998974e-01 1.41884881e-03 6.33711271e-02] [ 2.50769325e-02 -1.41341682e-03 9.99684525e-01 -2.75116031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.523133365 meters Centerline goodness : 0.110766 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99687535e-01 2.59066179e-04 -2.49953020e-02 -1.47970297e+00] [-2.19353033e-04 9.99998709e-01 1.59155317e-03 6.21856313e-02] [ 2.49956821e-02 -1.58557307e-03 9.99686302e-01 -2.75114263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.553133365 meters Centerline goodness : 0.108541 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99689246e-01 3.53962720e-04 -2.49255968e-02 -1.47994775e+00] [-3.05435247e-04 9.99998051e-01 1.95067340e-03 6.00797485e-02] [ 2.49262387e-02 -1.94245407e-03 9.99687406e-01 -2.74936014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.583133365 meters Centerline goodness : 0.110598 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99687985e-01 -3.33150932e-03 -2.47554655e-02 -1.48028637e+00] [ 3.30544591e-03 9.99993939e-01 -1.09368041e-03 5.60419020e-02] [ 2.47589590e-02 1.01151131e-03 9.99692938e-01 -2.74923771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.613133365 meters Centerline goodness : 0.127359 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.05, Z:-0.28 [[ 9.99680339e-01 -3.29554332e-03 -2.50671127e-02 -1.47933816e+00] [ 3.28110084e-03 9.99994427e-01 -6.17261072e-04 5.26551956e-02] [ 2.50690072e-02 5.34816033e-04 9.99685580e-01 -2.75130431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.643133365 meters Centerline goodness : 0.111303 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.04, Z:-0.28 [[ 0.99968736 0.00362451 -0.02473943 -1.49660392] [-0.00367217 0.99999149 -0.0018812 0.04335056] [ 0.0247324 0.00197146 0.99969216 -0.27806466] [ 0. 0. 0. 1. ]] SLAMing on 257.673133365 meters Centerline goodness : 0.115118 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.04, Z:-0.28 [[ 9.99684137e-01 3.81698889e-03 -2.48406257e-02 -1.49573442e+00] [-3.85174261e-03 9.99991669e-01 -1.35137085e-03 4.02545323e-02] [ 2.48352606e-02 1.44662370e-03 9.99690511e-01 -2.78933476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.703133365 meters Centerline goodness : 0.118128 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.04, Z:-0.28 [[ 9.99682497e-01 3.92201491e-03 -2.48902332e-02 -1.49545236e+00] [-3.95432426e-03 9.99991402e-01 -1.24898643e-03 3.99504998e-02] [ 2.48851207e-02 1.34701393e-03 9.99689410e-01 -2.79245512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.733133365 meters Centerline goodness : 0.116218 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.04, Z:-0.28 [[ 9.99680896e-01 4.00945291e-03 -2.49405282e-02 -1.49519831e+00] [-4.04111540e-03 9.99991091e-01 -1.21924732e-03 3.99850649e-02] [ 2.49354175e-02 1.31964581e-03 9.99688193e-01 -2.79520060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.763133365 meters Centerline goodness : 0.117023 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99674913e-01 4.03866699e-03 -2.51745521e-02 -1.49439430e+00] [-4.07252959e-03 9.99990870e-01 -1.29398692e-03 4.03092699e-02] [ 2.51690963e-02 1.39609037e-03 9.99682233e-01 -2.79980722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79313336499996 meters Centerline goodness : 0.127604 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99671178e-01 4.01756519e-03 -2.53257635e-02 -1.49379613e+00] [-4.05466739e-03 9.99990780e-01 -1.41381630e-03 4.07539992e-02] [ 2.53198499e-02 1.51603895e-03 9.99678252e-01 -2.80419866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.823133365 meters Centerline goodness : 0.129108 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99967321 0.00403141 -0.02524328 -1.49402105] [-0.00407151 0.99999053 -0.00153727 0.04146006] [ 0.02523684 0.00163955 0.99968016 -0.28049768] [ 0. 0. 0. 1. ]] SLAMing on 257.85313336499996 meters Centerline goodness : 0.124284 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99967362 0.00401437 -0.02522964 -1.49402194] [-0.0040565 0.99999046 -0.00161926 0.04196896] [ 0.02522289 0.00172108 0.99968037 -0.28060527] [ 0. 0. 0. 1. ]] SLAMing on 257.883133365 meters Centerline goodness : 0.130740 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99967192 0.0039693 -0.02530397 -1.4937113 ] [-0.00401465 0.99999042 -0.00174155 0.04259598] [ 0.02529681 0.00184257 0.99967829 -0.28083344] [ 0. 0. 0. 1. ]] SLAMing on 257.91313336499996 meters Centerline goodness : 0.118634 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99967143 0.00391355 -0.02533231 -1.49354651] [-0.00396108 0.99999049 -0.00182633 0.04280987] [ 0.02532492 0.00192607 0.99967742 -0.28100275] [ 0. 0. 0. 1. ]] SLAMing on 257.943133365 meters Centerline goodness : 0.127703 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99966998 0.00388533 -0.02539344 -1.4934475 ] [-0.0039325 0.99999063 -0.00180786 0.04247752] [ 0.02538618 0.00190712 0.9996759 -0.28092 ] [ 0. 0. 0. 1. ]] SLAMing on 257.97313336499997 meters Centerline goodness : 0.126833 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99966922 0.00384435 -0.02542969 -1.49338899] [-0.00389174 0.99999078 -0.00181421 0.04216345] [ 0.02542248 0.00191257 0.99967497 -0.28088473] [ 0. 0. 0. 1. ]] SLAMing on 258.003133365 meters Centerline goodness : 0.129566 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99966712 0.00390187 -0.0255036 -1.49334499] [-0.00394433 0.99999092 -0.0016151 0.04123331] [ 0.02549707 0.00171516 0.99967343 -0.28066028] [ 0. 0. 0. 1. ]] SLAMing on 258.03313336499997 meters Centerline goodness : 0.128484 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99966534 0.00396965 -0.02556248 -1.49325334] [-0.00400917 0.99999085 -0.00149478 0.04091715] [ 0.02555631 0.00159676 0.99967211 -0.28061986] [ 0. 0. 0. 1. ]] SLAMing on 258.063133365 meters Centerline goodness : 0.136530 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99666904e-01 4.00196482e-03 -2.54963964e-02 -1.49338030e+00] [-4.04018614e-03 9.99990790e-01 -1.44775004e-03 4.08581401e-02] [ 2.54903678e-02 1.55027799e-03 9.99673866e-01 -2.80649236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09313336499997 meters Centerline goodness : 0.128279 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99966946 0.00394446 -0.02540505 -1.49354692] [-0.0039857 0.99999082 -0.00157291 0.04143881] [ 0.02539861 0.00167364 0.999676 -0.28075369] [ 0. 0. 0. 1. ]] SLAMing on 258.123133365 meters Centerline goodness : 0.126787 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99967156 0.0038749 -0.02533302 -1.49372007] [-0.00392043 0.99999079 -0.00174797 0.04229817] [ 0.02532601 0.00184671 0.99967754 -0.28080667] [ 0. 0. 0. 1. ]] SLAMing on 258.153133365 meters Centerline goodness : 0.128644 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99967566 0.00382803 -0.02517762 -1.49408352] [-0.00387863 0.99999056 -0.00196115 0.04364045] [ 0.02516987 0.00205817 0.99968107 -0.28087733] [ 0. 0. 0. 1. ]] SLAMing on 258.183133365 meters Centerline goodness : 0.104206 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.05, Z:-0.28 [[ 9.99710295e-01 -1.66394430e-03 -2.40115960e-02 -1.47274321e+00] [ 1.68470322e-03 9.99998224e-01 8.44333988e-04 4.94205221e-02] [ 2.40101484e-02 -8.84541793e-04 9.99711324e-01 -2.80796579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.213133365 meters Centerline goodness : 0.135144 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.05, Z:-0.28 [[ 9.99710222e-01 -1.75763036e-03 -2.40079849e-02 -1.47274062e+00] [ 1.77424196e-03 9.99998201e-01 6.70636293e-04 5.01013882e-02] [ 2.40067630e-02 -7.13037931e-04 9.99711542e-01 -2.80847780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.243133365 meters Centerline goodness : 0.136821 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.05, Z:-0.28 [[ 9.99707963e-01 -1.83693326e-03 -2.40959273e-02 -1.47239594e+00] [ 1.85092748e-03 9.99998131e-01 5.58480997e-04 5.04607010e-02] [ 2.40948564e-02 -6.02917714e-04 9.99709495e-01 -2.81069308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.273133365 meters Centerline goodness : 0.133989 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.05, Z:-0.28 [[ 9.99706540e-01 -1.89856062e-03 -2.41501397e-02 -1.47218673e+00] [ 1.91174645e-03 9.99998036e-01 5.22918048e-04 5.04458840e-02] [ 2.41490995e-02 -5.68933537e-04 9.99708206e-01 -2.81181501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.303133365 meters Centerline goodness : 0.133989 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.05, Z:-0.28 [[ 9.99706540e-01 -1.89856062e-03 -2.41501397e-02 -1.47218673e+00] [ 1.91174645e-03 9.99998036e-01 5.22918048e-04 5.04458840e-02] [ 2.41490995e-02 -5.68933537e-04 9.99708206e-01 -2.81181501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.333133365 meters Centerline goodness : 0.131402 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99746785e-01 4.28579961e-03 -2.20906823e-02 -1.48943967e+00] [-4.30525194e-03 9.99990385e-01 -8.33083373e-04 4.40692464e-02] [ 2.20868995e-02 9.27978376e-04 9.99755624e-01 -2.84092591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.363133365 meters Centerline goodness : 0.132960 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99748861e-01 4.23658628e-03 -2.20060290e-02 -1.48993515e+00] [-4.25252916e-03 9.99990728e-01 -6.77731835e-04 4.28409295e-02] [ 2.20029536e-02 7.71142911e-04 9.99757608e-01 -2.83578103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.393133365 meters Centerline goodness : 0.126339 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99747945e-01 4.19078480e-03 -2.20563738e-02 -1.48995053e+00] [-4.20227621e-03 9.99991058e-01 -4.74678193e-04 4.12533224e-02] [ 2.20541873e-02 5.67245523e-04 9.99756616e-01 -2.83300882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.423133365 meters Centerline goodness : 0.135126 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99737449e-01 4.17224086e-03 -2.25305654e-02 -1.48875179e+00] [-4.17414153e-03 9.99991288e-01 -3.73313380e-05 3.82694243e-02] [ 2.25302133e-02 1.31367305e-04 9.99746154e-01 -2.83369149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.453133365 meters Centerline goodness : 0.138708 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99732348e-01 4.23920119e-03 -2.27433958e-02 -1.48799984e+00] [-4.23539667e-03 9.99991007e-01 2.15447387e-04 3.67974308e-02] [ 2.27441046e-02 -1.19062419e-04 9.99741312e-01 -2.83722237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.483133365 meters Centerline goodness : 0.136816 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99729774e-01 4.24557476e-03 -2.28550519e-02 -1.48733114e+00] [-4.23850181e-03 9.99990953e-01 3.57903115e-04 3.56138060e-02] [ 2.28563646e-02 -2.60935222e-04 9.99738725e-01 -2.84297031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.513133365 meters Centerline goodness : 0.138072 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.03, Z:-0.28 [[ 9.99731214e-01 4.23759814e-03 -2.27934879e-02 -1.48752742e+00] [-4.22790745e-03 9.99990950e-01 4.73325739e-04 3.44197085e-02] [ 2.27952874e-02 -3.76829758e-04 9.99740083e-01 -2.84227480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54313336499996 meters Centerline goodness : 0.137403 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.03, Z:-0.28 [[ 9.99740924e-01 4.25900460e-03 -2.23594447e-02 -1.48945314e+00] [-4.24424761e-03 9.99990743e-01 7.07402969e-04 3.25980054e-02] [ 2.23622505e-02 -6.12320679e-04 9.99749746e-01 -2.82900258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.573133365 meters Centerline goodness : 0.140030 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.03, Z:-0.28 [[ 9.99742996e-01 4.37761515e-03 -2.22436085e-02 -1.48998512e+00] [-4.35740920e-03 9.99990049e-01 9.56781214e-04 3.15619447e-02] [ 2.22475756e-02 -8.59610814e-04 9.99752123e-01 -2.82475421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60313336499996 meters Centerline goodness : 0.144009 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.03, Z:-0.28 [[ 9.99741529e-01 4.43883393e-03 -2.22973526e-02 -1.48977177e+00] [-4.41395027e-03 9.99989580e-01 1.16508356e-03 3.04035172e-02] [ 2.23022919e-02 -1.06636302e-03 9.99750704e-01 -2.82608672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.633133365 meters Centerline goodness : 0.137915 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.03, Z:-0.28 [[ 9.99734213e-01 4.41733766e-03 -2.26272121e-02 -1.48865617e+00] [-4.38822811e-03 9.99989479e-01 1.33597604e-03 2.88911043e-02] [ 2.26328755e-02 -1.23632759e-03 9.99743079e-01 -2.83103552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66313336499996 meters Centerline goodness : 0.138139 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.02, Z:-0.28 [[ 0.99965091 -0.00466857 -0.02600523 -1.507542 ] [ 0.00472815 0.99998634 0.00223007 0.02459013] [ 0.02599447 -0.00235225 0.99965932 -0.28415637] [ 0. 0. 0. 1. ]] SLAMing on 258.693133365 meters Centerline goodness : 0.117707 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.02, Z:-0.28 [[ 0.99964446 -0.00448299 -0.02628415 -1.50705734] [ 0.00455997 0.99998549 0.00286957 0.02118278] [ 0.0262709 -0.00298841 0.99965039 -0.28381685] [ 0. 0. 0. 1. ]] SLAMing on 258.72313336499997 meters Centerline goodness : 0.139887 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.02, Z:-0.28 [[ 0.99964562 -0.00427734 -0.02627437 -1.50743245] [ 0.00437109 0.99998428 0.00351174 0.01790821] [ 0.02625894 -0.00362535 0.9996486 -0.28319396] [ 0. 0. 0. 1. ]] SLAMing on 258.753133365 meters Centerline goodness : 0.143343 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.01, Z:-0.28 [[ 0.99964793 -0.00411132 -0.02621302 -1.50798804] [ 0.00421948 0.99998281 0.00407234 0.01483132] [ 0.02619582 -0.00418151 0.99964808 -0.28249161] [ 0. 0. 0. 1. ]] SLAMing on 258.78313336499997 meters Centerline goodness : 0.140636 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.01, Z:-0.28 [[ 0.99964942 -0.00397936 -0.0261764 -1.5082798 ] [ 0.00409944 0.99998131 0.00453515 0.01208269] [ 0.02615786 -0.00464087 0.99964705 -0.2820943 ] [ 0. 0. 0. 1. ]] SLAMing on 258.813133365 meters Centerline goodness : 0.133139 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.01, Z:-0.28 [[ 0.99965136 -0.00388139 -0.02611696 -1.5084987 ] [ 0.00400879 0.99998031 0.00482746 0.01043428] [ 0.02609771 -0.00493048 0.99964724 -0.28193585] [ 0. 0. 0. 1. ]] SLAMing on 258.84313336499997 meters Centerline goodness : 0.137079 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.01, Z:-0.28 [[ 0.99966655 -0.00356399 -0.02557532 -1.50990034] [ 0.00369926 0.99997941 0.00524365 0.00904798] [ 0.0255561 -0.00533651 0.99965915 -0.28172926] [ 0. 0. 0. 1. ]] SLAMing on 258.873133365 meters Centerline goodness : 0.134464 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.01, Z:-0.28 [[ 0.99968859 0.0048964 -0.02446932 -1.49023603] [-0.00479525 0.99997972 0.00419052 0.00627274] [ 0.02448934 -0.00407188 0.9996918 -0.28044357] [ 0. 0. 0. 1. ]] SLAMing on 258.903133365 meters Centerline goodness : 0.124096 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.00, Z:-0.28 [[ 0.99963447 0.00400124 -0.02673788 -1.53526593] [-0.00388796 0.99998325 0.00428745 0.00293049] [ 0.02675459 -0.00418193 0.99963328 -0.28058962] [ 0. 0. 0. 1. ]] SLAMing on 258.933133365 meters Centerline goodness : 0.115746 Centerline is valid? [False, False] Translation: X:-1.52, Y:0.01, Z:-0.28 [[ 0.99963609 -0.00366795 -0.02672522 -1.51552196] [ 0.00380443 0.99997997 0.00505768 0.00678655] [ 0.02670613 -0.00515752 0.99963002 -0.27922918] [ 0. 0. 0. 1. ]] SLAMing on 258.963133365 meters Centerline goodness : 0.118912 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.00, Z:-0.28 [[ 9.99650621e-01 3.36422172e-03 -2.62167422e-02 -1.53366310e+00] [-3.26658598e-03 9.99987573e-01 3.76611291e-03 -3.29351131e-04] [ 2.62290865e-02 -3.67915787e-03 9.99649188e-01 -2.81658514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.993133365 meters Centerline goodness : 0.117994 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.00, Z:-0.28 [[ 0.99964864 0.00341394 -0.02628569 -1.5334484 ] [-0.00330877 0.99998635 0.00404346 -0.00196794] [ 0.02629914 -0.00395507 0.99964629 -0.2817269 ] [ 0. 0. 0. 1. ]] SLAMing on 259.023133365 meters Centerline goodness : 0.119291 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.01, Z:-0.28 [[ 0.99964449 0.00337841 -0.02644751 -1.53289405] [-0.00325648 0.99998388 0.004652 -0.00578176] [ 0.0264628 -0.00456422 0.99963938 -0.28190209] [ 0. 0. 0. 1. ]] SLAMing on 259.053133365 meters Centerline goodness : 0.132241 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.01, Z:-0.28 [[ 0.9996358 0.00331686 -0.02678192 -1.53216869] [-0.00318424 0.99998246 0.0049931 -0.00833514] [ 0.02679801 -0.00490601 0.99962883 -0.28178427] [ 0. 0. 0. 1. ]] SLAMing on 259.083133365 meters Centerline goodness : 0.124967 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.01, Z:-0.28 [[ 9.99575582e-01 1.06943208e-03 -2.91120612e-02 -1.57648632e+00] [-9.41807016e-04 9.99989888e-01 4.39728291e-03 -1.36569569e-02] [ 2.91164694e-02 -4.36799868e-03 9.99566482e-01 -2.82158654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.113133365 meters Centerline goodness : 0.124016 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.02, Z:-0.28 [[ 9.99571616e-01 6.76859367e-03 -2.84740251e-02 -1.55428596e+00] [-6.73167634e-03 9.99976373e-01 1.39218648e-03 -1.71952703e-02] [ 2.84827755e-02 -1.19991217e-03 9.99593563e-01 -2.82111923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.143133365 meters Centerline goodness : 0.120831 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.02, Z:-0.28 [[ 0.99959949 -0.0015924 -0.02825462 -1.53417166] [ 0.0016578 0.999996 0.00229119 -0.01569635] [ 0.02825086 -0.00233712 0.99959813 -0.28075839] [ 0. 0. 0. 1. ]] SLAMing on 259.173133365 meters Centerline goodness : 0.139259 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.02, Z:-0.28 [[ 9.99599360e-01 -1.49487126e-03 -2.82645675e-02 -1.53411075e+00] [ 1.57128344e-03 9.99995170e-01 2.68144472e-03 -1.79711891e-02] [ 2.82604226e-02 -2.72478207e-03 9.99596881e-01 -2.80796680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.203133365 meters Centerline goodness : 0.128604 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.02, Z:-0.28 [[ 9.99598093e-01 -1.40137511e-03 -2.83141098e-02 -1.53364855e+00] [ 1.49206844e-03 9.99993824e-01 3.18224073e-03 -2.11440805e-02] [ 2.83094754e-02 -3.22320835e-03 9.99594010e-01 -2.81287926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.233133365 meters Centerline goodness : 0.138428 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.03, Z:-0.28 [[ 0.99959054 0.00667207 -0.02782497 -1.51455179] [-0.00662194 0.99997628 0.00189336 -0.02574552] [ 0.02783694 -0.00170833 0.99961102 -0.27973955] [ 0. 0. 0. 1. ]] SLAMing on 259.263133365 meters Centerline goodness : 0.111614 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.03, Z:-0.28 [[ 0.99958976 0.00671131 -0.02784383 -1.51451562] [-0.00665804 0.99997582 0.00200518 -0.02645203] [ 0.02785662 -0.00181897 0.99961027 -0.27972018] [ 0. 0. 0. 1. ]] SLAMing on 259.29313336499996 meters Centerline goodness : 0.139767 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.03, Z:-0.28 [[ 0.99957861 0.00681026 -0.02821735 -1.51336104] [-0.00674986 0.99997472 0.00223527 -0.02774909] [ 0.02823186 -0.00204386 0.99959931 -0.28012024] [ 0. 0. 0. 1. ]] SLAMing on 259.323133365 meters Centerline goodness : 0.138845 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.03, Z:-0.28 [[ 0.99957141 0.00686603 -0.02845803 -1.51255029] [-0.0068004 0.99997399 0.002402 -0.02871949] [ 0.02847378 -0.00220745 0.9995921 -0.28047626] [ 0. 0. 0. 1. ]] SLAMing on 259.35313336499996 meters Centerline goodness : 0.123284 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.03, Z:-0.28 [[ 0.99956342 0.0068827 -0.02873314 -1.51175116] [-0.00681184 0.99997351 0.0025633 -0.02999967] [ 0.02875002 -0.00236645 0.99958383 -0.28070338] [ 0. 0. 0. 1. ]] SLAMing on 259.383133365 meters Centerline goodness : 0.136675 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.03, Z:-0.28 [[ 0.99955734 0.00694919 -0.02892815 -1.5112766 ] [-0.00687039 0.99997242 0.00282238 -0.03149839] [ 0.02894696 -0.00262238 0.99957751 -0.28073283] [ 0. 0. 0. 1. ]] SLAMing on 259.41313336499996 meters Centerline goodness : 0.114465 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.03, Z:-0.28 [[ 9.99583560e-01 -1.33408713e-03 -2.88257979e-02 -1.49185516e+00] [ 1.44561180e-03 9.99991550e-01 3.84842528e-03 -2.85220884e-02] [ 2.88204202e-02 -3.88849355e-03 9.99577042e-01 -2.79317924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.443133365 meters Centerline goodness : 0.111800 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.03, Z:-0.28 [[ 9.99589116e-01 -1.30809964e-03 -2.86336745e-02 -1.49253119e+00] [ 1.42846067e-03 9.99990229e-01 4.18342660e-03 -3.03658809e-02] [ 2.86279224e-02 -4.22260977e-03 9.99581218e-01 -2.79122383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47313336499997 meters Centerline goodness : 0.122849 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.03, Z:-0.28 [[ 0.99960309 -0.00327589 -0.02798091 -1.49488263] [ 0.00335471 0.99999053 0.00277067 -0.03480355] [ 0.02797156 -0.00286343 0.99960462 -0.27843985] [ 0. 0. 0. 1. ]] SLAMing on 259.503133365 meters Centerline goodness : 0.123567 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.04, Z:-0.28 [[ 0.99960719 -0.00342098 -0.02781662 -1.49561263] [ 0.00350453 0.99998949 0.00295541 -0.03649221] [ 0.02780622 -0.00305173 0.99960867 -0.27813421] [ 0. 0. 0. 1. ]] SLAMing on 259.53313336499997 meters Centerline goodness : 0.123830 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.04, Z:-0.28 [[ 0.99961669 -0.00345714 -0.02746865 -1.49680497] [ 0.00354757 0.99998845 0.00324389 -0.03817637] [ 0.02745712 -0.0033401 0.9996174 -0.27778422] [ 0. 0. 0. 1. ]] SLAMing on 259.563133365 meters Centerline goodness : 0.120988 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.04, Z:-0.28 [[ 0.99964534 -0.00370434 -0.02637177 -1.50033249] [ 0.00380017 0.99998635 0.00358493 -0.04049408] [ 0.02635813 -0.00368387 0.99964578 -0.27667572] [ 0. 0. 0. 1. ]] SLAMing on 259.59313336499997 meters Centerline goodness : 0.121188 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.04, Z:-0.28 [[ 0.9996529 -0.00382254 -0.0260665 -1.50159535] [ 0.00391746 0.99998588 0.00359124 -0.04115634] [ 0.02605241 -0.00369211 0.99965376 -0.27591494] [ 0. 0. 0. 1. ]] SLAMing on 259.623133365 meters Centerline goodness : 0.134983 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.04, Z:-0.28 [[ 0.9996578 -0.00400339 -0.02585045 -1.50258268] [ 0.00409524 0.99998548 0.00350128 -0.04168329] [ 0.02583606 -0.00360594 0.99965969 -0.27520583] [ 0. 0. 0. 1. ]] SLAMing on 259.653133365 meters Centerline goodness : 0.121233 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.05, Z:-0.27 [[ 0.99967575 0.00383106 -0.02517394 -1.48428942] [-0.00378491 0.99999107 0.00188044 -0.04690118] [ 0.02518092 -0.00178455 0.99968132 -0.27286055] [ 0. 0. 0. 1. ]] SLAMing on 259.683133365 meters Centerline goodness : 0.113999 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.05, Z:-0.27 [[ 0.99967725 0.00390559 -0.02510275 -1.48477947] [-0.00385466 0.99999041 0.002077 -0.04785259] [ 0.02511063 -0.00197957 0.99968272 -0.27242101] [ 0. 0. 0. 1. ]] SLAMing on 259.713133365 meters Centerline goodness : 0.136872 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.05, Z:-0.27 [[ 0.99967901 0.00402586 -0.0250135 -1.48516017] [-0.00396962 0.99998948 0.00229781 -0.04850078] [ 0.02502248 -0.00219777 0.99968447 -0.27218478] [ 0. 0. 0. 1. ]] SLAMing on 259.743133365 meters Centerline goodness : 0.104342 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.05, Z:-0.27 [[ 0.99967989 0.00407795 -0.02496977 -1.48516815] [-0.00401937 0.99998905 0.00239581 -0.04886932] [ 0.02497927 -0.00229468 0.99968534 -0.27231714] [ 0. 0. 0. 1. ]] SLAMing on 259.773133365 meters Centerline goodness : 0.106833 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.05, Z:-0.27 [[ 0.99968045 0.00395883 -0.02496647 -1.48510753] [-0.00390565 0.99999 0.00217848 -0.0480544 ] [ 0.02497484 -0.00208028 0.99968592 -0.27242292] [ 0. 0. 0. 1. ]] SLAMing on 259.803133365 meters Centerline goodness : 0.151755 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.05, Z:-0.27 [[ 0.99968318 0.00387983 -0.02486944 -1.48543583] [-0.0038325 0.99999075 0.00195058 -0.04680381] [ 0.02487677 -0.00185465 0.9996888 -0.27228212] [ 0. 0. 0. 1. ]] SLAMing on 259.833133365 meters Centerline goodness : 0.112146 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.05, Z:-0.27 [[ 0.99968785 0.00381875 -0.02469053 -1.48610851] [-0.00377751 0.99999139 0.00171648 -0.04525529] [ 0.02469687 -0.00162268 0.99969367 -0.27194863] [ 0. 0. 0. 1. ]] SLAMing on 259.863133365 meters Centerline goodness : 0.095505 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.04, Z:-0.27 [[ 0.99968795 -0.00303072 -0.02479555 -1.46849735] [ 0.00310733 0.99999052 0.00305153 -0.03833196] [ 0.02478607 -0.00312762 0.99968789 -0.2691621 ] [ 0. 0. 0. 1. ]] SLAMing on 259.893133365 meters Centerline goodness : 0.106676 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.03, Z:-0.27 [[ 0.9996796 -0.00338512 -0.02508445 -1.46739732] [ 0.00344056 0.99999173 0.00216731 -0.03384701] [ 0.02507691 -0.00225292 0.99968299 -0.2698266 ] [ 0. 0. 0. 1. ]] SLAMing on 259.923133365 meters Centerline goodness : 0.101161 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.03, Z:-0.27 [[ 0.99967106 -0.00350636 -0.0254064 -1.46615892] [ 0.00355356 0.99999204 0.00181294 -0.03223817] [ 0.02539984 -0.00190262 0.99967556 -0.27059998] [ 0. 0. 0. 1. ]] SLAMing on 259.953133365 meters Centerline goodness : 0.101161 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.03, Z:-0.27 [[ 0.99967106 -0.00350636 -0.0254064 -1.46615892] [ 0.00355356 0.99999204 0.00181294 -0.03223817] [ 0.02539984 -0.00190262 0.99967556 -0.27059998] [ 0. 0. 0. 1. ]] SLAMing on 259.983133365 meters Centerline goodness : 0.151629 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.03, Z:-0.27 [[ 9.99654335e-01 -3.84446439e-03 -2.60082826e-02 -1.46417656e+00] [ 3.87564467e-03 9.99991830e-01 1.14855773e-03 -2.88190585e-02] [ 2.60036545e-02 -1.24895958e-03 9.99661068e-01 -2.71542155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.013133365 meters Centerline goodness : 0.104900 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.03, Z:-0.27 [[ 9.99663027e-01 4.51943049e-03 -2.55618372e-02 -1.48214476e+00] [-4.52071557e-03 9.99989781e-01 7.51524830e-06 -3.36421421e-02] [ 2.55616099e-02 1.08045079e-04 9.99673243e-01 -2.73599928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04313336499996 meters Centerline goodness : 0.132629 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.03, Z:-0.27 [[ 9.99662370e-01 4.31965947e-03 -2.56219771e-02 -1.48186698e+00] [-4.32797267e-03 9.99990598e-01 -2.69009636e-04 -3.27423933e-02] [ 2.56205742e-02 3.79810027e-04 9.99671667e-01 -2.73787159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.073133365 meters Centerline goodness : 0.111680 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.03, Z:-0.27 [[ 9.99659099e-01 3.81191733e-03 -2.58293447e-02 -1.48137529e+00] [-3.83351871e-03 9.99992342e-01 -7.86846114e-04 -3.14996697e-02] [ 2.58261476e-02 8.85595154e-04 9.99666057e-01 -2.73834068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10313336499996 meters Centerline goodness : 0.109106 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.03, Z:-0.27 [[ 9.99640311e-01 -3.69341423e-03 -2.65632781e-02 -1.46104871e+00] [ 3.69799723e-03 9.99993155e-01 1.23409266e-04 -2.64847849e-02] [ 2.65626405e-02 -2.21595806e-04 9.99647126e-01 -2.72078401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.133133365 meters Centerline goodness : 0.149877 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.03, Z:-0.27 [[ 9.99629580e-01 -3.75024446e-03 -2.69562496e-02 -1.45984336e+00] [ 3.75148125e-03 9.99992963e-01 -4.69086311e-06 -2.55882794e-02] [ 2.69560775e-02 -9.64367395e-05 9.99636614e-01 -2.72550248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16313336499996 meters Centerline goodness : 0.117212 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.02, Z:-0.27 [[ 9.99620934e-01 -3.83519630e-03 -2.72631604e-02 -1.45882836e+00] [ 3.83057329e-03 9.99992639e-01 -2.21794293e-04 -2.43699872e-02] [ 2.72638103e-02 1.17276685e-04 9.99628266e-01 -2.73010691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.193133365 meters Centerline goodness : 0.111509 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.02, Z:-0.27 [[ 9.99619379e-01 -3.92915328e-03 -2.73067485e-02 -1.45871273e+00] [ 3.91858569e-03 9.99992225e-01 -4.40496563e-04 -2.32450690e-02] [ 2.73082670e-02 3.33325066e-04 9.99627004e-01 -2.73048895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22313336499997 meters Centerline goodness : 0.111509 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.02, Z:-0.27 [[ 9.99619379e-01 -3.92915328e-03 -2.73067485e-02 -1.45871273e+00] [ 3.91858569e-03 9.99992225e-01 -4.40496563e-04 -2.32450690e-02] [ 2.73082670e-02 3.33325066e-04 9.99627004e-01 -2.73048895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.253133365 meters Centerline goodness : 0.106443 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.03, Z:-0.27 [[ 0.99965961 0.00421064 -0.02574756 -1.43975998] [-0.0042558 0.9999895 -0.00169932 -0.02517338] [ 0.02574013 0.00180832 0.99966703 -0.27181983] [ 0. 0. 0. 1. ]] SLAMing on 260.28313336499997 meters Centerline goodness : 0.103665 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.02, Z:-0.27 [[ 0.99966435 0.00411938 -0.02557779 -1.44044922] [-0.0041716 0.99998932 -0.00198876 -0.02357419] [ 0.02556932 0.0020948 0.99967086 -0.27134657] [ 0. 0. 0. 1. ]] SLAMing on 260.313133365 meters Centerline goodness : 0.103115 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.02, Z:-0.27 [[ 0.99966548 0.00406061 -0.02554271 -1.44065806] [-0.00411856 0.99998906 -0.00221638 -0.02215855] [ 0.02553343 0.00232084 0.99967127 -0.27114135] [ 0. 0. 0. 1. ]] SLAMing on 260.34313336499997 meters Centerline goodness : 0.118127 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.02, Z:-0.27 [[ 0.99966185 0.0040489 -0.02568647 -1.44032773] [-0.00410975 0.99998887 -0.0023166 -0.02125794] [ 0.0256768 0.00242138 0.99966736 -0.27116915] [ 0. 0. 0. 1. ]] SLAMing on 260.373133365 meters Centerline goodness : 0.048499 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.02, Z:-0.27 [[ 0.99964722 0.00380132 -0.02628669 -1.43904032] [-0.00386451 0.99998976 -0.00235344 -0.02166263] [ 0.02627747 0.0024542 0.99965167 -0.27110209] [ 0. 0. 0. 1. ]] SLAMing on 260.403133365 meters Centerline goodness : 0.209587 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.02, Z:-0.27 [[ 0.99965002 0.00359906 -0.0262084 -1.4394394 ] [-0.00366071 0.99999064 -0.00230476 -0.02281337] [ 0.02619986 0.00239989 0.99965384 -0.27086028] [ 0. 0. 0. 1. ]] SLAMing on 260.433133365 meters Centerline goodness : 0.097823 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.02, Z:-0.27 [[ 0.9996503 0.00335627 -0.02622989 -1.43974664] [-0.00341359 0.99999188 -0.00214099 -0.02467029] [ 0.02622249 0.00222978 0.99965364 -0.27036963] [ 0. 0. 0. 1. ]] SLAMing on 260.463133365 meters Centerline goodness : 0.122623 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.03, Z:-0.27 [[ 0.99965315 0.00314473 -0.0261474 -1.44019209] [-0.0031969 0.99999298 -0.00195342 -0.0266428 ] [ 0.02614107 0.00203633 0.99965619 -0.27005577] [ 0. 0. 0. 1. ]] SLAMing on 260.493133365 meters Centerline goodness : 0.313606 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.03, Z:-0.27 [[ 0.99965268 0.00316962 -0.02616229 -1.44040607] [-0.0032113 0.99999364 -0.00155121 -0.02878953] [ 0.02615721 0.00163469 0.99965651 -0.26980265] [ 0. 0. 0. 1. ]] SLAMing on 260.523133365 meters Centerline goodness : 0.355192 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.03, Z:-0.27 [[ 9.99642325e-01 -5.35139449e-03 -2.62027637e-02 -1.46031774e+00] [ 5.34476273e-03 9.99985664e-01 -3.23123355e-04 -2.58010393e-02] [ 2.62041172e-02 1.82960227e-04 9.99656596e-01 -2.71267477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.553133365 meters Centerline goodness : 0.225961 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.03, Z:-0.27 [[ 9.99658528e-01 -5.36308789e-03 -2.55746843e-02 -1.46236687e+00] [ 5.35844361e-03 9.99985612e-01 -2.50125500e-04 -2.65435901e-02] [ 2.55756578e-02 1.12999586e-04 9.99672883e-01 -2.70326089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.583133365 meters Centerline goodness : 0.118841 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.03, Z:-0.27 [[ 9.99673636e-01 -5.31183809e-03 -2.49881268e-02 -1.46421106e+00] [ 5.30318547e-03 9.99985853e-01 -4.12525557e-04 -2.52488092e-02] [ 2.49899646e-02 2.79874253e-04 9.99687663e-01 -2.69557845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.613133365 meters SLAMing on 260.643133365 meters Centerline goodness : 0.207516 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.02, Z:-0.27 [[ 9.99705641e-01 -2.86488248e-03 -2.40919933e-02 -1.46850711e+00] [ 2.89315073e-03 9.99995167e-01 1.13857212e-03 -1.87409740e-02] [ 2.40886149e-02 -1.20793874e-03 9.99709097e-01 -2.66946739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.673133365 meters Centerline goodness : 0.092504 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.02, Z:-0.27 [[ 9.99698432e-01 -2.92889671e-03 -2.43816999e-02 -1.46769273e+00] [ 2.94375718e-03 9.99995503e-01 5.73622750e-04 -1.52483087e-02] [ 2.43799101e-02 -6.45223567e-04 9.99702558e-01 -2.67161790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.703133365 meters Centerline goodness : 0.128907 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.01, Z:-0.27 [[ 9.99668801e-01 -6.87579995e-04 -2.57257757e-02 -1.46243394e+00] [ 7.38105607e-04 9.99997817e-01 1.95456314e-03 -8.32550237e-03] [ 2.57243756e-02 -1.97290413e-03 9.99667127e-01 -2.69633515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.733133365 meters Centerline goodness : 0.100883 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.01, Z:-0.27 [[ 9.99665125e-01 -8.12538258e-04 -2.58646209e-02 -1.46190223e+00] [ 8.50504125e-04 9.99998577e-01 1.45690171e-03 -5.29711690e-03] [ 2.58634003e-02 -1.47841179e-03 9.99664393e-01 -2.69977555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.763133365 meters Centerline goodness : 0.055314 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.00, Z:-0.27 [[ 9.99603379e-01 -9.24253555e-04 -2.81465803e-02 -1.50687728e+00] [ 9.67882370e-04 9.99998351e-01 1.53647285e-03 -1.26405990e-03] [ 2.81451138e-02 -1.56310603e-03 9.99602626e-01 -2.70251182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79313336499996 meters Centerline goodness : 0.044855 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.00, Z:-0.27 [[ 9.99600546e-01 -1.16619883e-03 -2.82380688e-02 -1.50658930e+00] [ 1.19594192e-03 9.99998748e-01 1.03643153e-03 1.17614982e-03] [ 2.82368248e-02 -1.06978862e-03 9.99600689e-01 -2.70379557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.823133365 meters SLAMing on 260.85313336499996 meters Centerline goodness : 0.327741 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.01, Z:-0.27 [[ 9.99589193e-01 -1.55203920e-03 -2.86188050e-02 -1.50544577e+00] [ 1.55898192e-03 9.99998761e-01 2.20281892e-04 5.12905649e-03] [ 2.86184276e-02 -2.64807598e-04 9.99590374e-01 -2.70797140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.883133365 meters Centerline goodness : 0.121757 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.01, Z:-0.27 [[ 9.99562621e-01 1.52513977e-04 -2.95726692e-02 -1.50073654e+00] [-1.03941515e-04 9.99998643e-01 1.64400841e-03 9.19333548e-03] [ 2.95728798e-02 -1.64021553e-03 9.99561281e-01 -2.73631636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91313336499996 meters Centerline goodness : 0.050288 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.01, Z:-0.27 [[ 9.99556281e-01 -4.16423171e-05 -2.97865494e-02 -1.50006990e+00] [ 7.82910156e-05 9.99999241e-01 1.22921224e-03 1.12699283e-02] [ 2.97864756e-02 -1.23099883e-03 9.99555526e-01 -2.73859007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.943133365 meters Centerline goodness : 0.096485 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.02, Z:-0.27 [[ 9.99479187e-01 -4.55985890e-04 -3.22667989e-02 -1.54542284e+00] [ 4.84780274e-04 9.99999491e-01 8.84566712e-04 1.53675960e-02] [ 3.22663791e-02 -8.99748326e-04 9.99478900e-01 -2.73714891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97313336499997 meters Centerline goodness : 0.073255 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.02, Z:-0.27 [[ 9.99477817e-01 -6.23867863e-04 -3.23064158e-02 -1.54546291e+00] [ 6.37302148e-04 9.99999715e-01 4.05544052e-04 1.79380304e-02] [ 3.23061536e-02 -4.25921232e-04 9.99477929e-01 -2.73490444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.003133365 meters Centerline goodness : 0.217003 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.02, Z:-0.27 [[ 9.99479192e-01 -7.68710397e-04 -3.22607148e-02 -1.54579413e+00] [ 7.65780342e-04 9.99999701e-01 -1.03179682e-04 2.09972487e-02] [ 3.22607845e-02 7.84213237e-05 9.99479482e-01 -2.73137261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03313336499997 meters Centerline goodness : 0.146443 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.02, Z:-0.27 [[ 9.99484415e-01 -9.17546270e-04 -3.20945908e-02 -1.54630492e+00] [ 8.98375658e-04 9.99999409e-01 -6.11731105e-04 2.39204629e-02] [ 3.20951331e-02 5.82582706e-04 9.99484649e-01 -2.72948172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.063133365 meters Centerline goodness : 0.192287 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.03, Z:-0.27 [[ 9.99483621e-01 -1.29419753e-03 -3.21063169e-02 -1.54634528e+00] [ 1.24308636e-03 9.99997928e-01 -1.61184463e-03 2.94377910e-02] [ 3.21083364e-02 1.57110138e-03 9.99483160e-01 -2.72808297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09313336499997 meters Centerline goodness : 0.208271 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.03, Z:-0.27 [[ 9.99480767e-01 -1.43201768e-03 -3.21892045e-02 -1.54619131e+00] [ 1.36931016e-03 9.99997122e-01 -1.97005124e-03 3.14310076e-02] [ 3.21919330e-02 1.92495132e-03 9.99479852e-01 -2.72802320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.123133365 meters Centerline goodness : 0.150627 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.03, Z:-0.27 [[ 9.99481651e-01 -1.45499155e-03 -3.21607175e-02 -1.54650234e+00] [ 1.38775223e-03 9.99996805e-01 -2.11295051e-03 3.26701029e-02] [ 3.21636890e-02 2.06722416e-03 9.99480477e-01 -2.72473788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.153133365 meters SLAMing on 261.183133365 meters Centerline goodness : 0.112394 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.03, Z:-0.27 [[ 0.99952581 -0.00326875 -0.03061801 -1.55249479] [ 0.00315385 0.99998781 -0.00380012 0.03471529] [ 0.03063006 0.00370175 0.99952393 -0.26943711] [ 0. 0. 0. 1. ]] SLAMing on 261.213133365 meters Centerline goodness : 0.100743 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.03, Z:-0.27 [[ 0.99953416 -0.00354963 -0.03031275 -1.55330869] [ 0.00343172 0.99998635 -0.00394086 0.03419506] [ 0.03032633 0.003835 0.99953269 -0.26931433] [ 0. 0. 0. 1. ]] SLAMing on 261.243133365 meters SLAMing on 261.273133365 meters SLAMing on 261.303133365 meters Centerline goodness : 0.118390 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.03, Z:-0.27 [[ 0.99955048 -0.00388223 -0.02972816 -1.55445459] [ 0.00376542 0.99998497 -0.00398447 0.03381255] [ 0.02974318 0.00387074 0.99955008 -0.26967356] [ 0. 0. 0. 1. ]] SLAMing on 261.333133365 meters Centerline goodness : 0.120266 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.03, Z:-0.27 [[ 0.99957204 0.00391209 -0.02899028 -1.53494006] [-0.00406064 0.99997892 -0.00506702 0.0295109 ] [ 0.02896985 0.00518257 0.99956685 -0.26885744] [ 0. 0. 0. 1. ]] SLAMing on 261.363133365 meters Centerline goodness : 0.133718 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.03, Z:-0.27 [[ 0.99956747 0.00383952 -0.02915685 -1.53444502] [-0.00399253 0.99997855 -0.00519149 0.02992555] [ 0.02913629 0.00530565 0.99956137 -0.26899669] [ 0. 0. 0. 1. ]] SLAMing on 261.393133365 meters Centerline goodness : 0.133787 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.03, Z:-0.27 [[ 0.99956443 0.00379263 -0.02926725 -1.53410213] [-0.00395111 0.99997783 -0.00535899 0.03094282] [ 0.02924628 0.0054723 0.99955726 -0.26908723] [ 0. 0. 0. 1. ]] SLAMing on 261.423133365 meters SLAMing on 261.453133365 meters Centerline goodness : 0.117061 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.03, Z:-0.27 [[ 0.99955228 0.00377078 -0.02968192 -1.53278944] [-0.0039416 0.99997599 -0.00569859 0.03335811] [ 0.02965972 0.00581303 0.99954315 -0.2695355 ] [ 0. 0. 0. 1. ]] SLAMing on 261.483133365 meters SLAMing on 261.513133365 meters SLAMing on 261.54313336499996 meters Centerline goodness : 0.118750 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.04, Z:-0.27 [[ 0.99952321 0.00378545 -0.03064342 -1.52985065] [-0.00398842 0.99997049 -0.0065653 0.04181048] [ 0.03061766 0.00668438 0.99950882 -0.27035573] [ 0. 0. 0. 1. ]] SLAMing on 261.573133365 meters Centerline goodness : 0.135654 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.05, Z:-0.27 [[ 0.99952843 -0.00173539 -0.03065774 -1.50967329] [ 0.00162856 0.99999252 -0.00350945 0.04591591] [ 0.03066361 0.00345787 0.99952378 -0.26879758] [ 0. 0. 0. 1. ]] SLAMing on 261.60313336499996 meters Centerline goodness : 0.117490 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.05, Z:-0.27 [[ 9.99466154e-01 -9.33608767e-04 -3.26578487e-02 -1.55494541e+00] [ 8.34412527e-04 9.99994998e-01 -3.05093635e-03 5.02346819e-02] [ 3.26605337e-02 3.02205751e-03 9.99461934e-01 -2.69206914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.633133365 meters Centerline goodness : 0.112800 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.05, Z:-0.27 [[ 9.99461878e-01 -1.06890228e-03 -3.27843207e-02 -1.55446839e+00] [ 9.57083744e-04 9.99993672e-01 -3.42623547e-03 5.22966305e-02] [ 3.27877756e-02 3.39301439e-03 9.99456577e-01 -2.69447619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66313336499996 meters Centerline goodness : 0.134981 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.05, Z:-0.27 [[ 9.99457998e-01 -1.22206285e-03 -3.28970681e-02 -1.55394780e+00] [ 1.09763816e-03 9.99992177e-01 -3.80003632e-03 5.41453997e-02] [ 3.29014546e-02 3.76186762e-03 9.99451521e-01 -2.69834538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.693133365 meters Centerline goodness : 0.116788 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.06, Z:-0.27 [[ 9.99443384e-01 -1.46280453e-03 -3.33283972e-02 -1.55255864e+00] [ 1.31159833e-03 9.99988751e-01 -4.55826877e-03 5.87456263e-02] [ 3.33346901e-02 4.51201810e-03 9.99434060e-01 -2.70339746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72313336499997 meters Centerline goodness : 0.116285 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.06, Z:-0.27 [[ 9.99439863e-01 -1.56688984e-03 -3.34291082e-02 -1.55227479e+00] [ 1.40068529e-03 9.99986545e-01 -4.99469029e-03 6.15511020e-02] [ 3.34364846e-02 4.94506892e-03 9.99428611e-01 -2.70344062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.753133365 meters Centerline goodness : 0.115727 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.06, Z:-0.27 [[ 0.99944251 -0.00178046 -0.03333901 -1.55247846] [ 0.00159594 0.99998327 -0.0055606 0.06447513] [ 0.03334835 0.0055043 0.99942863 -0.27030065] [ 0. 0. 0. 1. ]] SLAMing on 261.78313336499997 meters Centerline goodness : 0.122123 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.07, Z:-0.27 [[ 0.99944482 -0.00202868 -0.03325564 -1.55292792] [ 0.00182572 0.99997953 -0.00613222 0.06718658] [ 0.0332674 0.0060681 0.99942807 -0.26989207] [ 0. 0. 0. 1. ]] SLAMing on 261.813133365 meters Centerline goodness : 0.120201 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.07, Z:-0.27 [[ 0.99944591 -0.00223756 -0.03320955 -1.55342566] [ 0.00201697 0.99997569 -0.00667451 0.07008421] [ 0.03322368 0.00660383 0.99942612 -0.26930389] [ 0. 0. 0. 1. ]] SLAMing on 261.84313336499997 meters Centerline goodness : 0.117174 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.08, Z:-0.27 [[ 9.99493308e-01 -3.87932763e-07 -3.18296685e-02 -1.55873191e+00] [-1.62913349e-04 9.99986839e-01 -5.12788027e-03 7.65877757e-02] [ 3.18292516e-02 5.13046749e-03 9.99480153e-01 -2.66816686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.873133365 meters Centerline goodness : 0.114752 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.08, Z:-0.27 [[ 9.99501554e-01 -2.01478641e-04 -3.15690218e-02 -1.55961891e+00] [ 2.34903702e-05 9.99984104e-01 -5.63833678e-03 7.92620518e-02] [ 3.15696560e-02 5.63478480e-03 9.99485671e-01 -2.66336861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.903133365 meters Centerline goodness : 0.117392 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.08, Z:-0.27 [[ 9.99509969e-01 -4.54797046e-04 -3.12988118e-02 -1.56043306e+00] [ 2.61051255e-04 9.99980783e-01 -6.19400430e-03 8.18045523e-02] [ 3.13010274e-02 6.18279845e-03 9.99490880e-01 -2.65999959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.933133365 meters Centerline goodness : 0.117715 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.08, Z:-0.27 [[ 9.99517081e-01 -6.73595652e-04 -3.10668717e-02 -1.56105684e+00] [ 4.65986491e-04 9.99977517e-01 -6.68941024e-03 8.41409489e-02] [ 3.10706792e-02 6.67170306e-03 9.99494923e-01 -2.65843783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.963133365 meters Centerline goodness : 0.119412 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99520001e-01 -8.33236528e-04 -3.09688957e-02 -1.56136583e+00] [ 6.14281807e-04 9.99974755e-01 -7.07899121e-03 8.61431849e-02] [ 3.09740124e-02 7.05656967e-03 9.99495280e-01 -2.65725038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.993133365 meters Centerline goodness : 0.113904 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99514217e-01 -9.66817499e-04 -3.11511679e-02 -1.56065903e+00] [ 7.37671144e-04 9.99972594e-01 -7.36660042e-03 8.75961656e-02] [ 3.11574363e-02 7.34004254e-03 9.99487538e-01 -2.66139255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.023133365 meters Centerline goodness : 0.116886 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99470386e-01 -1.37309439e-03 -3.25124813e-02 -1.55677809e+00] [ 1.12198075e-03 9.99969412e-01 -7.74059213e-03 8.86481073e-02] [ 3.25221154e-02 7.70001423e-03 9.99441355e-01 -2.67269843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.053133365 meters Centerline goodness : 0.104137 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99456876e-01 -1.44507882e-03 -3.29220951e-02 -1.55546064e+00] [ 1.19120976e-03 9.99969417e-01 -7.72951542e-03 8.83257787e-02] [ 3.29322581e-02 7.68610021e-03 9.99428032e-01 -2.67860562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.083133365 meters Centerline goodness : 0.242426 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.09, Z:-0.27 [[ 9.99450722e-01 -1.44114423e-03 -3.31085583e-02 -1.55479900e+00] [ 1.19014244e-03 9.99970414e-01 -7.59963247e-03 8.76004852e-02] [ 3.31185310e-02 7.55605426e-03 9.99422868e-01 -2.68280858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.113133365 meters Centerline goodness : 0.242426 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.09, Z:-0.27 [[ 9.99450722e-01 -1.44114423e-03 -3.31085583e-02 -1.55479900e+00] [ 1.19014244e-03 9.99970414e-01 -7.59963247e-03 8.76004852e-02] [ 3.31185310e-02 7.55605426e-03 9.99422868e-01 -2.68280858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.143133365 meters Centerline goodness : 0.108893 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.09, Z:-0.27 [[ 9.99449885e-01 -1.40892826e-03 -3.31352158e-02 -1.55469867e+00] [ 1.16264014e-03 9.99971566e-01 -7.45091405e-03 8.68322817e-02] [ 3.31447714e-02 7.40829086e-03 9.99423104e-01 -2.68367689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.173133365 meters Centerline goodness : 0.108228 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99459096e-01 -1.39065584e-03 -3.28569950e-02 -1.55560893e+00] [ 1.15049906e-03 9.99972496e-01 -7.32692805e-03 8.61083138e-02] [ 3.28662805e-02 7.28516294e-03 9.99433206e-01 -2.68021342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.203133365 meters Centerline goodness : 0.280835 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99473733e-01 -1.43792002e-03 -3.24066410e-02 -1.55734678e+00] [ 1.19921590e-03 9.99972018e-01 -7.38413435e-03 8.62107060e-02] [ 3.24163520e-02 7.34138576e-03 9.99447489e-01 -2.67005318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.233133365 meters Centerline goodness : 0.139967 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99506016e-01 -1.65041757e-03 -3.13847098e-02 -1.56082670e+00] [ 1.40485662e-03 9.99968243e-01 -7.84466435e-03 8.78544069e-02] [ 3.13966601e-02 7.79669820e-03 9.99476594e-01 -2.65219406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.263133365 meters Centerline goodness : 0.119933 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99509213e-01 -1.75735492e-03 -3.12768905e-02 -1.56109372e+00] [ 1.50282194e-03 9.99965580e-01 -8.15970040e-03 8.94315918e-02] [ 3.12901534e-02 8.10869213e-03 9.99477451e-01 -2.65157522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29313336499996 meters Centerline goodness : 0.106122 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.09, Z:-0.26 [[ 0.99948151 -0.0075613 -0.03129761 -1.53851831] [ 0.00740171 0.99995902 -0.00521181 0.09172509] [ 0.03133573 0.00497745 0.99949652 -0.26479823] [ 0. 0. 0. 1. ]] SLAMing on 262.323133365 meters Centerline goodness : 0.107928 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.09, Z:-0.27 [[ 0.99950044 -0.00429559 -0.03131174 -1.53786941] [ 0.00423427 0.99998899 -0.00202434 0.09241008] [ 0.03132009 0.00189074 0.99950762 -0.2656535 ] [ 0. 0. 0. 1. ]] SLAMing on 262.35313336499996 meters Centerline goodness : 0.119888 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.10, Z:-0.27 [[ 0.9994923 -0.00442437 -0.03155255 -1.53678322] [ 0.00434708 0.99998738 -0.00251793 0.09540715] [ 0.03156329 0.00237949 0.99949892 -0.26638868] [ 0. 0. 0. 1. ]] SLAMing on 262.383133365 meters Centerline goodness : 0.108093 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.10, Z:-0.27 [[ 0.99948982 -0.00459696 -0.0316063 -1.53665181] [ 0.00450826 0.9999857 -0.00287704 0.09689699] [ 0.03161907 0.00273308 0.99949626 -0.26639802] [ 0. 0. 0. 1. ]] SLAMing on 262.41313336499996 meters Centerline goodness : 0.101992 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.10, Z:-0.27 [[ 0.99948263 -0.00473669 -0.03181237 -1.53621787] [ 0.00463807 0.99998421 -0.00317303 0.09824762] [ 0.0318269 0.00302384 0.99948882 -0.26635977] [ 0. 0. 0. 1. ]] SLAMing on 262.443133365 meters Centerline goodness : 0.266164 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.10, Z:-0.27 [[ 0.99947285 -0.00480484 -0.03210816 -1.53549088] [ 0.00469874 0.99998325 -0.00337894 0.09965966] [ 0.03212386 0.00322629 0.99947869 -0.26643467] [ 0. 0. 0. 1. ]] SLAMing on 262.47313336499997 meters Centerline goodness : 0.122112 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.10, Z:-0.27 [[ 0.99946559 -0.00484068 -0.03232813 -1.534815 ] [ 0.00472853 0.99998254 -0.00354472 0.10110173] [ 0.03234473 0.00338996 0.99947102 -0.26666466] [ 0. 0. 0. 1. ]] SLAMing on 262.503133365 meters Centerline goodness : 0.120941 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.10, Z:-0.27 [[ 0.99946433 -0.00513657 -0.03232128 -1.53488919] [ 0.00500418 0.99997876 -0.00417563 0.10422751] [ 0.03234205 0.00401165 0.99946881 -0.26656491] [ 0. 0. 0. 1. ]] SLAMing on 262.53313336499997 meters Centerline goodness : 0.105978 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.10, Z:-0.27 [[ 0.99948459 0.00297131 -0.03196454 -1.55483656] [-0.00314932 0.99997981 -0.00551995 0.10181278] [ 0.0319475 0.00561777 0.99947376 -0.26859397] [ 0. 0. 0. 1. ]] SLAMing on 262.563133365 meters Centerline goodness : 0.147101 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.10, Z:-0.27 [[ 0.99948665 0.00285228 -0.03191072 -1.5549621 ] [-0.00303411 0.99997943 -0.00565094 0.10224674] [ 0.03189395 0.00574486 0.99947475 -0.26862829] [ 0. 0. 0. 1. ]] SLAMing on 262.59313336499997 meters Centerline goodness : 0.086387 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.10, Z:-0.27 [[ 0.99948243 0.00281807 -0.03204588 -1.55455267] [-0.00299819 0.99997997 -0.00557411 0.10185333] [ 0.03202953 0.0056673 0.99947086 -0.26884688] [ 0. 0. 0. 1. ]] SLAMing on 262.623133365 meters Centerline goodness : 0.132325 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.10, Z:-0.27 [[ 0.99947995 0.00284269 -0.03212089 -1.5542814 ] [-0.00301674 0.99998102 -0.00537143 0.10093001] [ 0.03210501 0.00546554 0.99946956 -0.26907491] [ 0. 0. 0. 1. ]] SLAMing on 262.653133365 meters Centerline goodness : 0.179852 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.10, Z:-0.27 [[ 0.99948254 0.00284644 -0.03203977 -1.55448762] [-0.00301231 0.9999823 -0.00513012 0.09946804] [ 0.0320246 0.00522398 0.99947343 -0.26915925] [ 0. 0. 0. 1. ]] SLAMing on 262.683133365 meters Centerline goodness : 0.141813 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.10, Z:-0.27 [[ 0.99950472 0.00242907 -0.03137553 -1.55645087] [-0.00259111 0.99998351 -0.00512495 0.09722905] [ 0.03136257 0.00520371 0.99949453 -0.26868764] [ 0. 0. 0. 1. ]] SLAMing on 262.713133365 meters SLAMing on 262.743133365 meters Centerline goodness : 0.095669 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.10, Z:-0.27 [[ 0.99953414 -0.00585068 -0.02995463 -1.53709294] [ 0.00574786 0.99997729 -0.00351775 0.0955531 ] [ 0.02997453 0.00334394 0.99954507 -0.2666973 ] [ 0. 0. 0. 1. ]] SLAMing on 262.773133365 meters SLAMing on 262.803133365 meters SLAMing on 262.833133365 meters Centerline goodness : 0.137914 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 0.99957349 0.00272614 -0.02907584 -1.55810944] [-0.00283547 0.99998906 -0.0037197 0.08710353] [ 0.02906538 0.00380056 0.99957029 -0.26896244] [ 0. 0. 0. 1. ]] SLAMing on 262.863133365 meters Centerline goodness : 0.119112 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 0.99958319 0.00277778 -0.02873547 -1.55960298] [-0.00288195 0.99998942 -0.0035843 0.08542396] [ 0.02872521 0.00366562 0.99958062 -0.2680182 ] [ 0. 0. 0. 1. ]] SLAMing on 262.893133365 meters Centerline goodness : 0.124181 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 0.99958332 0.0028973 -0.02871913 -1.5599435 ] [-0.00299889 0.9999894 -0.00349497 0.08523829] [ 0.0287087 0.00357964 0.99958141 -0.26754666] [ 0. 0. 0. 1. ]] SLAMing on 262.923133365 meters Centerline goodness : 0.151112 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.09, Z:-0.27 [[ 0.99954272 0.00454569 -0.02989462 -1.60717526] [-0.0046318 0.99998532 -0.00281194 0.08829527] [ 0.02988139 0.00294912 0.9995491 -0.26718924] [ 0. 0. 0. 1. ]] SLAMing on 262.953133365 meters Centerline goodness : 0.125768 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.09, Z:-0.27 [[ 0.99955174 0.00471367 -0.0295653 -1.60826043] [-0.00479782 0.99998464 -0.00277583 0.08870066] [ 0.02955176 0.00291644 0.999559 -0.26663653] [ 0. 0. 0. 1. ]] SLAMing on 262.983133365 meters Centerline goodness : 0.110622 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.09, Z:-0.27 [[ 0.99955967 0.004798 -0.02928221 -1.60914873] [-0.00488198 0.99998417 -0.00279692 0.08912105] [ 0.02926832 0.00293865 0.99956727 -0.26629535] [ 0. 0. 0. 1. ]] SLAMing on 263.013133365 meters Centerline goodness : 0.106439 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.09, Z:-0.27 [[ 0.99955528 0.00499783 -0.02939832 -1.60859648] [-0.00508121 0.99998328 -0.00276241 0.08969394] [ 0.02938403 0.00291056 0.99956396 -0.26673359] [ 0. 0. 0. 1. ]] SLAMing on 263.04313336499996 meters Centerline goodness : 0.093432 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.26 [[ 9.99547758e-01 -2.82402477e-03 -2.99383457e-02 -1.58902637e+00] [ 2.77772706e-03 9.99994881e-01 -1.58791203e-03 9.23414730e-02] [ 2.99426767e-02 1.50403336e-03 9.99550486e-01 -2.64961694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.073133365 meters Centerline goodness : 0.105739 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.26 [[ 9.99547123e-01 -2.86736684e-03 -2.99554087e-02 -1.58900228e+00] [ 2.81882845e-03 9.99994645e-01 -1.66245800e-03 9.25045194e-02] [ 2.99600152e-02 1.57726596e-03 9.99549854e-01 -2.64940512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10313336499996 meters Centerline goodness : 0.107052 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.26 [[ 0.99954376 -0.00292425 -0.03006205 -1.5889517 ] [ 0.00287346 0.99999437 -0.00173233 0.09254281] [ 0.03006695 0.00164516 0.99954653 -0.26467989] [ 0. 0. 0. 1. ]] SLAMing on 263.133133365 meters Centerline goodness : 0.109236 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.26 [[ 0.99953341 -0.00296399 -0.03040024 -1.58798426] [ 0.00291012 0.99999412 -0.00181614 0.09299084] [ 0.03040545 0.00172682 0.99953616 -0.26497567] [ 0. 0. 0. 1. ]] SLAMing on 263.16313336499996 meters Centerline goodness : 0.105218 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.27 [[ 0.99953139 -0.00290592 -0.03047209 -1.58772405] [ 0.00285297 0.99999434 -0.00178107 0.09332006] [ 0.03047709 0.0016933 0.99953403 -0.26514641] [ 0. 0. 0. 1. ]] SLAMing on 263.193133365 meters Centerline goodness : 0.111886 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.27 [[ 0.99953071 -0.00285594 -0.03049933 -1.58767295] [ 0.00280258 0.99999447 -0.00179229 0.09402977] [ 0.03050428 0.00170598 0.99953318 -0.26512142] [ 0. 0. 0. 1. ]] SLAMing on 263.22313336499997 meters Centerline goodness : 0.106297 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.27 [[ 0.99953105 -0.00282763 -0.03049079 -1.58773045] [ 0.00277326 0.99999449 -0.0018252 0.09462503] [ 0.03049579 0.00173979 0.99953338 -0.26504899] [ 0. 0. 0. 1. ]] SLAMing on 263.253133365 meters Centerline goodness : 0.102607 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.26 [[ 0.9995308 -0.0028622 -0.03049572 -1.58778327] [ 0.00280611 0.99999429 -0.00188197 0.09492308] [ 0.03050093 0.00179551 0.99953313 -0.26496079] [ 0. 0. 0. 1. ]] SLAMing on 263.28313336499997 meters Centerline goodness : 0.105757 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.27 [[ 0.99953128 -0.00292566 -0.03047404 -1.58769566] [ 0.00286814 0.99999402 -0.00193105 0.09484955] [ 0.0304795 0.00184274 0.99953369 -0.26518496] [ 0. 0. 0. 1. ]] SLAMing on 263.313133365 meters Centerline goodness : 0.100847 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.27 [[ 0.99951783 -0.00307408 -0.03089742 -1.58633575] [ 0.00301836 0.99999373 -0.00185001 0.09386997] [ 0.03090291 0.00175585 0.99952085 -0.26591125] [ 0. 0. 0. 1. ]] SLAMing on 263.34313336499997 meters Centerline goodness : 0.106510 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.27 [[ 9.99514995e-01 -2.98621793e-03 -3.09976905e-02 -1.58587892e+00] [ 2.93873463e-03 9.99994438e-01 -1.57727851e-03 9.27415392e-02] [ 3.10022282e-02 1.48541954e-03 9.99518212e-01 -2.66323964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.373133365 meters Centerline goodness : 0.102865 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.27 [[ 9.99512917e-01 -2.89857941e-03 -3.10729369e-02 -1.58544492e+00] [ 2.85966675e-03 9.99995070e-01 -1.29666735e-03 9.14979214e-02] [ 3.10765423e-02 1.20717752e-03 9.99516279e-01 -2.66821375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.403133365 meters Centerline goodness : 0.124540 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 0.99950974 0.00253808 -0.03120638 -1.56314758] [-0.00266215 0.99998872 -0.00393465 0.08695836] [ 0.03119604 0.00401579 0.99950522 -0.26680965] [ 0. 0. 0. 1. ]] SLAMing on 263.433133365 meters Centerline goodness : 0.104551 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 0.99951306 0.00254988 -0.03109889 -1.56335894] [-0.00267053 0.99998907 -0.00383847 0.08625845] [ 0.03108876 0.00391965 0.99950894 -0.2669151 ] [ 0. 0. 0. 1. ]] SLAMing on 263.463133365 meters Centerline goodness : 0.163642 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 0.99951995 0.00252437 -0.03087875 -1.56417254] [-0.00264552 0.99998896 -0.00388323 0.08634445] [ 0.03086861 0.00396305 0.99951559 -0.26648307] [ 0. 0. 0. 1. ]] SLAMing on 263.493133365 meters Centerline goodness : 0.104562 Centerline is valid? [False, False] Translation: X:-1.57, Y:0.09, Z:-0.26 [[ 0.99956152 0.0027903 -0.02947833 -1.56838344] [-0.00291125 0.99998752 -0.00406095 0.08828026] [ 0.02946664 0.00414499 0.99955717 -0.26483816] [ 0. 0. 0. 1. ]] SLAMing on 263.523133365 meters Centerline goodness : 0.105973 Centerline is valid? [False, False] Translation: X:-1.57, Y:0.09, Z:-0.26 [[ 0.99957589 0.00274968 -0.02899085 -1.56981073] [-0.00287914 0.99998607 -0.00442477 0.09035824] [ 0.02897828 0.00450636 0.99956988 -0.26429305] [ 0. 0. 0. 1. ]] SLAMing on 263.553133365 meters Centerline goodness : 0.246662 Centerline is valid? [False, False] Translation: X:-1.57, Y:0.09, Z:-0.26 [[ 0.99958316 0.00269839 -0.02874411 -1.57034175] [-0.00283763 0.99998443 -0.00480452 0.09255464] [ 0.0287307 0.00488408 0.99957526 -0.26427826] [ 0. 0. 0. 1. ]] SLAMing on 263.583133365 meters Centerline goodness : 0.150577 Centerline is valid? [False, False] Translation: X:-1.57, Y:0.09, Z:-0.26 [[ 0.99957772 0.00265119 -0.02893695 -1.56966208] [-0.00280054 0.99998296 -0.00512206 0.09449754] [ 0.02892288 0.00520093 0.99956812 -0.26459806] [ 0. 0. 0. 1. ]] SLAMing on 263.613133365 meters Centerline goodness : 0.106325 Centerline is valid? [False, False] Translation: X:-1.57, Y:0.10, Z:-0.26 [[ 0.99956731 0.00262657 -0.02929679 -1.56859316] [-0.00278498 0.99998172 -0.00536764 0.09610897] [ 0.02928216 0.00544691 0.99955634 -0.26494004] [ 0. 0. 0. 1. ]] SLAMing on 263.643133365 meters Centerline goodness : 0.113782 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.10, Z:-0.27 [[ 0.99948336 0.00344639 -0.03195529 -1.61172741] [-0.0036194 0.9999791 -0.00535799 0.100787 ] [ 0.03193615 0.00547088 0.99947494 -0.26608452] [ 0. 0. 0. 1. ]] SLAMing on 263.673133365 meters Centerline goodness : 0.118283 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.10, Z:-0.26 [[ 0.99944435 -0.00439785 -0.03304001 -1.59165861] [ 0.00425707 0.99998156 -0.00433024 0.10469543] [ 0.03305845 0.00418719 0.99944465 -0.26407631] [ 0. 0. 0. 1. ]] SLAMing on 263.703133365 meters Centerline goodness : 0.092783 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99943419 -0.00442363 -0.03334251 -1.59072513] [ 0.00427761 0.99998095 -0.00444939 0.10544738] [ 0.03336156 0.00430424 0.99943408 -0.26440677] [ 0. 0. 0. 1. ]] SLAMing on 263.733133365 meters Centerline goodness : 0.113686 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99941794 -0.0044088 -0.03382824 -1.58934905] [ 0.00425762 0.99998063 -0.00453984 0.10653884] [ 0.0338476 0.00439317 0.99941735 -0.26477976] [ 0. 0. 0. 1. ]] SLAMing on 263.763133365 meters Centerline goodness : 0.105505 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99941868 -0.0044106 -0.033806 -1.58940217] [ 0.00425814 0.99998044 -0.00458056 0.10695927] [ 0.03382554 0.00443395 0.99941792 -0.26478055] [ 0. 0. 0. 1. ]] SLAMing on 263.79313336499996 meters Centerline goodness : 0.119222 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99942499 -0.00446049 -0.03361253 -1.59008445] [ 0.00430606 0.99997984 -0.00466559 0.10734628] [ 0.03363266 0.00451817 0.99942405 -0.26447399] [ 0. 0. 0. 1. ]] SLAMing on 263.823133365 meters Centerline goodness : 0.121867 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99943108 -0.00452229 -0.03342244 -1.59086029] [ 0.00436457 0.999979 -0.00479047 0.10784938] [ 0.0334434 0.00464187 0.99942983 -0.2640145 ] [ 0. 0. 0. 1. ]] SLAMing on 263.85313336499996 meters Centerline goodness : 0.112329 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99943651 -0.00456847 -0.03325354 -1.59140705] [ 0.00440882 0.99997841 -0.00487269 0.10824726] [ 0.03327508 0.00472333 0.99943507 -0.2637998 ] [ 0. 0. 0. 1. ]] SLAMing on 263.883133365 meters Centerline goodness : 0.113732 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99943896 -0.00456125 -0.03318062 -1.59164394] [ 0.0044028 0.99997856 -0.00484693 0.10830404] [ 0.03320202 0.00469812 0.99943762 -0.26373305] [ 0. 0. 0. 1. ]] SLAMing on 263.91313336499996 meters Centerline goodness : 0.132419 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99944852 -0.00452637 -0.03289635 -1.59222421] [ 0.00437153 0.99997903 -0.00477748 0.10835228] [ 0.03291728 0.00463104 0.99944735 -0.26385306] [ 0. 0. 0. 1. ]] SLAMing on 263.943133365 meters Centerline goodness : 0.144565 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.11, Z:-0.27 [[ 0.99945849 0.00395438 -0.03266628 -1.61295232] [-0.00414431 0.99997489 -0.00574867 0.10579957] [ 0.03264273 0.00588094 0.99944978 -0.26557307] [ 0. 0. 0. 1. ]] SLAMing on 263.97313336499997 meters Centerline goodness : 0.137759 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.11, Z:-0.27 [[ 0.99945578 0.00390617 -0.03275488 -1.61289178] [-0.00410011 0.99997445 -0.00585603 0.1063776 ] [ 0.03273117 0.00598714 0.99944626 -0.26534918] [ 0. 0. 0. 1. ]] SLAMing on 264.003133365 meters SLAMing on 264.03313336499997 meters SLAMing on 264.063133365 meters Centerline goodness : 0.120040 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99945892 -0.00390593 -0.03265916 -1.59366009] [ 0.00376153 0.99998288 -0.00448162 0.11049729] [ 0.03267611 0.00435635 0.9994565 -0.26278375] [ 0. 0. 0. 1. ]] SLAMing on 264.09313336499997 meters Centerline goodness : 0.221457 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99946029 -0.00387927 -0.03262029 -1.5938342 ] [ 0.00373627 0.99998315 -0.00444357 0.11048266] [ 0.03263697 0.00431929 0.99945794 -0.26265114] [ 0. 0. 0. 1. ]] SLAMing on 264.123133365 meters Centerline goodness : 0.114446 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99946496 -0.00404025 -0.03245717 -1.59430632] [ 0.0038937 0.99998194 -0.00457728 0.11013722] [ 0.03247508 0.00444845 0.99946265 -0.26251684] [ 0. 0. 0. 1. ]] SLAMing on 264.153133365 meters Centerline goodness : 0.123081 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99946373 -0.00408053 -0.03249001 -1.59420301] [ 0.00393264 0.99998162 -0.00461436 0.11011008] [ 0.03250824 0.00448411 0.99946141 -0.26259821] [ 0. 0. 0. 1. ]] SLAMing on 264.183133365 meters Centerline goodness : 0.123535 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99945985 -0.00411304 -0.03260498 -1.59373969] [ 0.00396366 0.99998136 -0.00464499 0.11030355] [ 0.03262348 0.00451325 0.99945752 -0.26288114] [ 0. 0. 0. 1. ]] SLAMing on 264.213133365 meters Centerline goodness : 0.107768 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.9994576 -0.00407233 -0.03267901 -1.59340731] [ 0.00392373 0.99998168 -0.00461015 0.11045313] [ 0.03269718 0.00447942 0.99945527 -0.26314562] [ 0. 0. 0. 1. ]] SLAMing on 264.243133365 meters Centerline goodness : 0.153334 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99945871 -0.00403992 -0.0326491 -1.59347272] [ 0.0038912 0.99998177 -0.00461735 0.11084408] [ 0.03266716 0.00448781 0.99945621 -0.26315233] [ 0. 0. 0. 1. ]] SLAMing on 264.273133365 meters Centerline goodness : 0.114112 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99946194 -0.00407466 -0.03254565 -1.59392222] [ 0.00392281 0.99998113 -0.00472847 0.1114908 ] [ 0.0325643 0.00459825 0.99945906 -0.2628452 ] [ 0. 0. 0. 1. ]] SLAMing on 264.303133365 meters Centerline goodness : 0.139630 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99945896 -0.00414256 -0.03262866 -1.59399238] [ 0.00398449 0.99998002 -0.00490829 0.11239544] [ 0.03264834 0.00477563 0.99945549 -0.26243235] [ 0. 0. 0. 1. ]] SLAMing on 264.333133365 meters Centerline goodness : 0.105553 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99945458 -0.00412785 -0.03276438 -1.59358685] [ 0.00396799 0.99997991 -0.00494259 0.11277053] [ 0.03278412 0.00480989 0.99945088 -0.26254722] [ 0. 0. 0. 1. ]] SLAMing on 264.363133365 meters Centerline goodness : 0.112108 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99944712 -0.00412157 -0.0329918 -1.5928652 ] [ 0.00396036 0.99997991 -0.00495014 0.11286977] [ 0.03301154 0.00481675 0.99944336 -0.26285027] [ 0. 0. 0. 1. ]] SLAMing on 264.393133365 meters Centerline goodness : 0.119416 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99943292 -0.00412114 -0.03341948 -1.59152919] [ 0.00395692 0.99997978 -0.0049786 0.11280918] [ 0.03343932 0.00484354 0.99942901 -0.26332791] [ 0. 0. 0. 1. ]] SLAMing on 264.423133365 meters Centerline goodness : 0.104740 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99942967 -0.00412791 -0.03351556 -1.59130976] [ 0.00396076 0.99997939 -0.00505224 0.11323701] [ 0.03353573 0.00491661 0.99942543 -0.26329934] [ 0. 0. 0. 1. ]] SLAMing on 264.453133365 meters Centerline goodness : 0.112004 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99943196 -0.00410437 -0.03345012 -1.59166014] [ 0.00393469 0.99997907 -0.00513677 0.11388461] [ 0.0334705 0.00500224 0.99942719 -0.26298731] [ 0. 0. 0. 1. ]] SLAMing on 264.483133365 meters Centerline goodness : 0.096476 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99943904 -0.00405973 -0.03324351 -1.59240201] [ 0.00388729 0.99997866 -0.00525024 0.1147584 ] [ 0.03326411 0.00511806 0.99943349 -0.26254281] [ 0. 0. 0. 1. ]] SLAMing on 264.513133365 meters Centerline goodness : 0.112085 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.12, Z:-0.26 [[ 0.99945229 -0.00400331 -0.0328497 -1.59370285] [ 0.00382626 0.99997782 -0.00545085 0.1160838 ] [ 0.0328708 0.00532218 0.99944544 -0.26188802] [ 0. 0. 0. 1. ]] SLAMing on 264.54313336499996 meters Centerline goodness : 0.107049 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.12, Z:-0.26 [[ 0.99945715 -0.00397475 -0.0327048 -1.59432771] [ 0.00379035 0.99997658 -0.00569841 0.11757652] [ 0.03272669 0.00557135 0.99944881 -0.26140174] [ 0. 0. 0. 1. ]] SLAMing on 264.573133365 meters Centerline goodness : 0.110885 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.12, Z:-0.26 [[ 9.99461457e-01 -2.67812010e-04 -3.28134799e-02 -1.59444890e+00] [ 1.89843055e-04 9.99997152e-01 -2.37921828e-03 1.18809555e-01] [ 3.28140236e-02 2.37170756e-03 9.99458661e-01 -2.61006544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60313336499996 meters Centerline goodness : 0.118152 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.12, Z:-0.26 [[ 9.99455107e-01 -2.03100804e-04 -3.30067929e-02 -1.59412626e+00] [ 1.20598261e-04 9.99996864e-01 -2.50153413e-03 1.20060328e-01] [ 3.30071974e-02 2.49619050e-03 9.99451997e-01 -2.60845538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.633133365 meters Centerline goodness : 0.110326 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.12, Z:-0.26 [[ 9.99452432e-01 -1.62796114e-04 -3.30879116e-02 -1.59395316e+00] [ 7.71270581e-05 9.99996642e-01 -2.59039442e-03 1.20920810e-01] [ 3.30882222e-02 2.58642403e-03 9.99449088e-01 -2.60795688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66313336499996 meters Centerline goodness : 0.115050 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.12, Z:-0.26 [[ 9.99456820e-01 -1.94637084e-04 -3.29549197e-02 -1.59429547e+00] [ 1.03535161e-04 9.99996169e-01 -2.76612465e-03 1.21864099e-01] [ 3.29553319e-02 2.76121016e-03 9.99453011e-01 -2.60742142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.693133365 meters Centerline goodness : 0.110826 Centerline is valid? [False, False] Translation: X:-1.60, Y:0.12, Z:-0.26 [[ 9.99466383e-01 -1.92986967e-04 -3.26636132e-02 -1.59519697e+00] [ 9.91101881e-05 9.99995860e-01 -2.87564229e-03 1.22604798e-01] [ 3.26640329e-02 2.87087050e-03 9.99462265e-01 -2.60440315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72313336499997 meters Centerline goodness : 0.110548 Centerline is valid? [False, False] Translation: X:-1.60, Y:0.12, Z:-0.26 [[ 9.99474936e-01 -1.66627716e-04 -3.24009963e-02 -1.59613716e+00] [ 6.92985144e-05 9.99995483e-01 -3.00499510e-03 1.23619347e-01] [ 3.24013507e-02 3.00117194e-03 9.99470433e-01 -2.59951716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.753133365 meters Centerline goodness : 0.110402 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.13, Z:-0.26 [[ 9.99476396e-01 -4.78902816e-03 -3.19999888e-02 -1.61786266e+00] [ 4.80765468e-03 9.99988316e-01 5.05161747e-04 1.28607857e-01] [ 3.19971957e-02 -6.58742138e-04 9.99487742e-01 -2.60977157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78313336499997 meters Centerline goodness : 0.113324 Centerline is valid? [False, False] Translation: X:-1.60, Y:0.13, Z:-0.26 [[ 9.99485046e-01 3.37534400e-03 -3.19100423e-02 -1.59797933e+00] [-3.38773358e-03 9.99994206e-01 -3.34208378e-04 1.25632637e-01] [ 3.19087293e-02 4.42138998e-04 9.99490689e-01 -2.59668358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.813133365 meters Centerline goodness : 0.110162 Centerline is valid? [False, False] Translation: X:-1.60, Y:0.13, Z:-0.26 [[ 9.99488335e-01 3.36774647e-03 -3.18076345e-02 -1.59828245e+00] [-3.38510426e-03 9.99994150e-01 -4.91877277e-04 1.26555836e-01] [ 3.18057919e-02 5.99297760e-04 9.99493888e-01 -2.59561031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84313336499997 meters Centerline goodness : 0.110065 Centerline is valid? [False, False] Translation: X:-1.60, Y:0.13, Z:-0.26 [[ 9.99497717e-01 3.37781193e-03 -3.15103781e-02 -1.59929347e+00] [-3.39906215e-03 9.99994030e-01 -6.20845910e-04 1.27337557e-01] [ 3.15080929e-02 7.27639803e-04 9.99503232e-01 -2.59099832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.873133365 meters Centerline goodness : 0.108648 Centerline is valid? [False, False] Translation: X:-1.60, Y:0.13, Z:-0.26 [[ 9.99509955e-01 3.38817699e-03 -3.11186437e-02 -1.60050603e+00] [-3.41446879e-03 9.99993857e-01 -7.91788067e-04 1.28378032e-01] [ 3.11157698e-02 8.97653693e-04 9.99515384e-01 -2.58679248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.903133365 meters Centerline goodness : 0.104739 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.13, Z:-0.26 [[ 0.99958463 -0.00179989 -0.02876345 -1.62277732] [ 0.00185107 0.99999675 0.00175287 0.13386381] [ 0.0287602 -0.00180538 0.99958471 -0.26021392] [ 0. 0. 0. 1. ]] SLAMing on 264.933133365 meters Centerline goodness : 0.117290 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99580664e-01 -1.31839594e-03 -2.89267814e-02 -1.62218779e+00] [ 1.37065555e-03 9.99997464e-01 1.78686262e-03 1.35882456e-01] [ 2.89243523e-02 -1.82576198e-03 9.99579936e-01 -2.60555263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.963133365 meters Centerline goodness : 0.105693 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99570779e-01 -1.26804159e-03 -2.92685696e-02 -1.62101341e+00] [ 1.31792452e-03 9.99997712e-01 1.68508916e-03 1.36781284e-01] [ 2.92663659e-02 -1.72293966e-03 9.99570163e-01 -2.61146856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.993133365 meters Centerline goodness : 0.111846 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99558199e-01 -1.26670618e-03 -2.96951423e-02 -1.61971553e+00] [ 1.31477573e-03 9.99997857e-01 1.59929839e-03 1.37175409e-01] [ 2.96930528e-02 -1.63763427e-03 9.99557723e-01 -2.61622038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.023133365 meters Centerline goodness : 0.115545 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99546500e-01 -1.26219254e-03 -3.00865506e-02 -1.61853707e+00] [ 1.30914294e-03 9.99997956e-01 1.54086418e-03 1.37413586e-01] [ 3.00845442e-02 -1.57955299e-03 9.99546110e-01 -2.62072982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.053133365 meters Centerline goodness : 0.113589 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99535477e-01 -1.21831190e-03 -3.04523420e-02 -1.61754187e+00] [ 1.26535017e-03 9.99998036e-01 1.52542893e-03 1.37626162e-01] [ 3.04504238e-02 -1.56325321e-03 9.99535056e-01 -2.62310570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.083133365 meters Centerline goodness : 0.113667 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99518238e-01 -1.02136825e-03 -3.10201449e-02 -1.61590099e+00] [ 1.06787159e-03 9.99998331e-01 1.48260369e-03 1.38409281e-01] [ 3.10185788e-02 -1.51501496e-03 9.99517660e-01 -2.62849261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.113133365 meters Centerline goodness : 0.109028 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99520539e-01 -1.01964093e-03 -3.09459762e-02 -1.61598491e+00] [ 1.06088428e-03 9.99998571e-01 1.31636333e-03 1.39365507e-01] [ 3.09445898e-02 -1.34856229e-03 9.99520192e-01 -2.63028282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.143133365 meters Centerline goodness : 0.123791 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99523458e-01 -9.51031472e-04 -3.08537408e-02 -1.61625112e+00] [ 9.87236945e-04 9.99998842e-01 1.15824251e-03 1.40504930e-01] [ 3.08526035e-02 -1.18815051e-03 9.99523239e-01 -2.63015127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.173133365 meters Centerline goodness : 0.103961 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99519550e-01 -9.29870502e-04 -3.09806965e-02 -1.61602180e+00] [ 9.57270143e-04 9.99999164e-01 8.69589845e-04 1.42003698e-01] [ 3.09798620e-02 -8.98828947e-04 9.99519605e-01 -2.62958616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.203133365 meters Centerline goodness : 0.108792 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99513215e-01 -1.02112866e-03 -3.11815823e-02 -1.61557672e+00] [ 1.03664854e-03 9.99999347e-01 4.81563960e-04 1.43865665e-01] [ 3.11810701e-02 -5.13653884e-04 9.99513620e-01 -2.62989132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.233133365 meters Centerline goodness : 0.118768 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.15, Z:-0.26 [[ 9.99505156e-01 -1.05426149e-03 -3.14377486e-02 -1.61486663e+00] [ 1.06010078e-03 9.99999424e-01 1.69074190e-04 1.45483373e-01] [ 3.14375522e-02 -2.02317706e-04 9.99505698e-01 -2.63250783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.263133365 meters Centerline goodness : 0.104539 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.15, Z:-0.26 [[ 9.99518906e-01 -7.09071133e-04 -3.10073070e-02 -1.61609731e+00] [ 7.08240871e-04 9.99999748e-01 -3.77592944e-05 1.48165270e-01] [ 3.10073260e-02 1.57804865e-05 9.99519157e-01 -2.62986438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29313336499996 meters Centerline goodness : 0.100559 Centerline is valid? [False, False] Translation: X:-1.64, Y:0.15, Z:-0.26 [[ 9.99518515e-01 7.90043320e-03 -3.00053540e-02 -1.63744207e+00] [-7.93127953e-03 9.99968134e-01 -9.09147697e-04 1.45732244e-01] [ 2.99972151e-02 1.14669081e-03 9.99549325e-01 -2.64325543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.323133365 meters Centerline goodness : 0.096763 Centerline is valid? [False, False] Translation: X:-1.64, Y:0.15, Z:-0.26 [[ 9.99521274e-01 7.83810300e-03 -2.99297068e-02 -1.63775546e+00] [-7.87783350e-03 9.99968238e-01 -1.20977233e-03 1.47254788e-01] [ 2.99192739e-02 1.44497443e-03 9.99551274e-01 -2.64210951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35313336499996 meters Centerline goodness : 0.113567 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.15, Z:-0.26 [[ 9.99525442e-01 9.20820208e-06 -3.08040713e-02 -1.61811541e+00] [-3.06172267e-05 9.99999758e-01 -6.94534724e-04 1.53347100e-01] [ 3.08040574e-02 6.95148263e-04 9.99525201e-01 -2.62539524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.383133365 meters Centerline goodness : 0.115155 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.15, Z:-0.26 [[ 9.99517143e-01 -3.41476262e-05 -3.10721631e-02 -1.61734385e+00] [ 5.93084948e-06 9.99999588e-01 -9.08196392e-04 1.54590605e-01] [ 3.10721813e-02 9.07573579e-04 9.99516731e-01 -2.62808038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41313336499996 meters Centerline goodness : 0.131013 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.26 [[ 9.99440218e-01 1.11518411e-03 -3.34365980e-02 -1.66197006e+00] [-1.13236103e-03 9.99999236e-01 -4.94784328e-04 1.54101038e-01] [ 3.34360207e-02 5.32369657e-04 9.99440718e-01 -2.63553493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.443133365 meters Centerline goodness : 0.137684 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.26 [[ 9.99464180e-01 1.33107327e-03 -3.27044592e-02 -1.66425119e+00] [-1.34263692e-03 9.99999044e-01 -3.31622003e-04 1.54300452e-01] [ 3.27039865e-02 3.75354527e-04 9.99465011e-01 -2.62752388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47313336499997 meters Centerline goodness : 0.201736 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.15, Z:-0.26 [[ 9.99480316e-01 1.36644737e-03 -3.22060814e-02 -1.66581163e+00] [-1.37498381e-03 9.99999025e-01 -2.42911167e-04 1.53820590e-01] [ 3.22057180e-02 2.87067770e-04 9.99481220e-01 -2.62178299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.503133365 meters Centerline goodness : 0.104234 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.15, Z:-0.26 [[ 9.99485640e-01 1.37740552e-03 -3.20399592e-02 -1.66640599e+00] [-1.38240606e-03 9.99999036e-01 -1.33920694e-04 1.52995683e-01] [ 3.20397439e-02 1.78144045e-04 9.99486580e-01 -2.61926495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53313336499997 meters Centerline goodness : 0.103390 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.15, Z:-0.26 [[ 9.99481432e-01 1.39695856e-03 -3.21700908e-02 -1.66586562e+00] [-1.39819497e-03 9.99999022e-01 -1.59376905e-05 1.52189624e-01] [ 3.21700371e-02 6.09094850e-05 9.99482409e-01 -2.62298637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.563133365 meters Centerline goodness : 0.104043 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.15, Z:-0.26 [[ 9.99475544e-01 1.41918721e-03 -3.23515618e-02 -1.66500393e+00] [-1.41783671e-03 9.99998993e-01 6.46850682e-05 1.51643869e-01] [ 3.23516210e-02 -1.87819118e-05 9.99476549e-01 -2.63020655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59313336499997 meters Centerline goodness : 0.101590 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.26 [[ 9.99469288e-01 1.46332737e-03 -3.25422815e-02 -1.66415181e+00] [-1.46000758e-03 9.99998926e-01 1.25776597e-04 1.51406122e-01] [ 3.25424306e-02 -7.81978681e-05 9.99470352e-01 -2.63650412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.623133365 meters Centerline goodness : 0.103703 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.26 [[ 9.99477941e-01 1.58787793e-03 -3.22695449e-02 -1.66474226e+00] [-1.58622598e-03 9.99998739e-01 7.67922994e-05 1.52427929e-01] [ 3.22696261e-02 -2.55654188e-05 9.99479200e-01 -2.63813183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.653133365 meters Centerline goodness : 0.102722 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.15, Z:-0.26 [[ 9.99481960e-01 1.60398321e-03 -3.21440252e-02 -1.66510408e+00] [-1.60850862e-03 9.99998700e-01 -1.14927333e-04 1.53848802e-01] [ 3.21437991e-02 1.66571738e-04 9.99483241e-01 -2.63797875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.683133365 meters Centerline goodness : 0.101347 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.16, Z:-0.26 [[ 9.99482004e-01 1.55101689e-03 -3.21452730e-02 -1.66504633e+00] [-1.56529606e-03 9.99998687e-01 -4.19047404e-04 1.55617214e-01] [ 3.21445808e-02 4.69147208e-04 9.99483119e-01 -2.63950999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.713133365 meters Centerline goodness : 0.103044 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.26 [[ 9.99480178e-01 1.47720330e-03 -3.22054551e-02 -1.66474878e+00] [-1.50130984e-03 9.99998611e-01 -7.24354979e-04 1.57159255e-01] [ 3.22043404e-02 7.72328810e-04 9.99481007e-01 -2.64286515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.743133365 meters Centerline goodness : 0.096429 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.26 [[ 9.99478567e-01 1.38012694e-03 -3.22597279e-02 -1.66448343e+00] [-1.41247255e-03 9.99998522e-01 -9.79895047e-04 1.58270599e-01] [ 3.22583279e-02 1.02495008e-03 9.99479039e-01 -2.64562568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.773133365 meters Centerline goodness : 0.251825 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99475715e-01 1.34011607e-03 -3.23496548e-02 -1.66395955e+00] [-1.37741168e-03 9.99998412e-01 -1.13063281e-03 1.59010835e-01] [ 3.23480883e-02 1.17459883e-03 9.99475973e-01 -2.65088615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.803133365 meters Centerline goodness : 0.165490 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99473457e-01 1.31638457e-03 -3.24203069e-02 -1.66353703e+00] [-1.35877240e-03 9.99998251e-01 -1.28545009e-03 1.59867167e-01] [ 3.24185580e-02 1.32882506e-03 9.99473497e-01 -2.65584564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.833133365 meters Centerline goodness : 0.118833 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99473675e-01 1.34759182e-03 -3.24122932e-02 -1.66341657e+00] [-1.38768989e-03 9.99998299e-01 -1.21466223e-03 1.59505108e-01] [ 3.24106012e-02 1.25900114e-03 9.99473846e-01 -2.65796597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.863133365 meters Centerline goodness : 0.189339 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99471292e-01 1.40567937e-03 -3.24832453e-02 -1.66307865e+00] [-1.44167414e-03 9.99998372e-01 -1.08470772e-03 1.58843564e-01] [ 3.24816676e-02 1.13096448e-03 9.99471692e-01 -2.66093219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.893133365 meters Centerline goodness : 0.089597 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99472229e-01 1.43684862e-03 -3.24530196e-02 -1.66292699e+00] [-1.46976762e-03 9.99998429e-01 -9.90525929e-04 1.58238521e-01] [ 3.24515454e-02 1.03770156e-03 9.99472771e-01 -2.66440957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.923133365 meters Centerline goodness : 0.107973 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99470579e-01 1.47942885e-03 -3.25018827e-02 -1.66255911e+00] [-1.50936508e-03 9.99998459e-01 -8.96545582e-04 1.57652830e-01] [ 3.25005062e-02 9.45128139e-04 9.99471272e-01 -2.66832690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.953133365 meters Centerline goodness : 0.107973 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99470579e-01 1.47942885e-03 -3.25018827e-02 -1.66255911e+00] [-1.50936508e-03 9.99998459e-01 -8.96545582e-04 1.57652830e-01] [ 3.25005062e-02 9.45128139e-04 9.99471272e-01 -2.66832690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.983133365 meters SLAMing on 266.013133365 meters Centerline goodness : 0.107405 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99446994e-01 1.82520521e-03 -3.32020302e-02 -1.66051839e+00] [-1.84836238e-03 9.99998069e-01 -6.66782846e-04 1.57347937e-01] [ 3.32007491e-02 7.27783495e-04 9.99448438e-01 -2.67614254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04313336499996 meters Centerline goodness : 0.096885 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99445829e-01 1.87610724e-03 -3.32342362e-02 -1.66061049e+00] [-1.89866366e-03 9.99997988e-01 -6.47164121e-04 1.57316387e-01] [ 3.32329552e-02 7.09906118e-04 9.99447381e-01 -2.67408566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.073133365 meters Centerline goodness : 0.095366 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99452720e-01 1.93861033e-03 -3.30227640e-02 -1.66119722e+00] [-1.95667215e-03 9.99997953e-01 -5.14643017e-04 1.56593305e-01] [ 3.30216987e-02 5.78976086e-04 9.99454467e-01 -2.67356332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10313336499996 meters Centerline goodness : 0.058982 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.27 [[ 9.99462756e-01 2.16333001e-03 -3.27035041e-02 -1.66227777e+00] [-2.16248406e-03 9.99997660e-01 6.12373520e-05 1.53500506e-01] [ 3.27035600e-02 9.51635364e-06 9.99465095e-01 -2.66920857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.133133365 meters Centerline goodness : 0.215508 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.27 [[ 9.99465715e-01 2.30961488e-03 -3.26029290e-02 -1.66267454e+00] [-2.29662551e-03 9.99997268e-01 4.35853982e-04 1.51657351e-01] [ 3.26038466e-02 -3.60744393e-04 9.99468288e-01 -2.66649409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16313336499996 meters Centerline goodness : 0.228159 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.27 [[ 9.99469350e-01 2.42109168e-03 -3.24831768e-02 -1.66310472e+00] [-2.39725224e-03 9.99996828e-01 7.72826650e-04 1.49797827e-01] [ 3.24849448e-02 -6.94546181e-04 9.99471984e-01 -2.66408374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.193133365 meters Centerline goodness : 0.233362 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.27 [[ 9.99473373e-01 2.49891076e-03 -3.23532315e-02 -1.66364227e+00] [-2.46580165e-03 9.99996395e-01 1.06322142e-03 1.48011706e-01] [ 3.23557717e-02 -9.82884844e-04 9.99475932e-01 -2.66071627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22313336499997 meters Centerline goodness : 0.226546 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.27 [[ 9.99478061e-01 2.59783515e-03 -3.22002521e-02 -1.66419634e+00] [-2.55541327e-03 9.99995812e-01 1.35852256e-03 1.46321456e-01] [ 3.22036465e-02 -1.27552854e-03 9.99480514e-01 -2.65772778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.253133365 meters Centerline goodness : 0.071053 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.14, Z:-0.27 [[ 9.99479865e-01 2.71720002e-03 -3.21343375e-02 -1.66443905e+00] [-2.66659541e-03 9.99995136e-01 1.61753385e-03 1.44985653e-01] [ 3.21385764e-02 -1.53100324e-03 9.99482250e-01 -2.65673510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28313336499997 meters Centerline goodness : 0.206562 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.14, Z:-0.27 [[ 0.99941237 0.00378483 -0.03406739 -1.70966914] [-0.00370052 0.99998993 0.00253759 0.1397993 ] [ 0.03407665 -0.00241003 0.99941632 -0.26680583] [ 0. 0. 0. 1. ]] SLAMing on 266.313133365 meters Centerline goodness : 0.077377 Centerline is valid? [False, False] Translation: X:-1.69, Y:0.14, Z:-0.27 [[ 0.99940907 -0.00352238 -0.03419205 -1.69121607] [ 0.00365644 0.99998587 0.00385897 0.14461081] [ 0.03417797 -0.00398171 0.99940783 -0.26522061] [ 0. 0. 0. 1. ]] SLAMing on 266.34313336499997 meters Centerline goodness : 0.100593 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.14, Z:-0.27 [[ 0.9993772 0.00464077 -0.03498113 -1.71032077] [-0.00454626 0.9999858 0.0027806 0.13873615] [ 0.03499354 -0.00261983 0.9993841 -0.26709786] [ 0. 0. 0. 1. ]] SLAMing on 266.373133365 meters Centerline goodness : 0.050558 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.14, Z:-0.27 [[ 0.99937092 0.00466644 -0.03515673 -1.70986943] [-0.00457055 0.99998561 0.00280725 0.13856766] [ 0.03516932 -0.0026448 0.99937787 -0.26718425] [ 0. 0. 0. 1. ]] SLAMing on 266.403133365 meters Centerline goodness : 0.061491 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.14, Z:-0.27 [[ 0.99936822 0.00472295 -0.0352257 -1.70973877] [-0.00462388 0.99998512 0.00289343 0.13833761] [ 0.03523885 -0.00272872 0.99937519 -0.26716994] [ 0. 0. 0. 1. ]] SLAMing on 266.433133365 meters Centerline goodness : 0.090240 Centerline is valid? [False, False] Translation: X:-1.69, Y:0.14, Z:-0.26 [[ 0.99937864 -0.00289246 -0.03512778 -1.69166455] [ 0.0030457 0.99998607 0.00430975 0.14294482] [ 0.03511482 -0.00441406 0.99937354 -0.26496077] [ 0. 0. 0. 1. ]] SLAMing on 266.463133365 meters Centerline goodness : 0.103404 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 0.99941936 0.0039374 -0.03384431 -1.7097145 ] [-0.00383875 0.99998819 0.00297912 0.13432796] [ 0.03385564 -0.00284747 0.99942268 -0.26777466] [ 0. 0. 0. 1. ]] SLAMing on 266.493133365 meters Centerline goodness : 0.126611 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 0.99941102 0.00389575 -0.03409451 -1.70886041] [-0.00378865 0.99998769 0.00320531 0.132325 ] [ 0.03410658 -0.00307425 0.99941347 -0.26813059] [ 0. 0. 0. 1. ]] SLAMing on 266.523133365 meters Centerline goodness : 0.099615 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 9.99400074e-01 5.11087293e-04 -3.46299268e-02 -1.70711626e+00] [-5.11885565e-04 9.99999869e-01 -1.41855956e-05 1.31241820e-01] [ 3.46299150e-02 3.19036449e-05 9.99400204e-01 -2.68856786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.553133365 meters Centerline goodness : 0.095328 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 9.99387240e-01 5.73141772e-04 -3.49973817e-02 -1.70588556e+00] [-5.64505555e-04 9.99999808e-01 2.56648134e-04 1.29570958e-01] [ 3.49975221e-02 -2.36734653e-04 9.99387371e-01 -2.69368423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.583133365 meters Centerline goodness : 0.094095 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 9.99380235e-01 6.43782316e-04 -3.51956057e-02 -1.70529949e+00] [-6.28317722e-04 9.99999701e-01 4.50448580e-04 1.28616158e-01] [ 3.51958851e-02 -4.28055385e-04 9.99380341e-01 -2.69567206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.613133365 meters Centerline goodness : 0.105671 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 9.99377773e-01 7.30365179e-04 -3.52637708e-02 -1.70517802e+00] [-7.08759363e-04 9.99999553e-01 6.25188337e-04 1.27874575e-01] [ 3.52642117e-02 -5.99805800e-04 9.99377844e-01 -2.69511379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.643133365 meters Centerline goodness : 0.095042 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.13, Z:-0.27 [[ 9.99372770e-01 7.84239251e-04 -3.54041199e-02 -1.70491214e+00] [-7.56734771e-04 9.99999401e-01 7.90265563e-04 1.26833735e-01] [ 3.54047185e-02 -7.62978356e-04 9.99372765e-01 -2.69395598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.673133365 meters Centerline goodness : 0.091725 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.13, Z:-0.27 [[ 9.99370832e-01 7.82424587e-04 -3.54588269e-02 -1.70472492e+00] [-7.53594966e-04 9.99999375e-01 8.26402703e-04 1.26322709e-01] [ 3.54594513e-02 -7.99161163e-04 9.99370796e-01 -2.69511136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.703133365 meters Centerline goodness : 0.094997 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.13, Z:-0.27 [[ 9.99373047e-01 7.70623390e-04 -3.53966002e-02 -1.70495393e+00] [-7.42496866e-04 9.99999398e-01 8.07749050e-04 1.26295892e-01] [ 3.53972014e-02 -7.80960764e-04 9.99373018e-01 -2.69422216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.733133365 meters Centerline goodness : 0.154818 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 9.99379587e-01 8.18434721e-04 -3.52103895e-02 -1.70566935e+00] [-7.89597284e-04 9.99999341e-01 8.32901179e-04 1.26343213e-01] [ 3.52110480e-02 -8.04582408e-04 9.99379575e-01 -2.69047734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.763133365 meters Centerline goodness : 0.058061 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 9.99386136e-01 8.66483412e-04 -3.50228526e-02 -1.70624044e+00] [-8.36088445e-04 9.99999261e-01 8.82497240e-04 1.26251989e-01] [ 3.50235914e-02 -8.52673305e-04 9.99386122e-01 -2.68886641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79313336499996 meters Centerline goodness : 0.092518 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 9.99389031e-01 9.06838729e-04 -3.49391111e-02 -1.70655119e+00] [-8.73467702e-04 9.99999148e-01 9.70371433e-04 1.25787066e-01] [ 3.49399613e-02 -9.39260382e-04 9.99388972e-01 -2.68763880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.823133365 meters Centerline goodness : 0.102855 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.12, Z:-0.27 [[ 9.99390437e-01 9.84732467e-04 -3.48967776e-02 -1.70669628e+00] [-9.40844176e-04 9.99998746e-01 1.27405916e-03 1.23844592e-01] [ 3.48979885e-02 -1.24045011e-03 9.99390110e-01 -2.68686000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85313336499996 meters Centerline goodness : 0.098561 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.12, Z:-0.27 [[ 9.99389162e-01 1.06726493e-03 -3.49308295e-02 -1.70668860e+00] [-1.01363995e-03 9.99998281e-01 1.55284929e-03 1.22233385e-01] [ 3.49324267e-02 -1.51649347e-03 9.99388526e-01 -2.68539123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.883133365 meters Centerline goodness : 0.184447 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.12, Z:-0.27 [[ 9.99389218e-01 1.13285975e-03 -3.49271815e-02 -1.70685367e+00] [-1.07089938e-03 9.99997820e-01 1.79264331e-03 1.20782719e-01] [ 3.49291361e-02 -1.75414489e-03 9.99388252e-01 -2.68281341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91313336499996 meters Centerline goodness : 0.096717 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.12, Z:-0.27 [[ 9.99386974e-01 1.23567958e-03 -3.49878502e-02 -1.70678996e+00] [-1.16357985e-03 9.99997158e-01 2.08099443e-03 1.19209731e-01] [ 3.49903222e-02 -2.03900757e-03 9.99385571e-01 -2.68123804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.943133365 meters Centerline goodness : 0.222472 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.12, Z:-0.27 [[ 9.99386246e-01 1.35619720e-03 -3.50041693e-02 -1.70672649e+00] [-1.27395652e-03 9.99996376e-01 2.37165072e-03 1.17766004e-01] [ 3.50072589e-02 -2.32560133e-03 9.99384352e-01 -2.68184593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97313336499997 meters Centerline goodness : 0.092929 Centerline is valid? [False, False] Translation: X:-1.69, Y:0.11, Z:-0.27 [[ 9.99353725e-01 9.33572924e-03 -3.47127652e-02 -1.68710447e+00] [-9.28766153e-03 9.99955674e-01 1.54572165e-03 1.13236856e-01] [ 3.47256569e-02 -1.22232227e-03 9.99396135e-01 -2.66272071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.003133365 meters SLAMing on 267.03313336499997 meters Centerline goodness : 0.094937 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.11, Z:-0.27 [[ 0.99941685 0.00207383 -0.03408306 -1.70782748] [-0.00195325 0.99999172 0.00357091 0.11411108] [ 0.03409019 -0.00350226 0.99941262 -0.26840061] [ 0. 0. 0. 1. ]] SLAMing on 267.063133365 meters Centerline goodness : 0.099182 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.11, Z:-0.27 [[ 0.99941196 0.00206765 -0.03422654 -1.70741845] [-0.00194948 0.99999203 0.00348549 0.11450438] [ 0.03423347 -0.00341671 0.99940802 -0.268592 ] [ 0. 0. 0. 1. ]] SLAMing on 267.09313336499997 meters Centerline goodness : 0.186393 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.11, Z:-0.27 [[ 0.99940658 0.00207762 -0.03438264 -1.70682124] [-0.00196142 0.99999225 0.0034129 0.11489184] [ 0.03438946 -0.00334344 0.99940291 -0.26902518] [ 0. 0. 0. 1. ]] SLAMing on 267.123133365 meters Centerline goodness : 0.236191 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.12, Z:-0.27 [[ 0.99940185 0.0021453 -0.03451575 -1.70631337] [-0.00202815 0.99999207 0.00342855 0.11513318] [ 0.03452283 -0.00335649 0.99939827 -0.26937689] [ 0. 0. 0. 1. ]] SLAMing on 267.153133365 meters Centerline goodness : 0.093783 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.12, Z:-0.27 [[ 0.99940965 0.00232865 -0.03427728 -1.70669521] [-0.00220703 0.99999114 0.0035855 0.11512651] [ 0.03428533 -0.00350773 0.99940593 -0.26965095] [ 0. 0. 0. 1. ]] SLAMing on 267.183133365 meters Centerline goodness : 0.090958 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.11, Z:-0.27 [[ 0.99941524 0.00229065 -0.03411635 -1.70724947] [-0.00217061 0.99999132 0.00355534 0.11496284] [ 0.0341242 -0.00347921 0.99941154 -0.26941033] [ 0. 0. 0. 1. ]] SLAMing on 267.213133365 meters Centerline goodness : 0.103300 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.11, Z:-0.27 [[ 0.99941806 0.00223901 -0.0340372 -1.70762572] [-0.00212011 0.99999153 0.00352877 0.11470346] [ 0.03404482 -0.00345456 0.99941434 -0.26913135] [ 0. 0. 0. 1. ]] SLAMing on 267.243133365 meters Centerline goodness : 0.102382 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.11, Z:-0.27 [[ 0.99942128 0.00216781 -0.03394706 -1.70783197] [-0.00205239 0.999992 0.00343451 0.11477353] [ 0.03395423 -0.00336285 0.99941773 -0.26916728] [ 0. 0. 0. 1. ]] SLAMing on 267.273133365 meters Centerline goodness : 0.101846 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.11, Z:-0.27 [[ 9.99329435e-01 1.84132277e-03 -3.65689745e-02 -1.75212233e+00] [-1.72202895e-03 9.99993094e-01 3.29338832e-03 1.11722693e-01] [ 3.65747861e-02 -3.22820706e-03 9.99325705e-01 -2.70176465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.303133365 meters Centerline goodness : 0.090303 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.11, Z:-0.27 [[ 9.99324022e-01 1.83336324e-03 -3.67169995e-02 -1.75130415e+00] [-1.71699140e-03 9.99993404e-01 3.20070817e-03 1.12343186e-01] [ 3.67226254e-02 -3.13550179e-03 9.99320578e-01 -2.70925406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.333133365 meters Centerline goodness : 0.126350 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.11, Z:-0.27 [[ 9.99307964e-01 1.85070921e-03 -3.71506002e-02 -1.74968562e+00] [-1.74045536e-03 9.99993986e-01 2.99987564e-03 1.13748389e-01] [ 3.71559286e-02 -2.93314066e-03 9.99305175e-01 -2.71928567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.363133365 meters Centerline goodness : 0.213162 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.11, Z:-0.27 [[ 9.99299719e-01 1.75793729e-03 -3.73762001e-02 -1.74906289e+00] [-1.65650984e-03 9.99994862e-01 2.74448540e-03 1.14889251e-01] [ 3.73808327e-02 -2.68064945e-03 9.99297497e-01 -2.72153232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.393133365 meters Centerline goodness : 0.100119 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.12, Z:-0.27 [[ 9.99290664e-01 1.64285150e-03 -3.76227290e-02 -1.74836086e+00] [-1.55304581e-03 9.99995875e-01 2.41610720e-03 1.16434142e-01] [ 3.76265432e-02 -2.35596355e-03 9.99289094e-01 -2.72424127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.423133365 meters Centerline goodness : 0.150182 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.12, Z:-0.27 [[ 9.99282439e-01 1.51439530e-03 -3.78459168e-02 -1.74775456e+00] [-1.43878307e-03 9.99996915e-01 2.02505246e-03 1.18312044e-01] [ 3.78488668e-02 -1.96914730e-03 9.99281535e-01 -2.72634820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.453133365 meters Centerline goodness : 0.187916 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.12, Z:-0.27 [[ 9.99280663e-01 1.36292338e-03 -3.78985230e-02 -1.74749240e+00] [-1.30472823e-03 9.99997932e-01 1.56024212e-03 1.20662608e-01] [ 3.79005711e-02 -1.50967251e-03 9.99280375e-01 -2.72981241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.483133365 meters Centerline goodness : 0.100858 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.12, Z:-0.27 [[ 9.99212697e-01 1.74917656e-03 -3.96349125e-02 -1.79376300e+00] [-1.68370801e-03 9.99997163e-01 1.68510967e-03 1.20074159e-01] [ 3.96377476e-02 -1.61704936e-03 9.99212807e-01 -2.73516662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.513133365 meters Centerline goodness : 0.145569 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.12, Z:-0.27 [[ 9.99250638e-01 1.74543368e-03 -3.86667416e-02 -1.79672632e+00] [-1.70200783e-03 9.99997883e-01 1.15596955e-03 1.24103261e-01] [ 3.86686774e-02 -1.08929222e-03 9.99251493e-01 -2.72679047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54313336499996 meters Centerline goodness : 0.155738 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.13, Z:-0.27 [[ 9.99336073e-01 1.98016045e-03 -3.63798344e-02 -1.75426283e+00] [-1.94875261e-03 9.99997697e-01 8.98770363e-04 1.30346938e-01] [ 3.63815303e-02 -8.27278348e-04 9.99337631e-01 -2.70905042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.573133365 meters Centerline goodness : 0.148048 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.13, Z:-0.27 [[ 9.99336360e-01 1.85754030e-03 -3.63784132e-02 -1.75461746e+00] [-1.83631943e-03 9.99998124e-01 6.16740363e-04 1.31796494e-01] [ 3.63794905e-02 -5.49528682e-04 9.99337896e-01 -2.70439402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60313336499996 meters Centerline goodness : 0.186418 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.13, Z:-0.27 [[ 9.99331774e-01 1.73645570e-03 -3.65101410e-02 -1.75449102e+00] [-1.72271477e-03 9.99998433e-01 4.07814742e-04 1.32780374e-01] [ 3.65107919e-02 -3.44645671e-04 9.99333199e-01 -2.70178781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.633133365 meters Centerline goodness : 0.102936 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99250619e-01 9.65961779e-04 -3.86945294e-02 -1.79962354e+00] [-9.68704235e-04 9.99999529e-01 -5.21257639e-05 1.29883930e-01] [ 3.86944608e-02 8.95702564e-05 9.99251085e-01 -2.70547527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66313336499996 meters Centerline goodness : 0.098440 Centerline is valid? [False, False] Translation: X:-1.76, Y:0.13, Z:-0.27 [[ 9.99321704e-01 1.27799189e-03 -3.68035104e-02 -1.75739071e+00] [-1.26616683e-03 9.99999139e-01 3.44608203e-04 1.34285949e-01] [ 3.68039191e-02 -2.97775073e-04 9.99322462e-01 -2.68057348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.693133365 meters Centerline goodness : 0.224088 Centerline is valid? [False, False] Translation: X:-1.76, Y:0.13, Z:-0.27 [[ 9.99323999e-01 1.24083951e-03 -3.67424192e-02 -1.75776718e+00] [-1.23267010e-03 9.99999210e-01 2.44995404e-04 1.34907370e-01] [ 3.67426942e-02 -1.99538505e-04 9.99324739e-01 -2.67745312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72313336499997 meters Centerline goodness : 0.093307 Centerline is valid? [False, False] Translation: X:-1.76, Y:0.14, Z:-0.27 [[ 9.99327871e-01 1.18008154e-03 -3.66389685e-02 -1.75823520e+00] [-1.17856101e-03 9.99999304e-01 6.30980580e-05 1.35884528e-01] [ 3.66390174e-02 -1.98743881e-05 9.99328566e-01 -2.67455054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.753133365 meters Centerline goodness : 0.246955 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99258684e-01 1.14343454e-03 -3.84808385e-02 -1.80388282e+00] [-1.15125650e-03 9.99999321e-01 -1.81110709e-04 1.33864739e-01] [ 3.84806053e-02 2.25277764e-04 9.99259322e-01 -2.68134439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78313336499997 meters Centerline goodness : 0.097976 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99260231e-01 1.07379982e-03 -3.84426614e-02 -1.80403336e+00] [-1.09075763e-03 9.99999317e-01 -4.20148687e-04 1.35117719e-01] [ 3.84421840e-02 4.61769500e-04 9.99260719e-01 -2.68103287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.813133365 meters Centerline goodness : 0.108845 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99260527e-01 1.05913737e-03 -3.84353735e-02 -1.80392564e+00] [-1.08184612e-03 9.99999252e-01 -5.70036090e-04 1.36167261e-01] [ 3.84347411e-02 6.11195723e-04 9.99260925e-01 -2.68374894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84313336499997 meters Centerline goodness : 0.108845 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99260527e-01 1.05913737e-03 -3.84353735e-02 -1.80392564e+00] [-1.08184612e-03 9.99999252e-01 -5.70036090e-04 1.36167261e-01] [ 3.84347411e-02 6.11195723e-04 9.99260925e-01 -2.68374894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.873133365 meters Centerline goodness : 0.212344 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99243967e-01 1.29775683e-03 -3.88562666e-02 -1.80270108e+00] [-1.31590901e-03 9.99999037e-01 -4.41590737e-04 1.36597850e-01] [ 3.88556561e-02 4.92388191e-04 9.99244713e-01 -2.68821965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.903133365 meters Centerline goodness : 0.101560 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99241769e-01 1.28203041e-03 -3.89132927e-02 -1.80246500e+00] [-1.29952777e-03 9.99999066e-01 -4.24359406e-04 1.36213848e-01] [ 3.89127123e-02 4.74606548e-04 9.99242501e-01 -2.68958135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.933133365 meters Centerline goodness : 0.217514 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99242085e-01 1.25163902e-03 -3.89061577e-02 -1.80252233e+00] [-1.26507759e-03 9.99999148e-01 -3.20792993e-04 1.35065027e-01] [ 3.89057231e-02 3.69769167e-04 9.99242817e-01 -2.68907407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.963133365 meters Centerline goodness : 0.096560 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99241881e-01 1.18848826e-03 -3.89133716e-02 -1.80261106e+00] [-1.19769513e-03 9.99999260e-01 -2.13287920e-04 1.33855206e-01] [ 3.89130893e-02 2.59732578e-04 9.99242565e-01 -2.68726556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.993133365 meters Centerline goodness : 0.100678 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99244319e-01 1.23188418e-03 -3.88493685e-02 -1.80282816e+00] [-1.23395723e-03 9.99999238e-01 -2.93828759e-05 1.32759552e-01] [ 3.88493027e-02 7.72991308e-05 9.99245078e-01 -2.68623938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.023133365 meters Centerline goodness : 0.090675 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99242947e-01 1.31562629e-03 -3.88818964e-02 -1.80266760e+00] [-1.31024719e-03 9.99999128e-01 1.63826280e-04 1.31949978e-01] [ 3.88820780e-02 -1.12757359e-04 9.99243800e-01 -2.68726806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.053133365 meters Centerline goodness : 0.092946 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99245620e-01 1.34576445e-03 -3.88121037e-02 -1.80245493e+00] [-1.33682681e-03 9.99999074e-01 2.56230915e-04 1.31445321e-01] [ 3.88124126e-02 -2.04152558e-04 9.99246494e-01 -2.69267135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.083133365 meters Centerline goodness : 0.102398 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99240214e-01 1.26958384e-03 -3.89536012e-02 -1.80213100e+00] [-1.26360066e-03 9.99999186e-01 1.78217634e-04 1.31385800e-01] [ 3.89537958e-02 -1.28860430e-04 9.99241005e-01 -2.69261457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.113133365 meters Centerline goodness : 0.107517 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99234542e-01 1.19707021e-03 -3.91011033e-02 -1.80179488e+00] [-1.19505741e-03 9.99999283e-01 7.48497931e-05 1.31557074e-01] [ 3.91011649e-02 -2.80644354e-05 9.99235257e-01 -2.69281521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.143133365 meters Centerline goodness : 0.176234 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99227553e-01 1.15646698e-03 -3.92805303e-02 -1.80123236e+00] [-1.15974776e-03 9.99999326e-01 -6.07352639e-05 1.32250855e-01] [ 3.92804335e-02 1.06243856e-04 9.99228220e-01 -2.69546952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.173133365 meters Centerline goodness : 0.103608 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99219877e-01 1.16420288e-03 -3.94750794e-02 -1.80045114e+00] [-1.17109066e-03 9.99999303e-01 -1.51361141e-04 1.33002261e-01] [ 3.94748756e-02 1.97471958e-04 9.99220544e-01 -2.70039856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.203133365 meters Centerline goodness : 0.171633 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99212833e-01 1.09441332e-03 -3.96549783e-02 -1.79968675e+00] [-1.10946290e-03 9.99999321e-01 -3.57508506e-04 1.34044167e-01] [ 3.96545601e-02 4.01222814e-04 9.99213368e-01 -2.70610137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.233133365 meters Centerline goodness : 0.145873 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99204451e-01 9.65876617e-04 -3.98689391e-02 -1.79874259e+00] [-9.96017090e-04 9.99999233e-01 -7.36132798e-04 1.35819923e-01] [ 3.98681975e-02 7.75257313e-04 9.99204647e-01 -2.71380173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.263133365 meters Centerline goodness : 0.176236 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99208275e-01 9.73879821e-04 -3.97727932e-02 -1.79920157e+00] [-1.00788477e-03 9.99999144e-01 -8.34937910e-04 1.36657063e-01] [ 3.97719460e-02 8.74363261e-04 9.99208401e-01 -2.71093250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29313336499996 meters Centerline goodness : 0.101225 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99220331e-01 9.53629265e-04 -3.94692457e-02 -1.80019596e+00] [-9.91992332e-04 9.99999054e-01 -9.52400840e-04 1.37504627e-01] [ 3.94683001e-02 9.90811471e-04 9.99220332e-01 -2.70724921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.323133365 meters Centerline goodness : 0.145738 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99227394e-01 8.61882506e-04 -3.92921515e-02 -1.80090468e+00] [-9.09994780e-04 9.99998858e-01 -1.20660714e-03 1.38755643e-01] [ 3.92910667e-02 1.24143056e-03 9.99227037e-01 -2.70341590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35313336499996 meters Centerline goodness : 0.090444 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99230821e-01 7.30883272e-04 -3.92075571e-02 -1.80113899e+00] [-7.93995676e-04 9.99998414e-01 -1.59415282e-03 1.40664091e-01] [ 3.92063298e-02 1.62405726e-03 9.99229816e-01 -2.70385449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.383133365 meters Centerline goodness : 0.098530 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99232146e-01 6.38639937e-04 -3.91753851e-02 -1.80116122e+00] [-7.16926901e-04 9.99997774e-01 -1.98435550e-03 1.42812680e-01] [ 3.91740306e-02 2.01091769e-03 9.99230380e-01 -2.70607102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41313336499996 meters Centerline goodness : 0.210336 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.15, Z:-0.27 [[ 9.99250080e-01 -4.09751826e-03 -3.85031013e-02 -1.82244541e+00] [ 4.16121339e-03 9.99990103e-01 1.57429150e-03 1.48964100e-01] [ 3.84962695e-02 -1.73333053e-03 9.99257241e-01 -2.72525806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.443133365 meters Centerline goodness : 0.125275 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.15, Z:-0.27 [[ 9.99274443e-01 4.10445401e-03 -3.78647759e-02 -1.80178687e+00] [-4.08499662e-03 9.99991482e-01 5.91217517e-04 1.49741256e-01] [ 3.78668800e-02 -4.36111073e-04 9.99282697e-01 -2.71093565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47313336499997 meters Centerline goodness : 0.189147 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.15, Z:-0.27 [[ 9.99273504e-01 3.95097052e-03 -3.79058664e-02 -1.80184966e+00] [-3.94501879e-03 9.99992192e-01 2.31808990e-04 1.51451582e-01] [ 3.79064863e-02 -8.21012262e-05 9.99281288e-01 -2.70926115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.503133365 meters Centerline goodness : 0.104848 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.16, Z:-0.27 [[ 9.99291965e-01 -4.27360268e-03 -3.73805562e-02 -1.82246844e+00] [ 4.30379773e-03 9.99990474e-01 7.27343915e-04 1.56314146e-01] [ 3.73770917e-02 -8.87707282e-04 9.99300838e-01 -2.72751387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53313336499997 meters Centerline goodness : 0.095588 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.16, Z:-0.27 [[ 9.99290064e-01 -4.35917081e-03 -3.74214481e-02 -1.82266407e+00] [ 4.37921456e-03 9.99990308e-01 4.53671370e-04 1.57912921e-01] [ 3.74191078e-02 -6.17225844e-04 9.99299469e-01 -2.72383353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.563133365 meters Centerline goodness : 0.148303 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.16, Z:-0.27 [[ 9.99296151e-01 -4.41129889e-03 -3.72524301e-02 -1.82342861e+00] [ 4.42319538e-03 9.99990190e-01 2.36937506e-04 1.59452307e-01] [ 3.72510195e-02 -4.01545514e-04 9.99305859e-01 -2.71919321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59313336499997 meters Centerline goodness : 0.214595 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.16, Z:-0.27 [[ 9.99384926e-01 3.25531021e-03 -3.49166546e-02 -1.80468508e+00] [-3.30330997e-03 9.99993677e-01 -1.31709555e-03 1.62263498e-01] [ 3.49121463e-02 1.43162597e-03 9.99389360e-01 -2.70336901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.623133365 meters Centerline goodness : 0.207320 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.27 [[ 0.99931334 0.00293748 -0.03693539 -1.8500756 ] [-0.00301311 0.99999348 -0.00199209 0.16059927] [ 0.0369293 0.00210201 0.99931567 -0.27098891] [ 0. 0. 0. 1. ]] SLAMing on 268.653133365 meters Centerline goodness : 0.098001 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.27 [[ 0.99931149 0.00279289 -0.03699657 -1.84987962] [-0.00288218 0.99999306 -0.0023604 0.16249374] [ 0.03698972 0.0024654 0.9993126 -0.27112257] [ 0. 0. 0. 1. ]] SLAMing on 268.683133365 meters Centerline goodness : 0.046148 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99287587e-01 -2.52721299e-03 -3.76554276e-02 -1.82822292e+00] [ 2.54684434e-03 9.99996645e-01 4.73382507e-04 1.71581775e-01] [ 3.76541049e-02 -5.68947776e-04 9.99290671e-01 -2.70518794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.713133365 meters Centerline goodness : 0.114331 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99285742e-01 -2.69944923e-03 -3.76924146e-02 -1.82825744e+00] [ 2.70452690e-03 9.99996339e-01 8.37255597e-05 1.73468248e-01] [ 3.76920506e-02 -1.85605907e-04 9.99289385e-01 -2.70401489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.743133365 meters Centerline goodness : 0.199996 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99282460e-01 -2.87257900e-03 -3.77665611e-02 -1.82815394e+00] [ 2.86474904e-03 9.99995862e-01 -2.61438791e-04 1.74909951e-01] [ 3.77671559e-02 1.53059479e-04 9.99286555e-01 -2.70326176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.773133365 meters Centerline goodness : 0.182728 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-0.27 [[ 9.99278523e-01 -3.06256742e-03 -3.78557046e-02 -1.82792816e+00] [ 3.04221359e-03 9.99995195e-01 -5.95260473e-04 1.76210892e-01] [ 3.78573457e-02 4.79665867e-04 9.99283039e-01 -2.70379369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.803133365 meters Centerline goodness : 0.213247 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-0.27 [[ 9.99269009e-01 -3.22234261e-03 -3.80928265e-02 -1.82714427e+00] [ 3.19077234e-03 9.99994514e-01 -8.89537924e-04 1.77464178e-01] [ 3.80954839e-02 7.67342143e-04 9.99273809e-01 -2.70729613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.833133365 meters Centerline goodness : 0.120379 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-0.27 [[ 9.99251794e-01 -3.43812885e-03 -3.85231290e-02 -1.82587197e+00] [ 3.39439026e-03 9.99993518e-01 -1.20073346e-03 1.78763804e-01] [ 3.85270076e-02 1.06907253e-03 9.99256987e-01 -2.71068867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.863133365 meters Centerline goodness : 0.216093 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-0.27 [[ 9.99252683e-01 -3.54337515e-03 -3.84905149e-02 -1.82619786e+00] [ 3.49636270e-03 9.99993057e-01 -1.28864850e-03 1.78855489e-01] [ 3.84948138e-02 1.15310867e-03 9.99258135e-01 -2.70649553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.893133365 meters Centerline goodness : 0.248154 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-0.27 [[ 9.99255399e-01 -3.64035307e-03 -3.84108725e-02 -1.82659209e+00] [ 3.59266516e-03 9.99992688e-01 -1.31047240e-03 1.78508085e-01] [ 3.84153622e-02 1.17149922e-03 9.99261171e-01 -2.70282725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.923133365 meters Centerline goodness : 0.095849 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-0.27 [[ 9.99258371e-01 -3.69019177e-03 -3.83287182e-02 -1.82713862e+00] [ 3.64618200e-03 9.99992611e-01 -1.21805858e-03 1.77668163e-01] [ 3.83329299e-02 1.07740175e-03 9.99264442e-01 -2.69692461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.953133365 meters Centerline goodness : 0.251531 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-0.27 [[ 9.99263534e-01 -3.64525808e-03 -3.81981906e-02 -1.82754798e+00] [ 3.61091409e-03 9.99993012e-01 -9.68051907e-04 1.76378794e-01] [ 3.82014524e-02 8.29408585e-04 9.99269714e-01 -2.69441977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.983133365 meters Centerline goodness : 0.112594 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99267364e-01 -3.53943321e-03 -3.81078442e-02 -1.82796208e+00] [ 3.51842904e-03 9.99993619e-01 -6.18227445e-04 1.74668102e-01] [ 3.81097892e-02 4.83694763e-04 9.99273441e-01 -2.69049863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.013133365 meters Centerline goodness : 0.148576 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99292231e-01 -3.75414348e-03 -3.74291684e-02 -1.82969775e+00] [ 3.74795621e-03 9.99992949e-01 -2.35470848e-04 1.70848785e-01] [ 3.74297884e-02 9.50213046e-05 9.99299255e-01 -2.68614531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04313336499996 meters Centerline goodness : 0.211005 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99290041e-01 -3.72188287e-03 -3.74908082e-02 -1.82941989e+00] [ 3.72672078e-03 9.99993054e-01 5.91596598e-05 1.68760119e-01] [ 3.74903276e-02 -1.98835433e-04 9.99296971e-01 -2.68733452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.073133365 meters Centerline goodness : 0.094952 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99285511e-01 -3.61484569e-03 -3.76218087e-02 -1.82893597e+00] [ 3.63016766e-03 9.99993353e-01 3.38959761e-04 1.67224003e-01] [ 3.76203333e-02 -4.75291051e-04 9.99291992e-01 -2.68970269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10313336499996 meters Centerline goodness : 0.089308 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99283199e-01 -3.47286880e-03 -3.76965129e-02 -1.82870240e+00] [ 3.49597070e-03 9.99993740e-01 5.46939835e-04 1.66549674e-01] [ 3.76943774e-02 -6.78333693e-04 9.99289084e-01 -2.69055018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.133133365 meters Centerline goodness : 0.100076 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.27 [[ 9.99269199e-01 5.19403001e-03 -3.78693761e-02 -1.84868438e+00] [-5.20161095e-03 9.99986466e-01 -1.01662477e-04 1.61149122e-01] [ 3.78683356e-02 2.98569943e-04 9.99282693e-01 -2.70687166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16313336499996 meters Centerline goodness : 0.089962 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.27 [[ 9.99261969e-01 5.29361871e-03 -3.80459455e-02 -1.84818769e+00] [-5.30738296e-03 9.99985882e-01 -2.60789304e-04 1.62488122e-01] [ 3.80440278e-02 4.62521236e-04 9.99275957e-01 -2.70928662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.193133365 meters Centerline goodness : 0.096655 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.17, Z:-0.27 [[ 9.99250292e-01 5.86461583e-03 -3.82682622e-02 -1.84715132e+00] [-5.88700032e-03 9.99982560e-01 -4.72277563e-04 1.66111288e-01] [ 3.82648251e-02 6.97208765e-04 9.99267390e-01 -2.71978844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22313336499997 meters Centerline goodness : 0.095922 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.17, Z:-0.27 [[ 9.99247878e-01 5.99132088e-03 -3.83116457e-02 -1.84688717e+00] [-6.02583104e-03 9.99981536e-01 -7.85364918e-04 1.68704185e-01] [ 3.83062329e-02 1.01563373e-03 9.99265531e-01 -2.72437797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.253133365 meters Centerline goodness : 0.052242 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.17, Z:-0.27 [[ 9.99255207e-01 6.00340891e-03 -3.81181057e-02 -1.84724342e+00] [-6.05374950e-03 9.99980949e-01 -1.20536342e-03 1.71651573e-01] [ 3.81101432e-02 1.43522314e-03 9.99272514e-01 -2.72790804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28313336499997 meters Centerline goodness : 0.107061 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.17, Z:-0.27 [[ 9.99261738e-01 5.86203368e-03 -3.79686070e-02 -1.84763427e+00] [-5.93185354e-03 9.99980916e-01 -1.72649123e-03 1.74524939e-01] [ 3.79577616e-02 1.95044084e-03 9.99277441e-01 -2.72889927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.313133365 meters Centerline goodness : 0.050013 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.18, Z:-0.27 [[ 0.99926248 0.00564337 -0.03798216 -1.84769782] [-0.00573282 0.99998104 -0.00224669 0.17693069] [ 0.03796876 0.00246278 0.99927589 -0.27284743] [ 0. 0. 0. 1. ]] SLAMing on 269.34313336499997 meters Centerline goodness : 0.101942 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.18, Z:-0.27 [[ 0.99925586 0.00545829 -0.03818281 -1.84738051] [-0.00556248 0.99998109 -0.00262308 0.17852541] [ 0.03816777 0.00283352 0.99926733 -0.27269422] [ 0. 0. 0. 1. ]] SLAMing on 269.373133365 meters Centerline goodness : 0.097926 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.19, Z:-0.27 [[ 9.99140102e-01 8.18782903e-05 -4.14614255e-02 -1.83309318e+00] [-1.68351198e-04 9.99997818e-01 -2.08213586e-03 1.86353686e-01] [ 4.14611646e-02 2.08732552e-03 9.99137936e-01 -2.68924996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.403133365 meters Centerline goodness : 0.094643 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.19, Z:-0.27 [[ 9.99142141e-01 -3.12502458e-05 -4.14123394e-02 -1.83327095e+00] [-6.21413626e-05 9.99997458e-01 -2.25387461e-03 1.87196009e-01] [ 4.14123045e-02 2.25451453e-03 9.99139599e-01 -2.68799604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.433133365 meters Centerline goodness : 0.097730 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.19, Z:-0.27 [[ 9.99143068e-01 -2.30295590e-04 -4.13893276e-02 -1.83344378e+00] [ 1.24713520e-04 9.99996732e-01 -2.55351308e-03 1.88205960e-01] [ 4.13897804e-02 2.54616308e-03 9.99139832e-01 -2.68615776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.463133365 meters Centerline goodness : 0.099456 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.19, Z:-0.27 [[ 9.99131588e-01 -6.43427457e-04 -4.16612141e-02 -1.83297471e+00] [ 5.06086904e-04 9.99994404e-01 -3.30706743e-03 1.91326435e-01] [ 4.16631088e-02 3.28311134e-03 9.99126322e-01 -2.68395272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.493133365 meters Centerline goodness : 0.096351 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.19, Z:-0.27 [[ 9.99122651e-01 -7.27912588e-04 -4.18735993e-02 -1.83238106e+00] [ 5.76492242e-04 9.99993252e-01 -3.62809079e-03 1.93402150e-01] [ 4.18759577e-02 3.60076788e-03 9.99116329e-01 -2.68598303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.523133365 meters SLAMing on 269.553133365 meters Centerline goodness : 0.092628 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.20, Z:-0.27 [[ 9.99116615e-01 -9.46673925e-04 -4.20130042e-02 -1.83174238e+00] [ 7.73336931e-04 9.99991123e-01 -4.14185436e-03 1.96303136e-01] [ 4.20165523e-02 4.10570530e-03 9.99108479e-01 -2.69046349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.583133365 meters Centerline goodness : 0.107973 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.20, Z:-0.27 [[ 9.99114402e-01 -1.10487354e-03 -4.20617515e-02 -1.83153016e+00] [ 9.23330865e-04 9.99990176e-01 -4.33528109e-03 1.96842052e-01] [ 4.20661282e-02 4.29260486e-03 9.99105607e-01 -2.69120611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.613133365 meters Centerline goodness : 0.112820 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.20, Z:-0.27 [[ 9.99103311e-01 -1.25742023e-03 -4.23201143e-02 -1.83107843e+00] [ 1.06966325e-03 9.99989487e-01 -4.45894156e-03 1.96928842e-01] [ 4.23252762e-02 4.40967501e-03 9.99094153e-01 -2.68849680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.643133365 meters SLAMing on 269.673133365 meters SLAMing on 269.703133365 meters Centerline goodness : 0.145653 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.19, Z:-0.27 [[ 0.99910644 -0.00471307 -0.04200118 -1.83408314] [ 0.00442242 0.99996565 -0.00701016 0.19297205] [ 0.04203277 0.00681814 0.99909297 -0.26597964] [ 0. 0. 0. 1. ]] SLAMing on 269.733133365 meters Centerline goodness : 0.096446 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.19, Z:-0.27 [[ 9.99218659e-01 1.81808691e-03 -3.94812227e-02 -1.85661370e+00] [-2.15852042e-03 9.99960846e-01 -8.58175426e-03 1.85316153e-01] [ 3.94640745e-02 8.66027000e-03 9.99183460e-01 -2.67285464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.763133365 meters Centerline goodness : 0.096446 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.19, Z:-0.27 [[ 9.99218659e-01 1.81808691e-03 -3.94812227e-02 -1.85661370e+00] [-2.15852042e-03 9.99960846e-01 -8.58175426e-03 1.85316153e-01] [ 3.94640745e-02 8.66027000e-03 9.99183460e-01 -2.67285464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79313336499996 meters Centerline goodness : 0.100296 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.19, Z:-0.27 [[ 0.99926019 -0.00641491 -0.03791997 -1.83740037] [ 0.0061429 0.99995459 -0.00728544 0.18708568] [ 0.03796499 0.00704711 0.99925422 -0.26583095] [ 0. 0. 0. 1. ]] SLAMing on 269.823133365 meters Centerline goodness : 0.102778 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.18, Z:-0.27 [[ 0.99926795 -0.00629857 -0.03773451 -1.83791745] [ 0.00604425 0.99995827 -0.00684983 0.18459431] [ 0.03777608 0.00661673 0.99926432 -0.26562835] [ 0. 0. 0. 1. ]] SLAMing on 269.85313336499996 meters Centerline goodness : 0.097692 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.18, Z:-0.27 [[ 0.99926506 -0.00608933 -0.03784513 -1.83745991] [ 0.00586344 0.99996434 -0.00607695 0.17923454] [ 0.03788079 0.00585058 0.99926514 -0.26576429] [ 0. 0. 0. 1. ]] SLAMing on 269.883133365 meters Centerline goodness : 0.106210 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.18, Z:-0.27 [[ 0.9992615 -0.00597794 -0.03795676 -1.83713462] [ 0.0057618 0.99996657 -0.00580136 0.17767377] [ 0.03799017 0.00557838 0.99926254 -0.26584491] [ 0. 0. 0. 1. ]] SLAMing on 269.91313336499996 meters Centerline goodness : 0.116252 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99927028 0.00254088 -0.03811091 -1.85676896] [-0.00279642 0.99997396 -0.00665352 0.17116689] [ 0.03809301 0.00675523 0.99925136 -0.26762439] [ 0. 0. 0. 1. ]] SLAMing on 269.943133365 meters Centerline goodness : 0.100763 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99926135 0.00270944 -0.03833289 -1.85614835] [-0.00296445 0.99997385 -0.00659706 0.17143585] [ 0.03831402 0.00670582 0.99924325 -0.26786405] [ 0. 0. 0. 1. ]] SLAMing on 269.97313336499997 meters Centerline goodness : 0.108405 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99925822 0.00284597 -0.03840445 -1.85580296] [-0.00310224 0.99997331 -0.00661506 0.17209419] [ 0.0383846 0.00672929 0.99924038 -0.26823473] [ 0. 0. 0. 1. ]] SLAMing on 270.003133365 meters Centerline goodness : 0.193638 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99927675 0.00306544 -0.03790212 -1.85684597] [-0.00332047 0.99997226 -0.00666762 0.17295838] [ 0.03788063 0.00678865 0.99925921 -0.26859918] [ 0. 0. 0. 1. ]] SLAMing on 270.03313336499997 meters Centerline goodness : 0.185679 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99928556 0.00308678 -0.03766759 -1.85762236] [-0.00333831 0.99997254 -0.00661636 0.17261264] [ 0.03764613 0.00673738 0.99926842 -0.26834074] [ 0. 0. 0. 1. ]] SLAMing on 270.063133365 meters Centerline goodness : 0.179852 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99929412 0.00317975 -0.03743185 -1.85837145] [-0.00342169 0.99997366 -0.00640125 0.17156038] [ 0.03741051 0.00652481 0.99927868 -0.26810919] [ 0. 0. 0. 1. ]] SLAMing on 270.09313336499997 meters Centerline goodness : 0.109516 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99929659 0.00331816 -0.03735388 -1.8586206 ] [-0.00354621 0.99997547 -0.00604075 0.16981779] [ 0.03733292 0.00616896 0.99928384 -0.26799057] [ 0. 0. 0. 1. ]] SLAMing on 270.123133365 meters Centerline goodness : 0.094266 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99929031 0.00343117 -0.03751145 -1.85810108] [-0.00364617 0.99997731 -0.00566454 0.16774465] [ 0.03749116 0.0057973 0.99928014 -0.26814593] [ 0. 0. 0. 1. ]] SLAMing on 270.153133365 meters Centerline goodness : 0.132602 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.16, Z:-0.27 [[ 0.99927323 0.00332106 -0.03797349 -1.85643099] [-0.00352459 0.99997978 -0.00529394 0.16359627] [ 0.03795514 0.00542393 0.99926472 -0.26886498] [ 0. 0. 0. 1. ]] SLAMing on 270.183133365 meters Centerline goodness : 0.099097 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.16, Z:-0.27 [[ 0.99927142 0.00341924 -0.03801222 -1.8563371 ] [-0.00361185 0.99998098 -0.00499959 0.16189612] [ 0.0379944 0.00513324 0.99926477 -0.26885472] [ 0. 0. 0. 1. ]] SLAMing on 270.213133365 meters Centerline goodness : 0.105819 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.16, Z:-0.27 [[ 0.9992719 0.00353819 -0.03798896 -1.85642966] [-0.00372149 0.99998177 -0.00475555 0.16078458] [ 0.03797144 0.00489346 0.99926684 -0.26880461] [ 0. 0. 0. 1. ]] SLAMing on 270.243133365 meters Centerline goodness : 0.068113 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.16, Z:-0.27 [[ 0.99927273 0.00365853 -0.03795545 -1.85649282] [-0.00383472 0.9999822 -0.00457033 0.16022241] [ 0.03793806 0.00471256 0.99926898 -0.2688491 ] [ 0. 0. 0. 1. ]] SLAMing on 270.273133365 meters Centerline goodness : 0.051076 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.16, Z:-0.27 [[ 0.99926839 0.00379487 -0.03805627 -1.8560727 ] [-0.0039649 0.99998249 -0.00439328 0.15977366] [ 0.03803893 0.00454096 0.99926594 -0.26916582] [ 0. 0. 0. 1. ]] SLAMing on 270.303133365 meters Centerline goodness : 0.104862 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.16, Z:-0.27 [[ 0.9992614 0.0038489 -0.03823402 -1.85531805] [-0.0040153 0.99998279 -0.00427635 0.15915114] [ 0.0382169 0.00442671 0.99925966 -0.26968018] [ 0. 0. 0. 1. ]] SLAMing on 270.333133365 meters Centerline goodness : 0.057514 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.27 [[ 0.99924286 0.0039021 -0.03871019 -1.85369628] [-0.00405873 0.99998389 -0.0039686 0.1570626 ] [ 0.03869408 0.00412271 0.9992426 -0.27042146] [ 0. 0. 0. 1. ]] SLAMing on 270.363133365 meters Centerline goodness : 0.159844 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.16, Z:-0.27 [[ 0.9992378 -0.00390991 -0.03883984 -1.83488916] [ 0.00381427 0.99998951 -0.00253626 0.16064789] [ 0.03884935 0.00238618 0.99924223 -0.26839257] [ 0. 0. 0. 1. ]] SLAMing on 270.393133365 meters Centerline goodness : 0.046918 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.16, Z:-0.27 [[ 0.99923867 -0.00377896 -0.03883031 -1.8351056 ] [ 0.00369595 0.99999073 -0.00220925 0.15917076] [ 0.03883829 0.00206405 0.99924338 -0.2680475 ] [ 0. 0. 0. 1. ]] SLAMing on 270.423133365 meters Centerline goodness : 0.097298 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.16, Z:-0.27 [[ 9.99234444e-01 -3.67263528e-03 -3.89491564e-02 -1.83508379e+00] [ 3.60082054e-03 9.99991686e-01 -1.91379820e-03 1.57764783e-01] [ 3.89558612e-02 1.77208416e-03 9.99239361e-01 -2.67594947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.453133365 meters Centerline goodness : 0.041414 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.16, Z:-0.27 [[ 9.99231202e-01 -3.60617407e-03 -3.90384405e-02 -1.83499793e+00] [ 3.54379006e-03 9.99992331e-01 -1.66709563e-03 1.56420938e-01] [ 3.90441530e-02 1.52746993e-03 9.99236319e-01 -2.67361363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.483133365 meters Centerline goodness : 0.098346 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.16, Z:-0.27 [[ 9.99227763e-01 -3.55870491e-03 -3.91307179e-02 -1.83475069e+00] [ 3.50295300e-03 9.99992750e-01 -1.49323141e-03 1.55378168e-01] [ 3.91357481e-02 1.35500521e-03 9.99232984e-01 -2.67346459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.513133365 meters Centerline goodness : 0.095574 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.16, Z:-0.27 [[ 9.99236887e-01 -3.50479437e-03 -3.89019275e-02 -1.83552812e+00] [ 3.45228902e-03 9.99993037e-01 -1.41677882e-03 1.55264219e-01] [ 3.89066221e-02 1.28139696e-03 9.99242029e-01 -2.67028637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54313336499996 meters Centerline goodness : 0.095257 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.16, Z:-0.27 [[ 9.99245765e-01 -3.50479814e-03 -3.86732207e-02 -1.83632328e+00] [ 3.45003248e-03 9.99992949e-01 -1.48275959e-03 1.55753889e-01] [ 3.86781448e-02 1.34821738e-03 9.99250811e-01 -2.66655949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.573133365 meters Centerline goodness : 0.061104 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.16, Z:-0.27 [[ 9.99250678e-01 -3.50228200e-03 -3.85462837e-02 -1.83682442e+00] [ 3.44562143e-03 9.99992884e-01 -1.53627070e-03 1.56140423e-01] [ 3.85513898e-02 1.40230363e-03 9.99255635e-01 -2.66395107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60313336499996 meters Centerline goodness : 0.048259 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.15, Z:-0.27 [[ 0.99928949 0.00421107 -0.03745372 -1.85640147] [-0.00430685 0.99998766 -0.00247696 0.14956267] [ 0.03744282 0.00263651 0.99929529 -0.26776621] [ 0. 0. 0. 1. ]] SLAMing on 270.633133365 meters Centerline goodness : 0.094096 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.15, Z:-0.27 [[ 9.99302660e-01 -4.01563719e-03 -3.71223421e-02 -1.83655314e+00] [ 3.96247167e-03 9.99991016e-01 -1.50563318e-03 1.53501068e-01] [ 3.71280547e-02 1.35748701e-03 9.99309594e-01 -2.65997780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66313336499996 meters Centerline goodness : 0.168828 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.15, Z:-0.27 [[ 9.99297051e-01 -4.05543047e-03 -3.72687231e-02 -1.83607929e+00] [ 4.01111209e-03 9.99991157e-01 -1.26385141e-03 1.51746714e-01] [ 3.72735190e-02 1.11347396e-03 9.99304481e-01 -2.66096561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.693133365 meters Centerline goodness : 0.103959 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.15, Z:-0.27 [[ 9.99285137e-01 -4.21913619e-03 -3.75687841e-02 -1.83512145e+00] [ 4.18250419e-03 9.99990698e-01 -1.05360534e-03 1.49686351e-01] [ 3.75728799e-02 8.95720556e-04 9.99293489e-01 -2.66335957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72313336499997 meters Centerline goodness : 0.105546 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.15, Z:-0.27 [[ 9.99280229e-01 -4.36891855e-03 -3.76820434e-02 -1.83476374e+00] [ 4.34423670e-03 9.99990292e-01 -7.36857450e-04 1.47209745e-01] [ 3.76848969e-02 5.72627365e-04 9.99289508e-01 -2.66319363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.753133365 meters Centerline goodness : 0.094779 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.14, Z:-0.26 [[ 9.99305762e-01 -5.70185214e-03 -3.68168781e-02 -1.83786858e+00] [ 5.66579315e-03 9.99983362e-01 -1.08367518e-03 1.40336421e-01] [ 3.68224445e-02 8.74326039e-04 9.99321441e-01 -2.64698140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78313336499997 meters Centerline goodness : 0.083346 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-0.26 [[ 9.99358181e-01 1.51542741e-03 -3.57900724e-02 -1.81937430e+00] [-1.59314784e-03 9.99996434e-01 -2.14314511e-03 1.34421167e-01] [ 3.57866970e-02 2.19878847e-03 9.99357032e-01 -2.62601878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.813133365 meters Centerline goodness : 0.054046 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-0.26 [[ 9.99366631e-01 1.55331589e-03 -3.55517172e-02 -1.81995515e+00] [-1.61651961e-03 9.99997164e-01 -1.74912167e-03 1.31975688e-01] [ 3.55488994e-02 1.80548388e-03 9.99366307e-01 -2.62470422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84313336499997 meters Centerline goodness : 0.093512 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-0.26 [[ 9.99372193e-01 1.56581920e-03 -3.53944762e-02 -1.82016765e+00] [-1.61537165e-03 9.99997755e-01 -1.37145191e-03 1.29428472e-01] [ 3.53922492e-02 1.42776614e-03 9.99372478e-01 -2.62652163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.873133365 meters Centerline goodness : 0.093299 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-0.26 [[ 9.99374133e-01 1.64262131e-03 -3.53361712e-02 -1.82009879e+00] [-1.67716511e-03 9.99998144e-01 -9.47956757e-04 1.26946013e-01] [ 3.53345485e-02 1.00662806e-03 9.99375033e-01 -2.62925127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.903133365 meters Centerline goodness : 0.049343 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.12, Z:-0.26 [[ 9.99367909e-01 1.71820476e-03 -3.55081841e-02 -1.81955540e+00] [-1.73930282e-03 9.99998329e-01 -5.63293489e-04 1.24748988e-01] [ 3.55071569e-02 6.24696921e-04 9.99369227e-01 -2.63104843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.933133365 meters Centerline goodness : 0.188904 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.12, Z:-0.26 [[ 9.99343589e-01 1.83841577e-03 -3.61802686e-02 -1.81784471e+00] [-1.83483401e-03 9.99998308e-01 1.32200610e-04 1.20640609e-01] [ 3.61804505e-02 -6.57290448e-05 9.99345271e-01 -2.63231349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.963133365 meters Centerline goodness : 0.143571 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.12, Z:-0.26 [[ 9.99333157e-01 1.92744199e-03 -3.64626734e-02 -1.81712337e+00] [-1.91153331e-03 9.99998062e-01 4.71156628e-04 1.18675197e-01] [ 3.64635108e-02 -4.01142826e-04 9.99334905e-01 -2.63293578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.993133365 meters Centerline goodness : 0.172557 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.12, Z:-0.26 [[ 9.99327698e-01 2.01807664e-03 -3.66070920e-02 -1.81677691e+00] [-1.98885348e-03 9.99997674e-01 8.34690224e-04 1.16555930e-01] [ 3.66086914e-02 -7.61322918e-04 9.99329387e-01 -2.63280920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.023133365 meters Centerline goodness : 0.112422 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.11, Z:-0.26 [[ 9.99268620e-01 1.33524000e-03 -3.82157443e-02 -1.86261575e+00] [-1.32431883e-03 9.99999075e-01 3.11089443e-04 1.13068380e-01] [ 3.82161243e-02 -2.60252088e-04 9.99269463e-01 -2.63986682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.053133365 meters Centerline goodness : 0.187457 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.12, Z:-0.26 [[ 9.99299705e-01 -6.83527223e-03 -3.67882820e-02 -1.84307892e+00] [ 6.88731955e-03 9.99975452e-01 1.28823515e-03 1.15079366e-01] [ 3.67785735e-02 -1.54070566e-03 9.99322252e-01 -2.62886477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.083133365 meters Centerline goodness : 0.104049 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.11, Z:-0.26 [[ 9.99352589e-01 7.65511196e-04 -3.59696683e-02 -1.82498987e+00] [-7.66160098e-04 9.99999706e-01 -4.25651824e-06 1.10218009e-01] [ 3.59696545e-02 3.18122871e-05 9.99352882e-01 -2.60597419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.113133365 meters Centerline goodness : 0.132119 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.11, Z:-0.26 [[ 9.99354686e-01 7.96907583e-04 -3.59106631e-02 -1.82508408e+00] [-7.92576680e-04 9.99999677e-01 1.34837560e-04 1.09343910e-01] [ 3.59107590e-02 -1.06288594e-04 9.99354995e-01 -2.60662788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.143133365 meters Centerline goodness : 0.106997 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.11, Z:-0.26 [[ 9.99335857e-01 9.16120767e-04 -3.64280944e-02 -1.82340268e+00] [-9.03445977e-04 9.99999525e-01 3.64399334e-04 1.08445562e-01] [ 3.64284109e-02 -3.31246505e-04 9.99336210e-01 -2.61419770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.173133365 meters Centerline goodness : 0.112747 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.11, Z:-0.26 [[ 9.99327862e-01 9.73956076e-04 -3.66452694e-02 -1.82262576e+00] [-9.56910403e-04 9.99999426e-01 4.82689593e-04 1.07939693e-01] [ 3.66457185e-02 -4.47298919e-04 9.99328220e-01 -2.61836859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.203133365 meters Centerline goodness : 0.061960 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.11, Z:-0.26 [[ 9.99322639e-01 9.42332202e-04 -3.67882589e-02 -1.82206867e+00] [-9.23762502e-04 9.99999437e-01 5.21766781e-04 1.07444804e-01] [ 3.67887299e-02 -4.87429743e-04 9.99322947e-01 -2.62176508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.233133365 meters Centerline goodness : 0.096629 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.11, Z:-0.26 [[ 9.99316430e-01 8.89004195e-04 -3.69578514e-02 -1.82178529e+00] [-8.60745742e-04 9.99999325e-01 7.80517048e-04 1.05351275e-01] [ 3.69585204e-02 -7.48172196e-04 9.99316520e-01 -2.61984912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.263133365 meters Centerline goodness : 0.101277 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.10, Z:-0.26 [[ 9.99319106e-01 9.06580130e-04 -3.68849805e-02 -1.82214628e+00] [-8.68279840e-04 9.99999067e-01 1.05437634e-03 1.03651590e-01] [ 3.68859019e-02 -1.02163194e-03 9.99318961e-01 -2.61690363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29313336499996 meters Centerline goodness : 0.106079 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.10, Z:-0.26 [[ 9.99319351e-01 9.34408411e-04 -3.68776635e-02 -1.82226439e+00] [-8.83437596e-04 9.99998632e-01 1.39843046e-03 1.01536529e-01] [ 3.68789197e-02 -1.36489951e-03 9.99318809e-01 -2.61525510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.323133365 meters Centerline goodness : 0.101789 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.10, Z:-0.26 [[ 9.99310214e-01 9.11897861e-04 -3.71249950e-02 -1.82166742e+00] [-8.48468627e-04 9.99998154e-01 1.72425107e-03 9.93105533e-02] [ 3.71264988e-02 -1.69156232e-03 9.99309142e-01 -2.61521187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35313336499996 meters Centerline goodness : 0.094690 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 9.99330087e-01 6.40507901e-03 -3.60326678e-02 -1.84146885e+00] [-6.44805210e-03 9.99978632e-01 -1.07653197e-03 9.30658644e-02] [ 3.60250026e-02 1.30815131e-03 9.99350033e-01 -2.63923188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.383133365 meters Centerline goodness : 0.068949 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99934879 0.00274959 -0.03597822 -1.84225717] [-0.00290242 0.99998698 -0.00419626 0.09050002] [ 0.03596621 0.00429795 0.99934376 -0.26311212] [ 0. 0. 0. 1. ]] SLAMing on 271.41313336499996 meters Centerline goodness : 0.085750 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99935372 0.00279892 -0.03583728 -1.84296919] [-0.00294026 0.9999881 -0.00389194 0.08873005] [ 0.03582596 0.0039948 0.99935006 -0.26253188] [ 0. 0. 0. 1. ]] SLAMing on 271.443133365 meters Centerline goodness : 0.142251 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99936103 0.0028393 -0.03562973 -1.84371914] [-0.00297049 0.999989 -0.00362959 0.08719922] [ 0.03561903 0.00373311 0.99935847 -0.26213878] [ 0. 0. 0. 1. ]] SLAMing on 271.47313336499997 meters Centerline goodness : 0.102513 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99936094 0.00287029 -0.03562957 -1.84376511] [-0.00299352 0.99998972 -0.00340577 0.08587153] [ 0.03561942 0.00351025 0.99935926 -0.26206968] [ 0. 0. 0. 1. ]] SLAMing on 271.503133365 meters Centerline goodness : 0.096529 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.09, Z:-0.26 [[ 0.99934662 -0.0051116 -0.03577992 -1.82413082] [ 0.00502431 0.99998418 -0.00252919 0.08895034] [ 0.03579228 0.00234777 0.99935649 -0.26051382] [ 0. 0. 0. 1. ]] SLAMing on 271.53313336499997 meters Centerline goodness : 0.146419 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.08, Z:-0.26 [[ 0.9993676 0.00264171 -0.03546003 -1.84313413] [-0.00277658 0.9999891 -0.00375482 0.08356309] [ 0.03544972 0.0038509 0.99936404 -0.26289341] [ 0. 0. 0. 1. ]] SLAMing on 271.563133365 meters Centerline goodness : 0.086669 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.08, Z:-0.26 [[ 0.99937307 0.00256517 -0.0353112 -1.84369231] [-0.00270272 0.99998894 -0.00384836 0.08431773] [ 0.03530094 0.00394138 0.99936896 -0.26261392] [ 0. 0. 0. 1. ]] SLAMing on 271.59313336499997 meters SLAMing on 271.623133365 meters Centerline goodness : 0.185949 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99938612 0.00254975 -0.03494119 -1.844895 ] [-0.00269103 0.99998839 -0.00399699 0.08555859] [ 0.03493059 0.00408857 0.99938138 -0.26210246] [ 0. 0. 0. 1. ]] SLAMing on 271.653133365 meters Centerline goodness : 0.185949 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99938612 0.00254975 -0.03494119 -1.844895 ] [-0.00269103 0.99998839 -0.00399699 0.08555859] [ 0.03493059 0.00408857 0.99938138 -0.26210246] [ 0. 0. 0. 1. ]] SLAMing on 271.683133365 meters SLAMing on 271.713133365 meters Centerline goodness : 0.106589 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99937703 0.00222482 -0.0352223 -1.84400931] [-0.00238322 0.99998723 -0.00445599 0.08711282] [ 0.03521193 0.00453716 0.99936957 -0.26242706] [ 0. 0. 0. 1. ]] SLAMing on 271.743133365 meters Centerline goodness : 0.128659 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99936869 0.00215206 -0.03546262 -1.84350662] [-0.00231046 0.99998753 -0.00442635 0.08670244] [ 0.03545265 0.00450549 0.9993612 -0.26230828] [ 0. 0. 0. 1. ]] SLAMing on 271.773133365 meters Centerline goodness : 0.092550 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99936278 0.00215926 -0.03562814 -1.84307275] [-0.00231327 0.99998816 -0.00428203 0.08592958] [ 0.03561847 0.00436172 0.99935594 -0.2623981 ] [ 0. 0. 0. 1. ]] SLAMing on 271.803133365 meters Centerline goodness : 0.091653 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99935644 0.00215463 -0.03580581 -1.84250543] [-0.00230529 0.99998866 -0.00416673 0.08530783] [ 0.03579643 0.00424659 0.99935008 -0.26264081] [ 0. 0. 0. 1. ]] SLAMing on 271.833133365 meters Centerline goodness : 0.094931 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99934948 0.00215382 -0.03599974 -1.84188991] [-0.00230335 0.99998889 -0.00411265 0.08501705] [ 0.03599048 0.0041929 0.99934334 -0.2628908 ] [ 0. 0. 0. 1. ]] SLAMing on 271.863133365 meters Centerline goodness : 0.095521 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99934084 0.00213589 -0.03623975 -1.84110054] [-0.00228696 0.99998887 -0.00412764 0.08513129] [ 0.03623053 0.0042078 0.9993346 -0.26324427] [ 0. 0. 0. 1. ]] SLAMing on 271.893133365 meters Centerline goodness : 0.098204 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.9993313 0.00201803 -0.03650855 -1.84017789] [-0.00218146 0.99998778 -0.00443735 0.08657768] [ 0.03649915 0.00451402 0.99932349 -0.26364679] [ 0. 0. 0. 1. ]] SLAMing on 271.923133365 meters Centerline goodness : 0.101369 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.09, Z:-0.27 [[ 0.99934019 -0.00554229 -0.03589527 -1.85966917] [ 0.00542164 0.99997933 -0.00345763 0.09333886] [ 0.03591369 0.00326074 0.99934958 -0.26529552] [ 0. 0. 0. 1. ]] SLAMing on 271.953133365 meters Centerline goodness : 0.102926 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.09, Z:-0.26 [[ 0.99934078 -0.00553972 -0.03587927 -1.85998172] [ 0.00541291 0.99997876 -0.00363052 0.09459253] [ 0.03589862 0.00343391 0.99934954 -0.26491363] [ 0. 0. 0. 1. ]] SLAMing on 271.983133365 meters Centerline goodness : 0.103544 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-0.26 [[ 0.99933347 -0.00553279 -0.0360832 -1.85965656] [ 0.00539896 0.99997818 -0.00380539 0.09584644] [ 0.03610347 0.00360804 0.99934154 -0.26472683] [ 0. 0. 0. 1. ]] SLAMing on 272.013133365 meters Centerline goodness : 0.115262 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-0.26 [[ 0.99932437 -0.00575562 -0.03629988 -1.8589784 ] [ 0.00560058 0.99997476 -0.00437144 0.09826175] [ 0.03632412 0.00416518 0.99933138 -0.26497569] [ 0. 0. 0. 1. ]] SLAMing on 272.04313336499996 meters Centerline goodness : 0.094867 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-0.27 [[ 0.99932297 -0.00588491 -0.03631764 -1.8589274 ] [ 0.00572072 0.99997295 -0.00462331 0.09909944] [ 0.03634386 0.00441242 0.9993296 -0.26500236] [ 0. 0. 0. 1. ]] SLAMing on 272.073133365 meters Centerline goodness : 0.112104 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-0.26 [[ 0.99932752 -0.00594476 -0.03618231 -1.85938029] [ 0.00577745 0.99997214 -0.00472689 0.09966522] [ 0.0362094 0.00451467 0.99933403 -0.26488957] [ 0. 0. 0. 1. ]] SLAMing on 272.10313336499996 meters Centerline goodness : 0.114124 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-0.26 [[ 0.99932959 -0.00592483 -0.03612846 -1.85967564] [ 0.0057598 0.99997251 -0.00467035 0.09963129] [ 0.03615513 0.00445913 0.99933624 -0.26463659] [ 0. 0. 0. 1. ]] SLAMing on 272.133133365 meters Centerline goodness : 0.117321 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-0.26 [[ 0.99933515 -0.00589413 -0.03597953 -1.86021741] [ 0.00573445 0.99997325 -0.00453972 0.09904674] [ 0.03600532 0.00433038 0.99934222 -0.26434447] [ 0. 0. 0. 1. ]] SLAMing on 272.16313336499996 meters Centerline goodness : 0.121535 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.09, Z:-0.27 [[ 9.99451942e-01 -1.46011955e-03 -3.30708942e-02 -1.87778132e+00] [ 1.23069246e-03 9.99975044e-01 -6.95672579e-03 9.41375713e-02] [ 3.30802265e-02 6.91221300e-03 9.99428797e-01 -2.66809887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.193133365 meters Centerline goodness : 0.127236 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-0.26 [[ 0.99941647 -0.00950943 -0.0328069 -1.85840549] [ 0.00932536 0.99993993 -0.0057592 0.09792228] [ 0.03285969 0.0054499 0.99944512 -0.26477344] [ 0. 0. 0. 1. ]] SLAMing on 272.22313336499997 meters Centerline goodness : 0.140179 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.09, Z:-0.27 [[ 9.99465459e-01 -9.13475466e-04 -3.26796932e-02 -1.87922815e+00] [ 7.09856719e-04 9.99980268e-01 -6.24180186e-03 9.45561547e-02] [ 3.26847501e-02 6.21526746e-03 9.99446386e-01 -2.65870558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.253133365 meters Centerline goodness : 0.114133 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.10, Z:-0.27 [[ 9.99471944e-01 -9.26078664e-04 -3.24803841e-02 -1.87991512e+00] [ 7.20495733e-04 9.99979639e-01 -6.34058194e-03 9.54972980e-02] [ 3.24855947e-02 6.31383178e-03 9.99452261e-01 -2.65554345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28313336499997 meters Centerline goodness : 0.126399 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.10, Z:-0.27 [[ 9.99476291e-01 -1.02870650e-03 -3.23432375e-02 -1.88036733e+00] [ 8.16586139e-04 9.99978078e-01 -6.57093962e-03 9.66381671e-02] [ 3.23492881e-02 6.54108732e-03 9.99455220e-01 -2.65318986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.313133365 meters Centerline goodness : 0.103319 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.10, Z:-0.27 [[ 9.99475930e-01 -1.18193448e-03 -3.23491595e-02 -1.88036253e+00] [ 9.60124008e-04 9.99975930e-01 -6.87143641e-03 9.79082610e-02] [ 3.23565024e-02 6.83677609e-03 9.99453008e-01 -2.65309889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34313336499997 meters Centerline goodness : 0.112758 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.10, Z:-0.27 [[ 9.99456501e-01 -1.45664943e-03 -3.29329849e-02 -1.87870906e+00] [ 1.21145837e-03 9.99971411e-01 -7.46387980e-03 1.00677553e-01] [ 3.29429156e-02 7.41992624e-03 9.99429692e-01 -2.65749892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.373133365 meters Centerline goodness : 0.109613 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.10, Z:-0.27 [[ 9.99448218e-01 -1.52506534e-03 -3.31803062e-02 -1.87788164e+00] [ 1.27113638e-03 9.99969756e-01 -7.67275091e-03 1.02071082e-01] [ 3.31910041e-02 7.62634053e-03 9.99419930e-01 -2.66134410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.403133365 meters Centerline goodness : 0.112965 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.10, Z:-0.27 [[ 9.99445476e-01 -1.57965338e-03 -3.32602500e-02 -1.87750735e+00] [ 1.31886421e-03 9.99968229e-01 -7.86134579e-03 1.03324875e-01] [ 3.32716115e-02 7.81312073e-03 9.99415807e-01 -2.66395466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.433133365 meters Centerline goodness : 0.111586 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.10, Z:-0.27 [[ 9.99448860e-01 -1.69052490e-03 -3.31529584e-02 -1.87763602e+00] [ 1.42138716e-03 9.99965860e-01 -8.13994975e-03 1.04787196e-01] [ 3.31655874e-02 8.08834030e-03 9.99417141e-01 -2.66574779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.463133365 meters Centerline goodness : 0.110843 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.27 [[ 9.99451224e-01 -1.95847230e-03 -3.30668342e-02 -1.87780837e+00] [ 1.67037796e-03 9.99960429e-01 -8.73786403e-03 1.07475661e-01] [ 3.30826386e-02 8.67783478e-03 9.99414946e-01 -2.66596386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.493133365 meters Centerline goodness : 0.121369 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.27 [[ 9.99443672e-01 -2.08519370e-03 -3.32865984e-02 -1.87733682e+00] [ 1.78617074e-03 9.99957809e-01 -9.01049366e-03 1.09140550e-01] [ 3.33039827e-02 8.94602532e-03 9.99405230e-01 -2.66559748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.523133365 meters Centerline goodness : 0.112320 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.27 [[ 9.99437712e-01 -2.14243240e-03 -3.34614613e-02 -1.87690796e+00] [ 1.83376515e-03 9.99955513e-01 -9.25252621e-03 1.10770735e-01] [ 3.34797956e-02 9.18596317e-03 9.99397179e-01 -2.66562943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.553133365 meters Centerline goodness : 0.116692 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.12, Z:-0.27 [[ 9.99359019e-01 -1.29124805e-03 -3.57754667e-02 -1.92144767e+00] [ 9.57202041e-04 9.99955803e-01 -9.35284765e-03 1.15353201e-01] [ 3.57859623e-02 9.31260830e-03 9.99316086e-01 -2.67273952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.583133365 meters Centerline goodness : 0.124153 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.12, Z:-0.27 [[ 0.99930766 -0.00900872 -0.03609756 -1.90212275] [ 0.00870917 0.9999264 -0.00844695 0.12212841] [ 0.036171 0.00812672 0.99931257 -0.26525091] [ 0. 0. 0. 1. ]] SLAMing on 272.613133365 meters Centerline goodness : 0.122333 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.12, Z:-0.27 [[ 9.99343989e-01 -6.00673707e-04 -3.62109198e-02 -1.92193970e+00] [ 2.45709232e-04 9.99951886e-01 -9.80634472e-03 1.21288534e-01] [ 3.62150680e-02 9.79101429e-03 9.99296055e-01 -2.66954623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.643133365 meters Centerline goodness : 0.114724 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.13, Z:-0.27 [[ 0.99934455 0.00278553 -0.03609312 -1.92204683] [-0.00304371 0.99997016 -0.00710016 0.12603059] [ 0.03607226 0.00720537 0.99932321 -0.26709517] [ 0. 0. 0. 1. ]] SLAMing on 272.673133365 meters Centerline goodness : 0.130151 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.13, Z:-0.27 [[ 0.99934087 0.00262121 -0.03620722 -1.92157605] [-0.0028986 0.99996684 -0.00761091 0.12901501] [ 0.03618607 0.00771084 0.99931532 -0.26735295] [ 0. 0. 0. 1. ]] SLAMing on 272.703133365 meters Centerline goodness : 0.129125 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.13, Z:-0.27 [[ 0.99933667 0.0024315 -0.03633614 -1.92115879] [-0.00272833 0.9999633 -0.0081217 0.1317079 ] [ 0.03631506 0.00821545 0.99930662 -0.26749502] [ 0. 0. 0. 1. ]] SLAMing on 272.733133365 meters SLAMing on 272.763133365 meters Centerline goodness : 0.116865 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.14, Z:-0.27 [[ 9.99343976e-01 1.79276441e-03 -3.61718686e-02 -1.92210589e+00] [-2.13137696e-03 9.99954251e-01 -9.32482474e-03 1.37430569e-01] [ 3.61534965e-02 9.39580332e-03 9.99302078e-01 -2.66616036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79313336499996 meters Centerline goodness : 0.136277 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.14, Z:-0.27 [[ 9.99342913e-01 1.70139310e-03 -3.62056177e-02 -1.92197137e+00] [-2.04524919e-03 9.99953139e-01 -9.46239647e-03 1.38226044e-01] [ 3.61878218e-02 9.53022837e-03 9.99299563e-01 -2.66704515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.823133365 meters Centerline goodness : 0.082418 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.14, Z:-0.27 [[ 0.99929277 -0.00692639 -0.03695931 -1.90084225] [ 0.00660888 0.99994026 -0.00870599 0.14209258] [ 0.0370174 0.00845557 0.99927885 -0.2652641 ] [ 0. 0. 0. 1. ]] SLAMing on 272.85313336499996 meters Centerline goodness : 0.153788 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.14, Z:-0.27 [[ 0.99927462 -0.00709971 -0.03741422 -1.89928832] [ 0.00677552 0.99993846 -0.00878453 0.1419551 ] [ 0.03747429 0.00852466 0.99926123 -0.26589687] [ 0. 0. 0. 1. ]] SLAMing on 272.883133365 meters Centerline goodness : 0.142326 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.14, Z:-0.27 [[ 9.99280011e-01 8.86754193e-04 -3.79298538e-02 -1.91753990e+00] [-1.27085477e-03 9.99948149e-01 -1.01036918e-02 1.38051800e-01] [ 3.79189276e-02 1.01446206e-02 9.99229324e-01 -2.68109012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91313336499996 meters SLAMing on 272.943133365 meters Centerline goodness : 0.128253 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.14, Z:-0.27 [[ 0.9993657 -0.00546116 -0.0351905 -1.89880638] [ 0.00521093 0.99996051 -0.00719873 0.1410506 ] [ 0.03522842 0.00701078 0.9993547 -0.26706992] [ 0. 0. 0. 1. ]] SLAMing on 272.97313336499997 meters Centerline goodness : 0.148784 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.14, Z:-0.27 [[ 0.99937214 -0.00557575 -0.03498924 -1.89950446] [ 0.00531523 0.99995749 -0.0075341 0.14270621] [ 0.03502976 0.0073434 0.99935929 -0.26669553] [ 0. 0. 0. 1. ]] SLAMing on 273.003133365 meters SLAMing on 273.03313336499997 meters Centerline goodness : 0.154684 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.15, Z:-0.27 [[ 0.99937703 -0.00213597 -0.03522759 -1.89901881] [ 0.00195289 0.99998441 -0.00523049 0.14998248] [ 0.03523821 0.00515843 0.99936563 -0.26663259] [ 0. 0. 0. 1. ]] SLAMing on 273.063133365 meters Centerline goodness : 0.062087 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.15, Z:-0.27 [[ 9.99381771e-01 1.53414167e-03 -3.51243892e-02 -1.89913066e+00] [-1.60244465e-03 9.99996880e-01 -1.91653415e-03 1.51629633e-01] [ 3.51213394e-02 1.97163419e-03 9.99381111e-01 -2.66762833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09313336499997 meters SLAMing on 273.123133365 meters SLAMing on 273.153133365 meters SLAMing on 273.183133365 meters SLAMing on 273.213133365 meters Centerline goodness : 0.127130 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.26 [[ 0.99942016 0.00201154 -0.03398974 -1.90355915] [-0.00211242 0.99999347 -0.0029322 0.16651066] [ 0.03398362 0.0030023 0.99941788 -0.26433025] [ 0. 0. 0. 1. ]] SLAMing on 273.243133365 meters Centerline goodness : 0.122885 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.26 [[ 9.99411038e-01 1.87905329e-03 -3.42643668e-02 -1.90267100e+00] [-1.99256350e-03 9.99992639e-01 -3.27893103e-03 1.68371699e-01] [ 3.42579533e-02 3.34527379e-03 9.99407425e-01 -2.64653625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.273133365 meters Centerline goodness : 0.138983 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.26 [[ 9.99417941e-01 1.52972981e-03 -3.40799064e-02 -1.90320502e+00] [-1.67448852e-03 9.99989696e-01 -4.21948982e-03 1.73549825e-01] [ 3.40731006e-02 4.27410023e-03 9.99410204e-01 -2.64402944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.303133365 meters Centerline goodness : 0.123842 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.18, Z:-0.26 [[ 9.99462545e-01 -4.91878980e-03 -3.24102971e-02 -1.88240216e+00] [ 4.86670900e-03 9.99986737e-01 -1.68561261e-03 1.77897528e-01] [ 3.24181584e-02 1.52697518e-03 9.99473227e-01 -2.63950863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.333133365 meters Centerline goodness : 0.134644 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.18, Z:-0.26 [[ 0.99946654 -0.0051295 -0.0322542 -1.88283853] [ 0.00505955 0.99998467 -0.00225009 0.18071013] [ 0.03226525 0.0020857 0.99947717 -0.26376824] [ 0. 0. 0. 1. ]] SLAMing on 273.363133365 meters Centerline goodness : 0.137047 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.18, Z:-0.26 [[ 0.99945983 -0.00533733 -0.03242792 -1.88234997] [ 0.00525196 0.99998252 -0.00271738 0.18305009] [ 0.03244186 0.0025456 0.99947038 -0.26382767] [ 0. 0. 0. 1. ]] SLAMing on 273.393133365 meters Centerline goodness : 0.121645 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.18, Z:-0.26 [[ 0.99944635 -0.00556255 -0.03280322 -1.88119552] [ 0.00546363 0.99998025 -0.00310459 0.18481097] [ 0.03281984 0.00292365 0.99945701 -0.26409623] [ 0. 0. 0. 1. ]] SLAMing on 273.423133365 meters Centerline goodness : 0.143769 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.19, Z:-0.26 [[ 0.99942583 -0.00577341 -0.0333869 -1.87956875] [ 0.00566561 0.99997843 -0.00332237 0.18568782] [ 0.03340537 0.0031313 0.99943698 -0.26430465] [ 0. 0. 0. 1. ]] SLAMing on 273.453133365 meters Centerline goodness : 0.136006 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.19, Z:-0.26 [[ 0.9993767 -0.00637 -0.03472238 -1.87596778] [ 0.0062493 0.99997405 -0.00358357 0.18615567] [ 0.03474431 0.00336434 0.99939057 -0.2646031 ] [ 0. 0. 0. 1. ]] SLAMing on 273.483133365 meters Centerline goodness : 0.173343 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.19, Z:-0.26 [[ 0.99936681 -0.00649329 -0.03498316 -1.87540253] [ 0.00637601 0.99997368 -0.00346297 0.18527358] [ 0.03500472 0.00323773 0.9993819 -0.26435859] [ 0. 0. 0. 1. ]] SLAMing on 273.513133365 meters Centerline goodness : 0.154210 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99420267e-01 1.36183198e-03 -3.40187353e-02 -1.89597225e+00] [-1.53032255e-03 9.99986690e-01 -4.92732958e-03 1.81340424e-01] [ 3.40115723e-02 4.97653268e-03 9.99409049e-01 -2.66177393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54313336499996 meters Centerline goodness : 0.154210 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99420267e-01 1.36183198e-03 -3.40187353e-02 -1.89597225e+00] [-1.53032255e-03 9.99986690e-01 -4.92732958e-03 1.81340424e-01] [ 3.40115723e-02 4.97653268e-03 9.99409049e-01 -2.66177393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.573133365 meters Centerline goodness : 0.126557 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99424432e-01 1.20372364e-03 -3.39021459e-02 -1.89641004e+00] [-1.37098330e-03 9.99987002e-01 -4.91078676e-03 1.80629479e-01] [ 3.38957940e-02 4.95443955e-03 9.99413092e-01 -2.66005248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60313336499996 meters Centerline goodness : 0.179120 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99425631e-01 1.15561796e-03 -3.38684618e-02 -1.89653079e+00] [-1.32061930e-03 9.99987367e-01 -4.84986334e-03 1.80124033e-01] [ 3.38624294e-02 4.89180507e-03 9.99414532e-01 -2.65953716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.633133365 meters Centerline goodness : 0.128269 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99425780e-01 1.20554928e-03 -3.38623172e-02 -1.89650766e+00] [-1.36550728e-03 9.99988018e-01 -4.70104695e-03 1.79537283e-01] [ 3.38562441e-02 4.74458676e-03 9.99415451e-01 -2.66020119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66313336499996 meters Centerline goodness : 0.126727 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99426614e-01 1.24077282e-03 -3.38364133e-02 -1.89648683e+00] [-1.39463245e-03 9.99988794e-01 -4.52393924e-03 1.78518449e-01] [ 3.38304210e-02 4.56853464e-03 9.99417146e-01 -2.66155370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.693133365 meters Centerline goodness : 0.124887 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99424174e-01 1.25420518e-03 -3.39079294e-02 -1.89629411e+00] [-1.40638813e-03 9.99989044e-01 -4.46464483e-03 1.78072456e-01] [ 3.39019583e-02 4.50976168e-03 9.99414989e-01 -2.66195220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72313336499997 meters Centerline goodness : 0.134262 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99423213e-01 1.26406661e-03 -3.39358587e-02 -1.89618677e+00] [-1.41579412e-03 9.99989108e-01 -4.44735083e-03 1.77934356e-01] [ 3.39298673e-02 4.49283185e-03 9.99414118e-01 -2.66285044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.753133365 meters Centerline goodness : 0.153175 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99420611e-01 1.29506574e-03 -3.40112395e-02 -1.89590626e+00] [-1.44612464e-03 9.99989198e-01 -4.41721694e-03 1.77881489e-01] [ 3.40051515e-02 4.46384215e-03 9.99411689e-01 -2.66452356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78313336499997 meters Centerline goodness : 0.152076 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99419758e-01 1.34927758e-03 -3.40342129e-02 -1.89572311e+00] [-1.49725670e-03 9.99989536e-01 -4.32284045e-03 1.77485152e-01] [ 3.40280240e-02 4.37129011e-03 9.99411319e-01 -2.66665991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.813133365 meters Centerline goodness : 0.153626 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99418973e-01 1.40874684e-03 -3.40548309e-02 -1.89538997e+00] [-1.54958582e-03 9.99990355e-01 -4.10961420e-03 1.76105048e-01] [ 3.40487130e-02 4.15999729e-03 9.99411517e-01 -2.67136662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84313336499997 meters Centerline goodness : 0.125547 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99422954e-01 1.45416485e-03 -3.39358823e-02 -1.89570002e+00] [-1.58887861e-03 9.99990964e-01 -3.94302563e-03 1.75055782e-01] [ 3.39298418e-02 3.99467032e-03 9.99416234e-01 -2.67164741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.873133365 meters Centerline goodness : 0.160164 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.27 [[ 9.99429556e-01 1.48780691e-03 -3.37394208e-02 -1.89639363e+00] [-1.61642238e-03 9.99991530e-01 -3.78506752e-03 1.73960501e-01] [ 3.37335036e-02 3.83744551e-03 9.99423496e-01 -2.66836983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.903133365 meters Centerline goodness : 0.123973 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.27 [[ 9.99440141e-01 1.50722206e-03 -3.34235445e-02 -1.89752005e+00] [-1.62934718e-03 9.99992095e-01 -3.62692931e-03 1.72726579e-01] [ 3.34178137e-02 3.67935730e-03 9.99434696e-01 -2.66296693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.933133365 meters Centerline goodness : 0.126612 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.27 [[ 9.99452116e-01 1.45629344e-03 -3.30658060e-02 -1.89909457e+00] [-1.57015526e-03 9.99992927e-01 -3.41778643e-03 1.70381817e-01] [ 3.30605949e-02 3.46783233e-03 9.99447333e-01 -2.65341083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.963133365 meters Centerline goodness : 0.116167 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.27 [[ 9.99449636e-01 1.57121478e-03 -3.31354290e-02 -1.89882171e+00] [-1.67551472e-03 9.99993729e-01 -3.12015428e-03 1.68776062e-01] [ 3.31303188e-02 3.17395596e-03 9.99446001e-01 -2.65569736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.993133365 meters Centerline goodness : 0.125436 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.27 [[ 9.99446522e-01 1.76050039e-03 -3.32197322e-02 -1.89843652e+00] [-1.85066939e-03 9.99994686e-01 -2.68376789e-03 1.66720035e-01] [ 3.32148309e-02 2.74376122e-03 9.99444469e-01 -2.65913006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.023133365 meters SLAMing on 274.053133365 meters Centerline goodness : 0.118466 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.16, Z:-0.27 [[ 9.99445198e-01 2.16119162e-03 -3.32358948e-02 -1.89851357e+00] [-2.22225650e-03 9.99995910e-01 -1.80048739e-03 1.62457272e-01] [ 3.32318677e-02 1.87334716e-03 9.99445913e-01 -2.65824075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.083133365 meters Centerline goodness : 0.115417 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.17, Z:-0.27 [[ 9.99427896e-01 -5.16346789e-03 -3.34248215e-02 -1.91779860e+00] [ 5.14743037e-03 9.99986592e-01 -5.65841375e-04 1.66199305e-01] [ 3.34272950e-02 3.93465714e-04 9.99441074e-01 -2.67224629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.113133365 meters Centerline goodness : 0.122444 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.16, Z:-0.27 [[ 9.99416198e-01 -4.52010636e-03 -3.38649109e-02 -1.91708971e+00] [ 4.52835824e-03 9.99989733e-01 1.66975935e-04 1.64089830e-01] [ 3.38638084e-02 -3.20230903e-04 9.99426405e-01 -2.66751765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.143133365 meters Centerline goodness : 0.143102 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.16, Z:-0.27 [[ 9.99412163e-01 -4.26499657e-03 -3.40167409e-02 -1.91687857e+00] [ 4.27722641e-03 9.99990812e-01 2.86762376e-04 1.64399906e-01] [ 3.40152053e-02 -4.32091109e-04 9.99421222e-01 -2.66509716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.173133365 meters Centerline goodness : 0.124457 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.17, Z:-0.27 [[ 9.99412721e-01 -3.98350012e-03 -3.40344704e-02 -1.91699036e+00] [ 3.99569894e-03 9.99991975e-01 2.90417283e-04 1.65468299e-01] [ 3.40330404e-02 -4.26238224e-04 9.99420617e-01 -2.66256816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.203133365 meters Centerline goodness : 0.146717 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.17, Z:-0.27 [[ 9.99417183e-01 -3.79408129e-03 -3.39249104e-02 -1.91740246e+00] [ 3.79916652e-03 9.99992779e-01 8.54360426e-05 1.67433242e-01] [ 3.39243413e-02 -2.14272633e-04 9.99424381e-01 -2.65965280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.233133365 meters SLAMing on 274.263133365 meters SLAMing on 274.29313336499996 meters Centerline goodness : 0.131386 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.19, Z:-0.27 [[ 0.9994753 0.0021654 -0.03231763 -1.92195945] [-0.0020859 0.99999472 0.00249335 0.18598827] [ 0.03232286 -0.00242463 0.99947454 -0.26617289] [ 0. 0. 0. 1. ]] SLAMing on 274.323133365 meters Centerline goodness : 0.144882 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.19, Z:-0.27 [[ 9.99469938e-01 2.00841262e-03 -3.24932096e-02 -1.92167489e+00] [-1.94999575e-03 9.99996425e-01 1.82940687e-03 1.89727752e-01] [ 3.24967677e-02 -1.76507555e-03 9.99470282e-01 -2.66017177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35313336499996 meters Centerline goodness : 0.165427 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.19, Z:-0.27 [[ 9.99469846e-01 1.87519557e-03 -3.25040183e-02 -1.92186334e+00] [-1.83698358e-03 9.99997586e-01 1.20543084e-03 1.92841079e-01] [ 3.25062002e-02 -1.14508242e-03 9.99470878e-01 -2.65882256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.383133365 meters Centerline goodness : 0.165777 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.20, Z:-0.27 [[ 9.99468048e-01 1.67268682e-03 -3.25702945e-02 -1.92191022e+00] [-1.65372422e-03 9.99998447e-01 6.09134771e-04 1.95999540e-01] [ 3.25712628e-02 -5.54948456e-04 9.99469262e-01 -2.65591185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41313336499996 meters Centerline goodness : 0.171616 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.20, Z:-0.27 [[ 9.99471012e-01 1.45387393e-03 -3.24897418e-02 -1.92221535e+00] [-1.45334400e-03 9.99998943e-01 3.99261785e-05 1.98922001e-01] [ 3.24897656e-02 7.31371348e-06 9.99472068e-01 -2.65409991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.443133365 meters Centerline goodness : 0.123484 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.20, Z:-0.27 [[ 9.99479069e-01 1.33761889e-03 -3.22459493e-02 -1.92301689e+00] [-1.35155816e-03 9.99999002e-01 -4.10486906e-04 2.00871667e-01] [ 3.22453680e-02 4.53855346e-04 9.99479880e-01 -2.65132238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47313336499997 meters Centerline goodness : 0.169146 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.21, Z:-0.26 [[ 9.99478389e-01 8.98549249e-04 -3.22822292e-02 -1.92307288e+00] [-9.45987903e-04 9.99998495e-01 -1.45425423e-03 2.06405242e-01] [ 3.22808739e-02 1.48403427e-03 9.99477735e-01 -2.64867306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.503133365 meters Centerline goodness : 0.122353 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.21, Z:-0.26 [[ 9.99469271e-01 7.68029566e-04 -3.25666334e-02 -1.92240109e+00] [-8.32021097e-04 9.99997750e-01 -1.95143542e-03 2.09348873e-01] [ 3.25650613e-02 1.97749586e-03 9.99467661e-01 -2.64802628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53313336499997 meters Centerline goodness : 0.122582 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.21, Z:-0.27 [[ 0.99938895 0.00237578 -0.0348725 -1.96628187] [-0.00245359 0.99999459 -0.00218875 0.21487761] [ 0.03486711 0.00227298 0.99938937 -0.26577409] [ 0. 0. 0. 1. ]] SLAMing on 274.563133365 meters Centerline goodness : 0.176222 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.22, Z:-0.27 [[ 9.99383396e-01 -4.07093267e-03 -3.48748606e-02 -1.94425242e+00] [ 4.08050359e-03 9.99991654e-01 2.03265077e-04 2.19519158e-01] [ 3.48737421e-02 -3.45446736e-04 9.99391666e-01 -2.65270813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59313336499997 meters Centerline goodness : 0.115702 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.22, Z:-0.27 [[ 9.99365011e-01 4.75554693e-03 -3.53123076e-02 -1.96469895e+00] [-4.80110957e-03 9.99987748e-01 -1.20559250e-03 2.18982965e-01] [ 3.53061417e-02 1.37436522e-03 9.99375599e-01 -2.66716872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.623133365 meters SLAMing on 274.653133365 meters Centerline goodness : 0.137933 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.23, Z:-0.27 [[ 9.99409403e-01 -5.53278601e-04 -3.43589644e-02 -1.94561653e+00] [ 5.94057516e-04 9.99999131e-01 1.17665210e-03 2.30491331e-01] [ 3.43582836e-02 -1.19636837e-03 9.99408864e-01 -2.65376889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.683133365 meters Centerline goodness : 0.147388 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.23, Z:-0.26 [[ 9.99446698e-01 -2.11127166e-04 -3.32603725e-02 -1.90146007e+00] [ 2.82807608e-04 9.99997648e-01 2.15044074e-03 2.33728816e-01] [ 3.32598403e-02 -2.15865719e-03 9.99444407e-01 -2.63983777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.713133365 meters Centerline goodness : 0.124957 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.24, Z:-0.26 [[ 9.99435634e-01 -2.84166258e-04 -3.35906519e-02 -1.90077130e+00] [ 3.39088585e-04 9.99998615e-01 1.62936256e-03 2.36965430e-01] [ 3.35901424e-02 -1.63983322e-03 9.99434347e-01 -2.63917404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.743133365 meters Centerline goodness : 0.167972 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.24, Z:-0.26 [[ 9.99431716e-01 -3.84996445e-04 -3.37060444e-02 -1.90055016e+00] [ 4.23284580e-04 9.99999273e-01 1.12881441e-03 2.39827476e-01] [ 3.37055853e-02 -1.14244017e-03 9.99431152e-01 -2.63881394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.773133365 meters Centerline goodness : 0.149950 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.24, Z:-0.26 [[ 9.99437080e-01 -5.30133285e-04 -3.35446416e-02 -1.90100390e+00] [ 5.52395983e-04 9.99999633e-01 6.54409660e-04 2.42317457e-01] [ 3.35442824e-02 -6.72571205e-04 9.99437006e-01 -2.63821950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.803133365 meters Centerline goodness : 0.129761 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.24, Z:-0.26 [[ 9.99440037e-01 -6.39299809e-04 -3.34545049e-02 -1.90145801e+00] [ 6.48793946e-04 9.99999752e-01 2.72937671e-04 2.44451608e-01] [ 3.34543221e-02 -2.94489916e-04 9.99440204e-01 -2.63486914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.833133365 meters Centerline goodness : 0.121774 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.24, Z:-0.26 [[ 9.99431215e-01 6.64060896e-03 -3.30628134e-02 -1.88163435e+00] [-6.68222985e-03 9.99977014e-01 -1.14850390e-03 2.43764039e-01] [ 3.30544267e-02 1.36878397e-03 9.99452616e-01 -2.61934857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.863133365 meters Centerline goodness : 0.119943 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.24, Z:-0.26 [[ 9.99422542e-01 6.52323724e-03 -3.33471131e-02 -1.88089713e+00] [-6.57377636e-03 9.99977404e-01 -1.40613204e-03 2.44893522e-01] [ 3.33371871e-02 1.62453653e-03 9.99442841e-01 -2.62081806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.893133365 meters Centerline goodness : 0.162736 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.25, Z:-0.26 [[ 9.99414980e-01 6.51062908e-03 -3.35754266e-02 -1.88025021e+00] [-6.56500420e-03 9.99977311e-01 -1.50950242e-03 2.45581726e-01] [ 3.35648370e-02 1.72904215e-03 9.99435046e-01 -2.62260584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.923133365 meters Centerline goodness : 0.123158 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.25, Z:-0.26 [[ 9.99411901e-01 6.51002797e-03 -3.36670663e-02 -1.88014533e+00] [-6.56745403e-03 9.99977161e-01 -1.59539992e-03 2.46278939e-01] [ 3.36559113e-02 1.81556858e-03 9.99431830e-01 -2.62091987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.953133365 meters Centerline goodness : 0.121907 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.25, Z:-0.26 [[ 9.99457913e-01 -1.66338787e-03 -3.28802731e-02 -1.86230914e+00] [ 1.66470236e-03 9.99998614e-01 1.26025546e-05 2.50501030e-01] [ 3.28802066e-02 -6.73315910e-05 9.99459298e-01 -2.60086488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.983133365 meters SLAMing on 275.013133365 meters Centerline goodness : 0.134805 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.25, Z:-0.26 [[ 9.99463287e-01 -1.57977404e-03 -3.27206612e-02 -1.86286636e+00] [ 1.57752476e-03 9.99998751e-01 -9.45576372e-05 2.51158866e-01] [ 3.27207697e-02 4.28892339e-05 9.99464531e-01 -2.59801524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04313336499996 meters Centerline goodness : 0.128217 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.25, Z:-0.26 [[ 9.99460946e-01 -1.50595064e-03 -3.27955697e-02 -1.86259856e+00] [ 1.50488672e-03 9.99998866e-01 -5.71244361e-05 2.51225974e-01] [ 3.27956186e-02 7.74002570e-06 9.99462079e-01 -2.60000015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.073133365 meters Centerline goodness : 0.138418 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.25, Z:-0.26 [[ 9.99458341e-01 -1.43937936e-03 -3.28778493e-02 -1.86223581e+00] [ 1.43865557e-03 9.99998964e-01 -4.56706317e-05 2.51316456e-01] [ 3.28778809e-02 -1.65400732e-06 9.99459376e-01 -2.60272366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10313336499996 meters Centerline goodness : 0.123644 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.25, Z:-0.26 [[ 9.99441369e-01 5.87223967e-03 -3.29008571e-02 -1.84286557e+00] [-5.91126005e-03 9.99981936e-01 -1.08885453e-03 2.47537439e-01] [ 3.28938688e-02 1.28273178e-03 9.99458027e-01 -2.58280669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.133133365 meters Centerline goodness : 0.122872 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.25, Z:-0.26 [[ 9.99440231e-01 5.86719476e-03 -3.29363190e-02 -1.84283556e+00] [-5.90888013e-03 9.99981860e-01 -1.16844256e-03 2.47784191e-01] [ 3.29288661e-02 1.36240526e-03 9.99456769e-01 -2.58268040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16313336499996 meters Centerline goodness : 0.125952 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.25, Z:-0.26 [[ 9.99450062e-01 -2.11556697e-03 -3.30922747e-02 -1.82438547e+00] [ 2.12425119e-03 9.99997718e-01 2.27268760e-04 2.51800524e-01] [ 3.30917184e-02 -2.97440080e-04 9.99452275e-01 -2.56313074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.193133365 meters Centerline goodness : 0.120463 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.25, Z:-0.26 [[ 9.99442239e-01 -1.98551997e-03 -3.33357029e-02 -1.82375687e+00] [ 1.99581269e-03 9.99997970e-01 2.75487017e-04 2.52083762e-01] [ 3.33350883e-02 -3.41865180e-04 9.99444173e-01 -2.56473960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22313336499997 meters Centerline goodness : 0.127144 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.25, Z:-0.26 [[ 9.99452317e-01 -1.93620169e-03 -3.30350961e-02 -1.82446927e+00] [ 1.94652061e-03 9.99998066e-01 2.80204628e-04 2.51892509e-01] [ 3.30344897e-02 -3.44354660e-04 9.99454153e-01 -2.56585615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.253133365 meters Centerline goodness : 0.128457 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.25, Z:-0.26 [[ 9.99455450e-01 -1.91666283e-03 -3.29413234e-02 -1.82475892e+00] [ 1.92911010e-03 9.99998079e-01 3.46083858e-04 2.51236031e-01] [ 3.29405968e-02 -4.09442837e-04 9.99457227e-01 -2.56498603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28313336499997 meters Centerline goodness : 0.128852 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.25, Z:-0.26 [[ 9.99459107e-01 -1.86726814e-03 -3.28330024e-02 -1.82509980e+00] [ 1.88386892e-03 9.99998113e-01 4.74684948e-04 2.50408531e-01] [ 3.28320540e-02 -5.36281267e-04 9.99460739e-01 -2.56392566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.313133365 meters Centerline goodness : 0.137737 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.25, Z:-0.26 [[ 9.99460130e-01 -1.75986190e-03 -3.28078002e-02 -1.82519111e+00] [ 1.78532993e-03 9.99998127e-01 7.47001399e-04 2.48997147e-01] [ 3.28064241e-02 -8.05170863e-04 9.99461400e-01 -2.56334580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34313336499997 meters Centerline goodness : 0.163452 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.25, Z:-0.26 [[ 9.99457435e-01 -1.65113207e-03 -3.28954396e-02 -1.82472831e+00] [ 1.68486322e-03 9.99998083e-01 9.97711678e-04 2.47627367e-01] [ 3.28937291e-02 -1.05259467e-03 9.99458301e-01 -2.56706696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.373133365 meters Centerline goodness : 0.164547 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.25, Z:-0.26 [[ 9.99452522e-01 -1.58332681e-03 -3.30476745e-02 -1.82425695e+00] [ 1.62410671e-03 9.99997953e-01 1.20716426e-03 2.46111270e-01] [ 3.30456955e-02 -1.26017631e-03 9.99453047e-01 -2.56868281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.403133365 meters Centerline goodness : 0.152761 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.24, Z:-0.26 [[ 9.99455882e-01 -1.37712946e-03 -3.29551589e-02 -1.82424150e+00] [ 1.43429361e-03 9.99997508e-01 1.71102683e-03 2.43365271e-01] [ 3.29527205e-02 -1.75736320e-03 9.99455367e-01 -2.57266400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.433133365 meters Centerline goodness : 0.120192 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.24, Z:-0.26 [[ 9.99459613e-01 -1.18195474e-03 -3.28494386e-02 -1.82456011e+00] [ 1.24990738e-03 9.99997121e-01 2.04815102e-03 2.42034580e-01] [ 3.28469232e-02 -2.08810298e-03 9.99458213e-01 -2.57164206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.463133365 meters Centerline goodness : 0.120192 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.24, Z:-0.26 [[ 9.99459613e-01 -1.18195474e-03 -3.28494386e-02 -1.82456011e+00] [ 1.24990738e-03 9.99997121e-01 2.04815102e-03 2.42034580e-01] [ 3.28469232e-02 -2.08810298e-03 9.99458213e-01 -2.57164206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.493133365 meters Centerline goodness : 0.157907 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.24, Z:-0.26 [[ 9.99448071e-01 7.50080242e-03 -3.23618782e-02 -1.84374194e+00] [-7.46513887e-03 9.99971388e-01 1.22270913e-03 2.35425172e-01] [ 3.23701236e-02 -9.80448361e-04 9.99475469e-01 -2.59017077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.523133365 meters SLAMing on 275.553133365 meters Centerline goodness : 0.125840 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.23, Z:-0.26 [[ 9.99454833e-01 4.35748159e-03 -3.27268888e-02 -1.84255387e+00] [-4.40858238e-03 9.99989173e-01 -1.48943437e-03 2.30803256e-01] [ 3.27200443e-02 1.63290156e-03 9.99463222e-01 -2.59689915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.583133365 meters Centerline goodness : 0.141307 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.23, Z:-0.26 [[ 9.99450842e-01 4.50988819e-03 -3.28279769e-02 -1.84220296e+00] [-4.54873001e-03 9.99989040e-01 -1.10860549e-03 2.28641916e-01] [ 3.28226174e-02 1.25732229e-03 9.99460402e-01 -2.59861913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.613133365 meters Centerline goodness : 0.055745 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.22, Z:-0.26 [[ 9.99378550e-01 5.25033137e-03 -3.48561130e-02 -1.88706032e+00] [-5.29841648e-03 9.99985135e-01 -1.28730535e-03 2.24761555e-01] [ 3.48488361e-02 1.47118756e-03 9.99391512e-01 -2.60432840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.643133365 meters SLAMing on 275.673133365 meters SLAMing on 275.703133365 meters Centerline goodness : 0.128193 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.22, Z:-0.26 [[ 9.99409769e-01 -3.07838829e-03 -3.42145615e-02 -1.86529016e+00] [ 3.10003945e-03 9.99995027e-01 5.79774571e-04 2.18157430e-01] [ 3.42126065e-02 -6.85498861e-04 9.99414342e-01 -2.60186950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.733133365 meters Centerline goodness : 0.125909 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.21, Z:-0.26 [[ 9.99405032e-01 -2.83517550e-03 -3.43735998e-02 -1.86477422e+00] [ 2.88384670e-03 9.99994908e-01 1.36645104e-03 2.12550134e-01] [ 3.43695506e-02 -1.46476624e-03 9.99408119e-01 -2.60316564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.763133365 meters Centerline goodness : 0.143613 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.21, Z:-0.26 [[ 0.99940542 -0.00260498 -0.03438061 -1.86455155] [ 0.00267152 0.99999465 0.00188974 0.2100977 ] [ 0.03437551 -0.00198047 0.99940703 -0.26058529] [ 0. 0. 0. 1. ]] SLAMing on 275.79313336499996 meters Centerline goodness : 0.121915 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.21, Z:-0.26 [[ 0.99940809 -0.00238371 -0.03431885 -1.86459133] [ 0.0024668 0.99999413 0.00237888 0.20773954] [ 0.03431298 -0.00246213 0.9994081 -0.26070706] [ 0. 0. 0. 1. ]] SLAMing on 275.823133365 meters Centerline goodness : 0.124533 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.20, Z:-0.26 [[ 9.99397022e-01 5.77254199e-03 -3.42384439e-02 -1.88349164e+00] [-5.73144240e-03 9.99982732e-01 1.29841911e-03 1.99605497e-01] [ 3.42453478e-02 -1.10140052e-03 9.99412849e-01 -2.62720184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85313336499996 meters Centerline goodness : 0.112456 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.20, Z:-0.26 [[ 9.99398441e-01 5.90309460e-03 -3.41746891e-02 -1.88361662e+00] [-5.84909909e-03 9.99981483e-01 1.67974562e-03 1.97323879e-01] [ 3.41839719e-02 -1.47884401e-03 9.99414463e-01 -2.62764054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.883133365 meters Centerline goodness : 0.121013 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.19, Z:-0.26 [[ 0.99939816 0.00618091 -0.03413363 -1.88406143] [-0.00610745 0.9999788 0.0022558 0.19431449] [ 0.03414685 -0.00204597 0.99941473 -0.26230883] [ 0. 0. 0. 1. ]] SLAMing on 275.91313336499996 meters Centerline goodness : 0.135915 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.19, Z:-0.26 [[ 0.99939637 0.00635708 -0.03415387 -1.88401018] [-0.0062726 0.999977 0.00258004 0.19287959] [ 0.03416949 -0.00236424 0.99941326 -0.26233649] [ 0. 0. 0. 1. ]] SLAMing on 275.943133365 meters SLAMing on 275.97313336499997 meters Centerline goodness : 0.128793 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.19, Z:-0.26 [[ 0.99939294 0.00656811 -0.03421411 -1.88355873] [-0.00646762 0.99997444 0.00304688 0.19016426] [ 0.03423325 -0.00282375 0.99940988 -0.2628227 ] [ 0. 0. 0. 1. ]] SLAMing on 276.003133365 meters Centerline goodness : 0.128718 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.19, Z:-0.26 [[ 0.99939586 0.00666453 -0.03411015 -1.88368269] [-0.00655493 0.99997299 0.0033239 0.188463 ] [ 0.03413138 -0.0030983 0.99941255 -0.26301864] [ 0. 0. 0. 1. ]] SLAMing on 276.03313336499997 meters SLAMing on 276.063133365 meters Centerline goodness : 0.043625 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.18, Z:-0.26 [[ 9.99437489e-01 -1.45249871e-03 -3.35051544e-02 -1.86418096e+00] [ 1.62872750e-03 9.99984981e-01 5.23305836e-03 1.84860040e-01] [ 3.34970502e-02 -5.28468547e-03 9.99424844e-01 -2.61547269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09313336499997 meters Centerline goodness : 0.206871 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.18, Z:-0.26 [[ 0.99942854 0.00640796 -0.03318939 -1.88270603] [-0.00627427 0.99997179 0.00413052 0.1762715 ] [ 0.03321492 -0.00391992 0.99944055 -0.26360934] [ 0. 0. 0. 1. ]] SLAMing on 276.123133365 meters Centerline goodness : 0.198083 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.18, Z:-0.26 [[ 0.99947163 -0.00206325 -0.03243763 -1.86337229] [ 0.00223378 0.99998387 0.0052218 0.17727559] [ 0.03242633 -0.0052915 0.99946012 -0.26225061] [ 0. 0. 0. 1. ]] SLAMing on 276.153133365 meters Centerline goodness : 0.095932 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.26 [[ 0.99947667 -0.00191659 -0.03229117 -1.86380505] [ 0.00210056 0.99998175 0.0056641 0.17488132] [ 0.03227972 -0.00572896 0.99946245 -0.26207055] [ 0. 0. 0. 1. ]] SLAMing on 276.183133365 meters Centerline goodness : 0.127137 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.26 [[ 9.99478800e-01 -1.76838577e-03 -3.22335509e-02 -1.86399562e+00] [ 1.96473721e-03 9.99979703e-01 6.06086845e-03 1.72844702e-01] [ 3.22221787e-02 -6.12103998e-03 9.99461987e-01 -2.61947586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.213133365 meters SLAMing on 276.243133365 meters Centerline goodness : 0.095349 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.26 [[ 0.99941128 0.00529159 -0.03389814 -1.84500664] [-0.00510772 0.99997178 0.00550826 0.16424325] [ 0.03392633 -0.00533187 0.99941011 -0.25964643] [ 0. 0. 0. 1. ]] SLAMing on 276.273133365 meters Centerline goodness : 0.109600 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.17, Z:-0.26 [[ 0.99941569 -0.00302446 -0.03404603 -1.86613459] [ 0.00323371 0.99997621 0.00609274 0.16622841] [ 0.03402679 -0.00619927 0.99940169 -0.26107761] [ 0. 0. 0. 1. ]] SLAMing on 276.303133365 meters Centerline goodness : 0.230516 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.26 [[ 0.99938217 0.00427677 -0.03488539 -1.84694463] [-0.00410183 0.99997866 0.00508469 0.16117283] [ 0.03490639 -0.00493846 0.99937838 -0.25862287] [ 0. 0. 0. 1. ]] SLAMing on 276.333133365 meters Centerline goodness : 0.315735 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.26 [[ 0.99937968 0.00441507 -0.03493939 -1.84680572] [-0.00422603 0.99997604 0.00548256 0.15903638] [ 0.03496276 -0.00533151 0.99937439 -0.25858891] [ 0. 0. 0. 1. ]] SLAMing on 276.363133365 meters Centerline goodness : 0.238410 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.26 [[ 0.99937544 0.00449268 -0.03505074 -1.84659316] [-0.00428923 0.99997353 0.00587747 0.15652997] [ 0.03507622 -0.00572346 0.99936825 -0.25844357] [ 0. 0. 0. 1. ]] SLAMing on 276.393133365 meters Centerline goodness : 0.043639 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.15, Z:-0.26 [[ 0.99940215 0.0026863 -0.03446927 -1.84965038] [-0.00253315 0.99998673 0.00448597 0.15281434] [ 0.03448086 -0.00439597 0.99939569 -0.25672106] [ 0. 0. 0. 1. ]] SLAMing on 276.423133365 meters Centerline goodness : 0.093174 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.15, Z:-0.26 [[ 9.99435217e-01 8.26602502e-04 -3.35940892e-02 -1.85318645e+00] [-7.13123596e-04 9.99994000e-01 3.38978404e-03 1.46540632e-01] [ 3.35966897e-02 -3.36391281e-03 9.99429811e-01 -2.55054328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.453133365 meters Centerline goodness : 0.201500 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.14, Z:-0.26 [[ 9.99431424e-01 1.00721464e-03 -3.37018321e-02 -1.85286809e+00] [-8.79038306e-04 9.99992326e-01 3.81784600e-03 1.44451616e-01] [ 3.37054189e-02 -3.78605006e-03 9.99424640e-01 -2.55117397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.483133365 meters Centerline goodness : 0.107782 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.14, Z:-0.26 [[ 0.99939286 0.009017 -0.03365408 -1.87109876] [-0.00892833 0.99995627 0.0027841 0.13708358] [ 0.03367771 -0.00248193 0.99942966 -0.25745324] [ 0. 0. 0. 1. ]] SLAMing on 276.513133365 meters Centerline goodness : 0.203565 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.14, Z:-0.26 [[ 9.99429582e-01 1.01900498e-03 -3.37560627e-02 -1.85235241e+00] [-8.84102454e-04 9.99991565e-01 4.01107922e-03 1.39687213e-01] [ 3.37598653e-02 -3.97894741e-03 9.99422053e-01 -2.55577465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54313336499996 meters Centerline goodness : 0.218607 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.14, Z:-0.26 [[ 9.99429017e-01 1.15638951e-03 -3.37683576e-02 -1.85242258e+00] [-1.01046830e-03 9.99990080e-01 4.33798702e-03 1.37996350e-01] [ 3.37730390e-02 -4.30138825e-03 9.99420272e-01 -2.55418799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.573133365 meters Centerline goodness : 0.185119 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.14, Z:-0.26 [[ 9.99434623e-01 1.25917040e-03 -3.35983536e-02 -1.85302867e+00] [-1.10358504e-03 9.99988585e-01 4.64888645e-03 1.36288236e-01] [ 3.36038238e-02 -4.60917943e-03 9.99424604e-01 -2.55100504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60313336499996 meters Centerline goodness : 0.296105 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.13, Z:-0.25 [[ 9.99479025e-01 -5.78480895e-04 -3.22698483e-02 -1.85848810e+00] [ 6.89104391e-04 9.99993924e-01 3.41705991e-03 1.31036693e-01] [ 3.22676756e-02 -3.43751700e-03 9.99473352e-01 -2.52443455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.633133365 meters Centerline goodness : 0.329395 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.13, Z:-0.25 [[ 9.99483954e-01 -4.16360529e-04 -3.21193427e-02 -1.85897871e+00] [ 5.42491210e-04 9.99992176e-01 3.91832391e-03 1.28329219e-01] [ 3.21174600e-02 -3.93372634e-03 9.99476360e-01 -2.52216002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66313336499996 meters Centerline goodness : 0.179599 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.12, Z:-0.25 [[ 0.9994633 0.00728369 -0.03193834 -1.87726745] [-0.0071964 0.99997005 0.00284723 0.11953014] [ 0.03195812 -0.00261586 0.99948579 -0.25453958] [ 0. 0. 0. 1. ]] SLAMing on 276.693133365 meters Centerline goodness : 0.177627 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.12, Z:-0.25 [[ 0.99945737 0.00747178 -0.03208012 -1.87664526] [-0.00736829 0.99996727 0.00334291 0.11699237] [ 0.03210405 -0.00310472 0.99947971 -0.25494695] [ 0. 0. 0. 1. ]] SLAMing on 276.72313336499997 meters Centerline goodness : 0.091107 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.26 [[ 0.99945191 0.00763421 -0.03221171 -1.87597703] [-0.0075164 0.99996462 0.00377674 0.11465656] [ 0.0322394 -0.00353255 0.99947393 -0.25542183] [ 0. 0. 0. 1. ]] SLAMing on 276.753133365 meters Centerline goodness : 0.102240 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.11, Z:-0.26 [[ 9.99466245e-01 -4.05441243e-04 -3.26659041e-02 -1.89508744e+00] [ 5.72331008e-04 9.99986832e-01 5.09980125e-03 1.14716092e-01] [ 3.26634063e-02 -5.11577492e-03 9.99453316e-01 -2.57753725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78313336499997 meters Centerline goodness : 0.184064 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 9.99462752e-01 -9.81389442e-05 -3.27749665e-02 -1.89460804e+00] [ 2.90957126e-04 9.99982680e-01 5.87837567e-03 1.10113410e-01] [ 3.27738219e-02 -5.88475363e-03 9.99445469e-01 -2.57988508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.813133365 meters Centerline goodness : 0.091296 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 9.99460092e-01 7.84212773e-05 -3.28560172e-02 -1.89417267e+00] [ 1.28647526e-04 9.99980146e-01 6.30014852e-03 1.07872412e-01] [ 3.28558590e-02 -6.30097387e-03 9.99440238e-01 -2.58349112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84313336499997 meters Centerline goodness : 0.107711 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 9.99450872e-01 2.27608940e-04 -3.31346045e-02 -1.89310537e+00] [-7.13910898e-06 9.99977864e-01 6.65373001e-03 1.05873842e-01] [ 3.31353855e-02 -6.64983972e-03 9.99428750e-01 -2.58957081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.873133365 meters SLAMing on 276.903133365 meters Centerline goodness : 0.101781 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.10, Z:-0.26 [[ 9.99443616e-01 5.71300622e-04 -3.33486586e-02 -1.89197244e+00] [-3.24398673e-04 9.99972503e-01 7.40859575e-03 1.01841054e-01] [ 3.33519741e-02 -7.39365547e-03 9.99416319e-01 -2.59824540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.933133365 meters Centerline goodness : 0.097060 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.10, Z:-0.26 [[ 9.99446345e-01 7.45368032e-04 -3.32633218e-02 -1.89210242e+00] [-4.85553382e-04 9.99969319e-01 7.81823933e-03 9.97291999e-02] [ 3.32681287e-02 -7.79775961e-03 9.99416043e-01 -2.59902290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.963133365 meters SLAMing on 276.993133365 meters Centerline goodness : 0.139900 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.09, Z:-0.26 [[ 9.99487332e-01 -1.88871831e-03 -3.19609937e-02 -1.89545001e+00] [ 2.07626861e-03 9.99980815e-01 5.83592925e-03 9.38179173e-02] [ 3.19493582e-02 -5.89929697e-03 9.99472079e-01 -2.59501497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.023133365 meters SLAMing on 277.053133365 meters SLAMing on 277.083133365 meters Centerline goodness : 0.118837 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.09, Z:-0.26 [[ 9.99482847e-01 -1.54333464e-03 -3.21194120e-02 -1.89483175e+00] [ 1.75040488e-03 9.99977861e-01 6.41976807e-03 9.16468353e-02] [ 3.21087931e-02 -6.47267004e-03 9.99463421e-01 -2.59858299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.113133365 meters Centerline goodness : 0.094113 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.09, Z:-0.26 [[ 9.99478901e-01 -1.61043079e-03 -3.22386915e-02 -1.89439729e+00] [ 1.81089087e-03 9.99979204e-01 6.18976489e-03 9.27515608e-02] [ 3.22280528e-02 -6.24492016e-03 9.99461032e-01 -2.60183132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.143133365 meters Centerline goodness : 0.136193 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 0.99944783 0.00633049 -0.03261852 -1.87398169] [-0.00617883 0.99996964 0.00474816 0.09171414] [ 0.03264758 -0.00454399 0.9994566 -0.25838503] [ 0. 0. 0. 1. ]] SLAMing on 277.173133365 meters Centerline goodness : 0.128053 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 0.99944736 0.00620153 -0.03265765 -1.87380651] [-0.00606263 0.99997216 0.00435077 0.09369333] [ 0.03268372 -0.00415037 0.99945713 -0.25862208] [ 0. 0. 0. 1. ]] SLAMing on 277.203133365 meters Centerline goodness : 0.112396 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.10, Z:-0.26 [[ 9.99487762e-01 -1.76411951e-03 -3.19546716e-02 -1.89405128e+00] [ 1.92853203e-03 9.99985058e-01 5.11508954e-03 9.94349763e-02] [ 3.19451705e-02 -5.17409500e-03 9.99476230e-01 -2.60666842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23313336499996 meters Centerline goodness : 0.117748 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.10, Z:-0.26 [[ 9.99491449e-01 -1.84571883e-03 -3.18345163e-02 -1.89452166e+00] [ 1.99760560e-03 9.99986771e-01 4.73999038e-03 1.01660032e-01] [ 3.18253465e-02 -4.80117266e-03 9.99481914e-01 -2.60479602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.263133365 meters Centerline goodness : 0.180202 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 0.99949412 -0.00191576 -0.03174653 -1.8947797 ] [ 0.00204417 0.99998986 0.00401295 0.10636 ] [ 0.03173852 -0.00407582 0.9994879 -0.26065748] [ 0. 0. 0. 1. ]] SLAMing on 277.29313336499996 meters SLAMing on 277.323133365 meters Centerline goodness : 0.126356 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 0.99947725 -0.00193017 -0.03227231 -1.8932126 ] [ 0.00204049 0.99999219 0.00338575 0.11083604] [ 0.03226552 -0.00344983 0.99947338 -0.26139538] [ 0. 0. 0. 1. ]] SLAMing on 277.35313336499996 meters Centerline goodness : 0.126356 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 0.99947725 -0.00193017 -0.03227231 -1.8932126 ] [ 0.00204049 0.99999219 0.00338575 0.11083604] [ 0.03226552 -0.00344983 0.99947338 -0.26139538] [ 0. 0. 0. 1. ]] SLAMing on 277.383133365 meters Centerline goodness : 0.097389 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 0.99948116 -0.00203262 -0.03214463 -1.89349848] [ 0.00213178 0.99999307 0.00305096 0.11281788] [ 0.03213821 -0.0031179 0.99947857 -0.26151149] [ 0. 0. 0. 1. ]] SLAMing on 277.41313336499996 meters Centerline goodness : 0.102859 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 0.99948797 -0.00210968 -0.0319271 -1.89427263] [ 0.00219942 0.99999373 0.00277566 0.11445262] [ 0.03192105 -0.00284446 0.99948635 -0.26118485] [ 0. 0. 0. 1. ]] SLAMing on 277.443133365 meters Centerline goodness : 0.105835 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.12, Z:-0.26 [[ 0.99949171 -0.00225728 -0.03179994 -1.89513481] [ 0.00233851 0.9999941 0.00251729 0.11570912] [ 0.03179407 -0.00259038 0.99949108 -0.26033253] [ 0. 0. 0. 1. ]] SLAMing on 277.47313336499997 meters Centerline goodness : 0.094646 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.26 [[ 9.99456569e-01 4.75886407e-03 -3.26177952e-02 -1.87623629e+00] [-4.72770057e-03 9.99988291e-01 1.03247179e-03 1.12582418e-01] [ 3.26223267e-02 -8.77703539e-04 9.99467365e-01 -2.57847772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.503133365 meters Centerline goodness : 0.103344 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.26 [[ 9.99449762e-01 4.73889378e-03 -3.28285778e-02 -1.87568331e+00] [-4.70503565e-03 9.99988317e-01 1.10853562e-03 1.11977339e-01] [ 3.28334475e-02 -9.53466035e-04 9.99460382e-01 -2.57893558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53313336499997 meters Centerline goodness : 0.094743 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.26 [[ 9.99449392e-01 4.74622479e-03 -3.28387953e-02 -1.87572416e+00] [-4.70814565e-03 9.99988152e-01 1.23680691e-03 1.11240134e-01] [ 3.28442764e-02 -1.08151609e-03 9.99459896e-01 -2.57750551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.563133365 meters Centerline goodness : 0.100291 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.26 [[ 9.99453246e-01 4.74894534e-03 -3.27208993e-02 -1.87608484e+00] [-4.70551802e-03 9.99987943e-01 1.40408204e-03 1.10175319e-01] [ 3.27271727e-02 -1.24934557e-03 9.99463542e-01 -2.57566854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59313336499997 meters SLAMing on 277.623133365 meters Centerline goodness : 0.062516 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.26 [[ 9.99483819e-01 8.73921002e-04 -3.21143702e-02 -1.87813138e+00] [-9.32234192e-04 9.99997944e-01 -1.80086933e-03 1.06331428e-01] [ 3.21127304e-02 1.82987787e-03 9.99482578e-01 -2.56547735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.653133365 meters SLAMing on 277.683133365 meters Centerline goodness : 0.118505 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.11, Z:-0.26 [[ 9.99444843e-01 -7.44744877e-03 -3.24737085e-02 -1.85635497e+00] [ 7.42811769e-03 9.99972155e-01 -7.15885867e-04 1.05973622e-01] [ 3.24781358e-02 4.74269909e-04 9.99472334e-01 -2.55505380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.713133365 meters Centerline goodness : 0.050098 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.10, Z:-0.26 [[ 9.99450440e-01 2.07766776e-04 -3.31477577e-02 -1.87388780e+00] [-2.72065287e-04 9.99998090e-01 -1.93525584e-03 9.75852624e-02] [ 3.31472923e-02 1.94321066e-03 9.99448588e-01 -2.57898915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.743133365 meters Centerline goodness : 0.099390 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.10, Z:-0.26 [[ 9.99439999e-01 3.20314434e-04 -3.34602165e-02 -1.87293203e+00] [-3.72787199e-04 9.99998711e-01 -1.56198680e-03 9.54154427e-02] [ 3.34596730e-02 1.57358563e-03 9.99438830e-01 -2.58215301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.773133365 meters Centerline goodness : 0.135143 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 9.99434820e-01 4.71471908e-04 -3.36127765e-02 -1.87254659e+00] [-5.09718285e-04 9.99999232e-01 -1.12929249e-03 9.30779763e-02] [ 3.36122183e-02 1.14578728e-03 9.99434293e-01 -2.58232590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.803133365 meters SLAMing on 277.833133365 meters Centerline goodness : 0.134408 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 9.99441387e-01 6.84992494e-04 -3.34132565e-02 -1.87378919e+00] [-6.96019462e-04 9.99999707e-01 -3.18387476e-04 8.60172548e-02] [ 3.34130286e-02 3.41465897e-04 9.99441571e-01 -2.57122655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.863133365 meters SLAMing on 277.893133365 meters Centerline goodness : 0.127275 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99425166e-01 8.46553822e-04 -3.38913197e-02 -1.87207225e+00] [-8.39129865e-04 9.99999621e-01 2.33274970e-04 8.23982465e-02] [ 3.38915044e-02 -2.04701657e-04 9.99425497e-01 -2.57927666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.923133365 meters Centerline goodness : 0.109692 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99418967e-01 9.56516659e-04 -3.40707128e-02 -1.87135834e+00] [-9.38732186e-04 9.99999415e-01 5.37979571e-04 8.07334298e-02] [ 3.40712075e-02 -5.05683712e-04 9.99419280e-01 -2.58342507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.953133365 meters Centerline goodness : 0.111005 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99418654e-01 1.24742257e-03 -3.40704711e-02 -1.87165922e+00] [-1.20639592e-03 9.99998522e-01 1.22470086e-03 7.74873361e-02] [ 3.40719485e-02 -1.18288640e-03 9.99418683e-01 -2.57835212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98313336499996 meters Centerline goodness : 0.107725 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99418625e-01 1.33194142e-03 -3.40681276e-02 -1.87185925e+00] [-1.28554792e-03 9.99998216e-01 1.38365434e-03 7.68132830e-02] [ 3.40699098e-02 -1.33905371e-03 9.99418555e-01 -2.57532217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.013133365 meters Centerline goodness : 0.113407 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99420094e-01 1.37848660e-03 -3.40231656e-02 -1.87203245e+00] [-1.32981443e-03 9.99998060e-01 1.45314725e-03 7.64653506e-02] [ 3.40251027e-02 -1.40706006e-03 9.99419988e-01 -2.57430129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04313336499996 meters Centerline goodness : 0.109950 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99421595e-01 1.38528056e-03 -3.39787607e-02 -1.87217288e+00] [-1.34027399e-03 9.99998194e-01 1.34729147e-03 7.70727375e-02] [ 3.39805657e-02 -1.30097134e-03 9.99421647e-01 -2.57442955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.073133365 meters Centerline goodness : 0.116573 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99422797e-01 1.35609093e-03 -3.39445714e-02 -1.87231217e+00] [-1.31682717e-03 9.99998438e-01 1.17903157e-03 7.79945502e-02] [ 3.39461172e-02 -1.13365189e-03 9.99423022e-01 -2.57424773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10313336499996 meters Centerline goodness : 0.118332 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99421952e-01 1.36534881e-03 -3.39690614e-02 -1.87221562e+00] [-1.33273577e-03 9.99998629e-01 9.82704353e-04 7.93504286e-02] [ 3.39703566e-02 -9.36864519e-04 9.99422402e-01 -2.57565597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.133133365 meters Centerline goodness : 0.116111 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99405280e-01 1.63685149e-03 -3.44442736e-02 -1.87118153e+00] [-1.61139158e-03 9.99998408e-01 7.66909317e-04 8.18536743e-02] [ 3.44454741e-02 -7.10950007e-04 9.99406326e-01 -2.57651275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16313336499996 meters Centerline goodness : 0.131487 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99406458e-01 1.59812549e-03 -3.44118948e-02 -1.87136179e+00] [-1.57949581e-03 9.99998591e-01 5.68551089e-04 8.30405995e-02] [ 3.44127549e-02 -5.13860185e-04 9.99407574e-01 -2.57560914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.193133365 meters Centerline goodness : 0.128501 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99411007e-01 1.55263124e-03 -3.42815936e-02 -1.87177424e+00] [-1.54031262e-03 9.99998739e-01 3.85743201e-04 8.41188539e-02] [ 3.42821493e-02 -3.32711630e-04 9.99412139e-01 -2.57476891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22313336499997 meters Centerline goodness : 0.139618 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99412694e-01 1.49737972e-03 -3.42348578e-02 -1.87214555e+00] [-1.48998583e-03 9.99998861e-01 2.41486868e-04 8.48841508e-02] [ 3.42351804e-02 -1.90335588e-04 9.99413786e-01 -2.57110929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.253133365 meters Centerline goodness : 0.134546 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 9.99414772e-01 1.38608156e-03 -3.41788135e-02 -1.87263757e+00] [-1.38530513e-03 9.99999039e-01 4.63977784e-05 8.57622589e-02] [ 3.41788450e-02 9.77460353e-07 9.99415733e-01 -2.56575356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28313336499997 meters Centerline goodness : 0.116431 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 9.99418364e-01 1.36953126e-03 -3.40742980e-02 -1.87291658e+00] [-1.36922877e-03 9.99999062e-01 3.22120569e-05 8.57828789e-02] [ 3.40743102e-02 1.44621879e-05 9.99419302e-01 -2.56533031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.313133365 meters Centerline goodness : 0.114672 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 9.99421326e-01 1.36797508e-03 -3.39873678e-02 -1.87327721e+00] [-1.36715334e-03 9.99999064e-01 4.74175939e-05 8.57329686e-02] [ 3.39874008e-02 -9.24211296e-07 9.99422261e-01 -2.56309470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34313336499997 meters Centerline goodness : 0.134654 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 9.99420354e-01 1.41751161e-03 -3.40139126e-02 -1.87336001e+00] [-1.41165543e-03 9.99998984e-01 1.96184432e-04 8.51219653e-02] [ 3.40141561e-02 -1.48054791e-04 9.99421340e-01 -2.56066834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.373133365 meters Centerline goodness : 0.135183 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99417363e-01 1.43136873e-03 -3.41011033e-02 -1.87312837e+00] [-1.42144930e-03 9.99998940e-01 3.15124790e-04 8.43729182e-02] [ 3.41015182e-02 -2.66468197e-04 9.99418339e-01 -2.56053746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.403133365 meters Centerline goodness : 0.127061 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99406512e-01 1.44161074e-03 -3.44172228e-02 -1.87234632e+00] [-1.42707728e-03 9.99998882e-01 4.46834454e-04 8.34291859e-02] [ 3.44178285e-02 -3.97453227e-04 9.99407452e-01 -2.56068237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.433133365 meters Centerline goodness : 0.126604 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99377157e-01 1.28468270e-03 -3.52653981e-02 -1.86972905e+00] [-1.26826364e-03 9.99999077e-01 4.87951607e-04 8.20300473e-02] [ 3.52659924e-02 -4.42921867e-04 9.99377863e-01 -2.56991211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.463133365 meters Centerline goodness : 0.127421 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99373159e-01 1.30531069e-03 -3.53777486e-02 -1.86942442e+00] [-1.28588172e-03 9.99999010e-01 5.71933451e-04 8.14514110e-02] [ 3.53784601e-02 -5.26083339e-04 9.99373848e-01 -2.57010874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.493133365 meters Centerline goodness : 0.134224 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99375800e-01 1.32799320e-03 -3.53022219e-02 -1.86971797e+00] [-1.30615306e-03 9.99998941e-01 6.41717023e-04 8.09728485e-02] [ 3.53030367e-02 -5.95206358e-04 9.99376476e-01 -2.56824687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.523133365 meters Centerline goodness : 0.134784 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99380953e-01 1.32383070e-03 -3.51562116e-02 -1.87035210e+00] [-1.30387525e-03 9.99998976e-01 5.90542978e-04 8.12817759e-02] [ 3.51569574e-02 -5.44338089e-04 9.99381655e-01 -2.56418656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.553133365 meters Centerline goodness : 0.134142 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99387966e-01 1.33081423e-03 -3.49560065e-02 -1.87111130e+00] [-1.31374228e-03 9.99999006e-01 5.11347944e-04 8.18414835e-02] [ 3.49566522e-02 -4.65111798e-04 9.99388721e-01 -2.56030195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.583133365 meters Centerline goodness : 0.135609 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99400518e-01 1.53258376e-03 -3.45869239e-02 -1.87209507e+00] [-1.51838078e-03 9.99998752e-01 4.36908179e-04 8.32956685e-02] [ 3.45875503e-02 -3.84130140e-04 9.99401598e-01 -2.55938011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.613133365 meters Centerline goodness : 0.138730 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99402800e-01 1.54090324e-03 -3.45205521e-02 -1.87215807e+00] [-1.52925961e-03 9.99998765e-01 3.63696517e-04 8.38365442e-02] [ 3.45210699e-02 -3.10688431e-04 9.99403922e-01 -2.56138732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.643133365 meters Centerline goodness : 0.143312 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99402683e-01 1.49147608e-03 -3.45261087e-02 -1.87205562e+00] [-1.48310576e-03 9.99998864e-01 2.68043764e-04 8.41942135e-02] [ 3.45264693e-02 -2.16677786e-04 9.99403760e-01 -2.56313525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.673133365 meters Centerline goodness : 0.143048 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99402627e-01 1.42116702e-03 -3.45306934e-02 -1.87210239e+00] [-1.41579723e-03 9.99998982e-01 1.79958910e-04 8.42842815e-02] [ 3.45309139e-02 -1.30962947e-04 9.99403622e-01 -2.56265112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.703133365 meters Centerline goodness : 0.140376 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99399463e-01 1.33434802e-03 -3.46256045e-02 -1.87203833e+00] [-1.33294820e-03 9.99999110e-01 6.35113837e-05 8.44890859e-02] [ 3.46256585e-02 -1.73191056e-05 9.99400352e-01 -2.56061752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73313336499996 meters Centerline goodness : 0.139353 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99399938e-01 1.33172681e-03 -3.46119852e-02 -1.87217054e+00] [-1.33033718e-03 9.99999113e-01 6.31785977e-05 8.45047701e-02] [ 3.46120386e-02 -1.70950760e-05 9.99400824e-01 -2.55924607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.763133365 meters Centerline goodness : 0.144205 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99415272e-01 1.42939166e-03 -3.41624111e-02 -1.87383364e+00] [-1.42490923e-03 9.99998973e-01 1.55555212e-04 8.48927533e-02] [ 3.41625984e-02 -1.06785920e-04 9.99416282e-01 -2.55003771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79313336499996 meters Centerline goodness : 0.133733 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.25 [[ 9.99422317e-01 1.46378412e-03 -3.39542167e-02 -1.87461933e+00] [-1.45643324e-03 9.99998910e-01 2.41226131e-04 8.46350545e-02] [ 3.39545328e-02 -1.91634729e-04 9.99423360e-01 -2.54558253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.823133365 meters Centerline goodness : 0.101814 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.25 [[ 9.99421267e-01 1.43085880e-03 -3.39865287e-02 -1.87459744e+00] [-1.42498693e-03 9.99998965e-01 1.96992117e-04 8.47660983e-02] [ 3.39867754e-02 -1.48447752e-04 9.99422272e-01 -2.54482811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85313336499996 meters Centerline goodness : 0.136749 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.25 [[ 9.99410181e-01 1.40449995e-03 -3.43120502e-02 -1.87361164e+00] [-1.39851131e-03 9.99999002e-01 1.98534129e-04 8.45577261e-02] [ 3.43122948e-02 -1.50431240e-04 9.99411149e-01 -2.54804950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.883133365 meters Centerline goodness : 0.138204 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.08, Z:-0.26 [[ 9.99304268e-01 7.60851276e-04 -3.72880705e-02 -1.91625221e+00] [-7.67982186e-04 9.99999689e-01 -1.76915481e-04 8.09337620e-02] [ 3.72879243e-02 2.05428969e-04 9.99304542e-01 -2.56306960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91313336499996 meters Centerline goodness : 0.146048 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.08, Z:-0.26 [[ 9.99295712e-01 7.79983889e-04 -3.75162784e-02 -1.91555973e+00] [-7.83647493e-04 9.99999690e-01 -8.29488714e-05 8.02856099e-02] [ 3.75162021e-02 1.12289989e-04 9.99296013e-01 -2.56542587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.943133365 meters Centerline goodness : 0.137706 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.08, Z:-0.26 [[ 9.99304256e-01 7.62268887e-04 -3.72883781e-02 -1.91611953e+00] [-7.58839898e-04 9.99999706e-01 1.06111444e-04 7.87909088e-02] [ 3.72884480e-02 -7.77417082e-05 9.99304541e-01 -2.56437140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97313336499997 meters Centerline goodness : 0.133533 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.08, Z:-0.25 [[ 9.99305351e-01 -7.23967885e-03 -3.65568482e-02 -1.89679761e+00] [ 7.28660497e-03 9.99972790e-01 1.15057708e-03 8.24655728e-02] [ 3.65475237e-02 -1.41615314e-03 9.99330913e-01 -2.54804720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.003133365 meters Centerline goodness : 0.169344 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.07, Z:-0.26 [[ 9.99370557e-01 -1.25580310e-04 -3.54749914e-02 -1.91532304e+00] [ 1.28063616e-04 9.99999990e-01 6.77293528e-05 7.42049665e-02] [ 3.54749825e-02 -7.22297766e-05 9.99370562e-01 -2.56949820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03313336499997 meters Centerline goodness : 0.134456 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.07, Z:-0.26 [[ 9.99364412e-01 -1.14443864e-04 -3.56476922e-02 -1.91501035e+00] [ 1.27672146e-04 9.99999924e-01 3.68807707e-04 7.22604241e-02] [ 3.56476472e-02 -3.73124515e-04 9.99364351e-01 -2.56720941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.063133365 meters Centerline goodness : 0.137753 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.07, Z:-0.26 [[ 9.99360769e-01 -8.49260378e-05 -3.57497774e-02 -1.91472327e+00] [ 1.10327793e-04 9.99999743e-01 7.08570895e-04 7.00910253e-02] [ 3.57497080e-02 -7.12062148e-04 9.99360521e-01 -2.56695770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09313336499997 meters Centerline goodness : 0.140171 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.07, Z:-0.26 [[ 9.99359076e-01 -5.62164055e-05 -3.57971319e-02 -1.91450609e+00] [ 9.38235590e-05 9.99999446e-01 1.04888433e-03 6.78728106e-02] [ 3.57970531e-02 -1.05157069e-03 9.99358527e-01 -2.56753424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.123133365 meters Centerline goodness : 0.144132 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.06, Z:-0.26 [[ 9.99364788e-01 -3.76237878e-03 -3.54381736e-02 -1.91519014e+00] [ 3.69222367e-03 9.99991093e-01 -2.04488373e-03 6.44260590e-02] [ 3.54455516e-02 1.91273913e-03 9.99369779e-01 -2.56835596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.153133365 meters Centerline goodness : 0.129618 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99361046e-01 -3.63272319e-03 -3.55570429e-02 -1.91491570e+00] [ 3.57653509e-03 9.99992253e-01 -1.64370246e-03 6.23789361e-02] [ 3.55627386e-02 1.51548120e-03 9.99366297e-01 -2.56792133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.183133365 meters Centerline goodness : 0.136759 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99352792e-01 -3.51269688e-03 -3.58002420e-02 -1.91423340e+00] [ 3.46918819e-03 9.99993167e-01 -1.27736498e-03 6.06276853e-02] [ 3.58044844e-02 1.15234048e-03 9.99358150e-01 -2.56905135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.213133365 meters Centerline goodness : 0.134224 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99343292e-01 -3.40759916e-03 -3.60745359e-02 -1.91351074e+00] [ 3.37445826e-03 9.99993827e-01 -9.79524558e-04 5.91920992e-02] [ 3.60776510e-02 8.57149281e-04 9.99348622e-01 -2.56986057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.243133365 meters Centerline goodness : 0.139909 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99337397e-01 -3.35692753e-03 -3.62422100e-02 -1.91317603e+00] [ 3.33089981e-03 9.99994149e-01 -7.78515968e-04 5.81308895e-02] [ 3.62446114e-02 6.57280951e-04 9.99342732e-01 -2.56859629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.273133365 meters Centerline goodness : 0.139909 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99337397e-01 -3.35692753e-03 -3.62422100e-02 -1.91317603e+00] [ 3.33089981e-03 9.99994149e-01 -7.78515968e-04 5.81308895e-02] [ 3.62446114e-02 6.57280951e-04 9.99342732e-01 -2.56859629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.303133365 meters Centerline goodness : 0.126862 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99337236e-01 -3.35500673e-03 -3.62468197e-02 -1.91317665e+00] [ 3.33226838e-03 9.99994212e-01 -6.87713711e-04 5.74778307e-02] [ 3.62489172e-02 5.66473788e-04 9.99342631e-01 -2.56847105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.333133365 meters Centerline goodness : 0.122726 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99343202e-01 -3.34332363e-03 -3.60830633e-02 -1.91362374e+00] [ 3.32427533e-03 9.99994302e-01 -5.87883123e-04 5.69035214e-02] [ 3.60848232e-02 4.67546965e-04 9.99348621e-01 -2.56713558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.363133365 meters Centerline goodness : 0.128528 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99342920e-01 -3.30492742e-03 -3.60943906e-02 -1.91364519e+00] [ 3.28862382e-03 9.99994462e-01 -5.11054165e-04 5.66953517e-02] [ 3.60958797e-02 3.92017489e-04 9.99348255e-01 -2.56665590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.393133365 meters Centerline goodness : 0.137073 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99343179e-01 -3.31612557e-03 -3.60862098e-02 -1.91364562e+00] [ 3.30000797e-03 9.99994427e-01 -5.06194497e-04 5.67043701e-02] [ 3.60876873e-02 3.86777237e-04 9.99348552e-01 -2.56697507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.423133365 meters Centerline goodness : 0.134205 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99350336e-01 -3.42043734e-03 -3.58776613e-02 -1.91473326e+00] [ 3.40510546e-03 9.99994083e-01 -4.88432446e-04 5.64888845e-02] [ 3.58791196e-02 3.65947908e-04 9.99356070e-01 -2.55788451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.453133365 meters SLAMing on 279.48313336499996 meters Centerline goodness : 0.051942 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.06, Z:-0.25 [[ 9.99412579e-01 -4.39426689e-03 -3.39880362e-02 -1.92006799e+00] [ 4.35625842e-03 9.99989801e-01 -1.19226092e-03 5.68256019e-02] [ 3.39929287e-02 1.04349989e-03 9.99421529e-01 -2.54276072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.513133365 meters Centerline goodness : 0.134235 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.06, Z:-0.25 [[ 9.99423193e-01 -4.46066820e-03 -3.36657619e-02 -1.92106291e+00] [ 4.42533433e-03 9.99989576e-01 -1.12398872e-03 5.62437239e-02] [ 3.36704248e-02 9.74358147e-04 9.99432516e-01 -2.53860444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54313336499996 meters Centerline goodness : 0.049140 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.06, Z:-0.25 [[ 9.99430560e-01 -4.46281857e-03 -3.34460520e-02 -1.92155249e+00] [ 4.43144808e-03 9.99989669e-01 -1.01201249e-03 5.56589974e-02] [ 3.34502229e-02 8.63221765e-04 9.99440012e-01 -2.53867072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.573133365 meters SLAMing on 279.60313336499996 meters SLAMing on 279.633133365 meters Centerline goodness : 0.332494 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.05, Z:-0.26 [[ 0.99939103 -0.00714497 -0.03415443 -1.91791685] [ 0.00705484 0.99997131 -0.00275868 0.05013002] [ 0.03417316 0.00251605 0.99941276 -0.2559032 ] [ 0. 0. 0. 1. ]] SLAMing on 279.66313336499996 meters Centerline goodness : 0.105341 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.05, Z:-0.26 [[ 0.99939253 -0.00707478 -0.03412517 -1.9179766 ] [ 0.00699475 0.9999725 -0.00246401 0.0484107 ] [ 0.03414167 0.00222382 0.99941453 -0.25589008] [ 0. 0. 0. 1. ]] SLAMing on 279.693133365 meters Centerline goodness : 0.054149 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.04, Z:-0.26 [[ 9.99433179e-01 5.03322270e-04 -3.36610575e-02 -1.93770639e+00] [-6.25001184e-04 9.99993309e-01 -3.60440305e-03 4.18694560e-02] [ 3.36590181e-02 3.62339820e-03 9.99426806e-01 -2.57956395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72313336499997 meters Centerline goodness : 0.069779 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.04, Z:-0.26 [[ 0.99942106 -0.00753747 -0.0331774 -1.91781363] [ 0.00745323 0.99996868 -0.0026621 0.04462451] [ 0.03319643 0.00241328 0.99944593 -0.25646685] [ 0. 0. 0. 1. ]] SLAMing on 279.753133365 meters Centerline goodness : 0.043281 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.04, Z:-0.26 [[ 0.99940906 -0.00740861 -0.03356562 -1.91647948] [ 0.00733672 0.99997052 -0.00226443 0.04256635] [ 0.0335814 0.00201683 0.99943395 -0.25706538] [ 0. 0. 0. 1. ]] SLAMing on 279.78313336499997 meters Centerline goodness : 0.100742 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.04, Z:-0.26 [[ 9.99416561e-01 3.36809597e-04 -3.41529561e-02 -1.93416355e+00] [-4.55636274e-04 9.99993870e-01 -3.47152687e-03 3.63559318e-02] [ 3.41515775e-02 3.48506277e-03 9.99410588e-01 -2.59726885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.813133365 meters Centerline goodness : 0.043964 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.03, Z:-0.26 [[ 9.99409374e-01 3.72283259e-04 -3.43622558e-02 -1.93348786e+00] [-4.83365625e-04 9.99994685e-01 -3.22443488e-03 3.47066735e-02] [ 3.43608727e-02 3.23913998e-03 9.99404242e-01 -2.60019590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84313336499997 meters Centerline goodness : 0.044344 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.03, Z:-0.26 [[ 9.99408682e-01 4.03556060e-04 -3.43820088e-02 -1.93344743e+00] [-5.04976786e-04 9.99995547e-01 -2.94118712e-03 3.27630391e-02] [ 3.43806688e-02 2.95681006e-03 9.99404436e-01 -2.60023124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.873133365 meters Centerline goodness : 0.106890 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.03, Z:-0.26 [[ 9.99415606e-01 4.41500199e-04 -3.41796926e-02 -1.93420330e+00] [-5.32359030e-04 9.99996349e-01 -2.64921447e-03 3.08320167e-02] [ 3.41783981e-02 2.66586215e-03 9.99412192e-01 -2.59575594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.903133365 meters Centerline goodness : 0.097117 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99429174e-01 5.08862428e-04 -3.37796975e-02 -1.93551351e+00] [-5.88109101e-04 9.99997098e-01 -2.33609082e-03 2.90859916e-02] [ 3.37784108e-02 2.35462346e-03 9.99426573e-01 -2.58983806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.933133365 meters Centerline goodness : 0.093942 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99442565e-01 5.73232155e-04 -3.33800887e-02 -1.93705124e+00] [-6.38188223e-04 9.99997924e-01 -1.93533070e-03 2.69233589e-02] [ 3.33789100e-02 1.95555466e-03 9.99440856e-01 -2.58021945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.963133365 meters Centerline goodness : 0.049766 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99441972e-01 5.83974513e-04 -3.33976678e-02 -1.93697084e+00] [-6.47119503e-04 9.99998024e-01 -1.87992268e-03 2.66129916e-02] [ 3.33965039e-02 1.90048591e-03 9.99440374e-01 -2.58096253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.993133365 meters Centerline goodness : 0.105905 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99441887e-01 5.89055168e-04 -3.34001048e-02 -1.93681402e+00] [-6.51874386e-04 9.99998039e-01 -1.86995080e-03 2.65481953e-02] [ 3.33989378e-02 1.89067983e-03 9.99440312e-01 -2.58328835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.023133365 meters Centerline goodness : 0.331308 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99445981e-01 6.18871175e-04 -3.32768507e-02 -1.93707849e+00] [-6.81771985e-04 9.99998002e-01 -1.87891371e-03 2.68496007e-02] [ 3.32756214e-02 1.90055998e-03 9.99444406e-01 -2.58364166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.053133365 meters Centerline goodness : 0.161381 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99451334e-01 6.65436056e-04 -3.31147618e-02 -1.93759112e+00] [-7.28226054e-04 9.99997960e-01 -1.88410845e-03 2.72811684e-02] [ 3.31134404e-02 1.90718973e-03 9.99449780e-01 -2.58200052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.083133365 meters Centerline goodness : 0.182408 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99455037e-01 6.53270451e-04 -3.30030569e-02 -1.93792610e+00] [-7.18735791e-04 9.99997798e-01 -1.97178991e-03 2.78940840e-02] [ 3.30016961e-02 1.99443584e-03 9.99453306e-01 -2.58081738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.113133365 meters Centerline goodness : 0.050548 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99454046e-01 5.42876352e-04 -3.30350543e-02 -1.93774801e+00] [-6.16751795e-04 9.99997332e-01 -2.22612538e-03 2.89690894e-02] [ 3.30337576e-02 2.24528444e-03 9.99451714e-01 -2.58277935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.143133365 meters Centerline goodness : 0.177756 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99451354e-01 5.02757095e-04 -3.31170330e-02 -1.93738500e+00] [-5.80522753e-04 9.99997097e-01 -2.33863390e-03 2.96278234e-02] [ 3.31157611e-02 2.35657601e-03 9.99448745e-01 -2.58512101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.173133365 meters Centerline goodness : 0.096264 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99447882e-01 4.67571554e-04 -3.32221630e-02 -1.93705963e+00] [-5.50362138e-04 9.99996766e-01 -2.48292778e-03 3.05207059e-02] [ 3.32208946e-02 2.49984113e-03 9.99444907e-01 -2.58667300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.203133365 meters Centerline goodness : 0.165937 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99448383e-01 4.29688810e-04 -3.32076122e-02 -1.93702880e+00] [-5.17969030e-04 9.99996355e-01 -2.64987633e-03 3.16035304e-02] [ 3.32063526e-02 2.66561513e-03 9.99444962e-01 -2.58782100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23313336499996 meters Centerline goodness : 0.168031 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99445702e-01 3.69628004e-04 -3.32889316e-02 -1.93687069e+00] [-4.65715569e-04 9.99995748e-01 -2.87876439e-03 3.28937812e-02] [ 3.32877260e-02 2.89267187e-03 9.99441624e-01 -2.58764722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.263133365 meters Centerline goodness : 0.100821 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.03, Z:-0.26 [[ 0.99940991 0.00831304 -0.03332739 -1.95676581] [-0.00845575 0.99995566 -0.00414355 0.02961931] [ 0.03329147 0.00442291 0.9994359 -0.26064007] [ 0. 0. 0. 1. ]] SLAMing on 280.29313336499996 meters Centerline goodness : 0.092105 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.04, Z:-0.26 [[ 9.99450463e-01 3.55046351e-04 -3.31458178e-02 -1.93742631e+00] [-4.72167905e-04 9.99993673e-01 -3.52576389e-03 3.50155918e-02] [ 3.31443563e-02 3.53947675e-03 9.99444307e-01 -2.59079779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.323133365 meters Centerline goodness : 0.095538 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99447858e-01 3.62389387e-04 -3.32241925e-02 -1.93701264e+00] [-4.78567798e-04 9.99993799e-01 -3.48891611e-03 3.48239730e-02] [ 3.32227222e-02 3.50288977e-03 9.99441834e-01 -2.59446897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35313336499996 meters Centerline goodness : 0.332878 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99441606e-01 3.79080815e-04 -3.34115478e-02 -1.93638915e+00] [-4.93621596e-04 9.99994030e-01 -3.41999746e-03 3.43890177e-02] [ 3.34100519e-02 3.43458042e-03 9.99435827e-01 -2.59740824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.383133365 meters Centerline goodness : 0.181570 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99431958e-01 3.77406922e-04 -3.36989524e-02 -1.93548567e+00] [-4.89444523e-04 9.99994381e-01 -3.31647392e-03 3.35256437e-02] [ 3.36975113e-02 3.33108379e-03 9.99426526e-01 -2.60099978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41313336499996 meters Centerline goodness : 0.092421 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.03, Z:-0.26 [[ 9.99424740e-01 3.76944086e-04 -3.39123559e-02 -1.93483376e+00] [-4.85339430e-04 9.99994800e-01 -3.18816268e-03 3.24781399e-02] [ 3.39109778e-02 3.20278766e-03 9.99419726e-01 -2.60338772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.443133365 meters Centerline goodness : 0.055879 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.03, Z:-0.26 [[ 9.99420894e-01 4.37427324e-04 -3.40247654e-02 -1.93459387e+00] [-5.38808892e-04 9.99995443e-01 -2.97052846e-03 3.11459563e-02] [ 3.40233109e-02 2.98714106e-03 9.99416575e-01 -2.60315875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47313336499997 meters Centerline goodness : 0.135611 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99427272e-01 5.96413470e-04 -3.38344845e-02 -1.93535940e+00] [-6.85932469e-04 9.99996295e-01 -2.63424601e-03 2.94493724e-02] [ 3.38327880e-02 2.65594548e-03 9.99423978e-01 -2.59820999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.503133365 meters Centerline goodness : 0.047064 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99432363e-01 6.76488608e-04 -3.36822492e-02 -1.93594862e+00] [-7.63391857e-04 9.99996413e-01 -2.56729724e-03 2.91923310e-02] [ 3.36803916e-02 2.59155271e-03 9.99429295e-01 -2.59466941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53313336499997 meters Centerline goodness : 0.097351 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99435261e-01 7.49601973e-04 -3.35946045e-02 -1.93627496e+00] [-8.35202109e-04 9.99996440e-01 -2.53407159e-03 2.91625626e-02] [ 3.35925854e-02 2.56069879e-03 9.99432329e-01 -2.59317064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.563133365 meters SLAMing on 280.59313336499997 meters Centerline goodness : 0.144550 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99457409e-01 1.90165003e-03 -3.28826898e-02 -1.93811997e+00] [-1.95099520e-03 9.99997018e-01 -1.46862198e-03 2.71976034e-02] [ 3.28797990e-02 1.53197909e-03 9.99458139e-01 -2.59046438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.623133365 meters Centerline goodness : 0.121625 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99459830e-01 1.95951727e-03 -3.28056024e-02 -1.93834577e+00] [-2.00651969e-03 9.99997007e-01 -1.39989569e-03 2.68578147e-02] [ 3.28027611e-02 1.46496460e-03 9.99460771e-01 -2.58990586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.653133365 meters Centerline goodness : 0.122638 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99459053e-01 1.97701415e-03 -3.28282459e-02 -1.93831826e+00] [-2.02401652e-03 9.99996974e-01 -1.39859643e-03 2.67303867e-02] [ 3.28253815e-02 1.46428477e-03 9.99460029e-01 -2.58973300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.683133365 meters Centerline goodness : 0.125335 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99458555e-01 2.00178962e-03 -3.28419002e-02 -1.93829281e+00] [-2.04850632e-03 9.99996937e-01 -1.38888666e-03 2.65623492e-02] [ 3.28390194e-02 1.45541149e-03 9.99459594e-01 -2.58980788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.713133365 meters Centerline goodness : 0.124758 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99459686e-01 2.03652059e-03 -3.28053245e-02 -1.93828480e+00] [-2.08448553e-03 9.99996808e-01 -1.42797455e-03 2.69043355e-02] [ 3.28023117e-02 1.49558522e-03 9.99460740e-01 -2.59167382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.743133365 meters Centerline goodness : 0.136134 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99470948e-01 2.27486074e-03 -3.24445683e-02 -1.93906551e+00] [-2.32028711e-03 9.99996380e-01 -1.36254075e-03 2.75572770e-02] [ 3.24413513e-02 1.43710061e-03 9.99472608e-01 -2.59321795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.773133365 meters Centerline goodness : 0.135944 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99475969e-01 2.32736919e-03 -3.22857558e-02 -1.93957930e+00] [-2.37195397e-03 9.99996285e-01 -1.34271153e-03 2.77467112e-02] [ 3.22825109e-02 1.41858823e-03 9.99477777e-01 -2.59143407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.803133365 meters Centerline goodness : 0.135264 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99478018e-01 2.38525371e-03 -3.22180330e-02 -1.93982943e+00] [-2.42815130e-03 9.99996217e-01 -1.29241782e-03 2.77556567e-02] [ 3.22148284e-02 1.36997346e-03 9.99480029e-01 -2.59030586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.833133365 meters Centerline goodness : 0.135937 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99475020e-01 2.38245336e-03 -3.23111268e-02 -1.93965280e+00] [-2.42587760e-03 9.99996206e-01 -1.30480571e-03 2.77902175e-02] [ 3.23078956e-02 1.38250356e-03 9.99477008e-01 -2.58972382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.863133365 meters Centerline goodness : 0.128806 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.03, Z:-0.26 [[ 9.99451592e-01 -5.84223890e-03 -3.25942336e-02 -1.95878747e+00] [ 5.84036192e-03 9.99982933e-01 -1.52793218e-04 3.10012930e-02] [ 3.25945700e-02 -3.76526961e-05 9.99468655e-01 -2.60987775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.893133365 meters Centerline goodness : 0.121436 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.03, Z:-0.26 [[ 9.99449914e-01 -5.87684776e-03 -3.26394149e-02 -1.95852568e+00] [ 5.87132323e-03 9.99982728e-01 -2.65101506e-04 3.13035669e-02] [ 3.26404091e-02 7.33191227e-05 9.99467157e-01 -2.61264334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.923133365 meters Centerline goodness : 0.134252 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99479722e-01 2.04040866e-03 -3.21888490e-02 -1.93933683e+00] [-2.09351658e-03 9.99996502e-01 -1.61626908e-03 2.86797932e-02] [ 3.21854386e-02 1.68281606e-03 9.99480498e-01 -2.59420722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.953133365 meters Centerline goodness : 0.122711 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99486175e-01 2.05531914e-03 -3.19868932e-02 -1.93983382e+00] [-2.10771508e-03 9.99996492e-01 -1.60441215e-03 2.87215133e-02] [ 3.19834834e-02 1.67100702e-03 9.99487001e-01 -2.59449755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98313336499996 meters Centerline goodness : 0.126223 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99488005e-01 2.10079315e-03 -3.19267021e-02 -1.94008819e+00] [-2.15126052e-03 9.99996490e-01 -1.54645818e-03 2.86542140e-02] [ 3.19233413e-02 1.61434905e-03 9.99489017e-01 -2.59277811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.013133365 meters Centerline goodness : 0.131521 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99487332e-01 2.13063793e-03 -3.19457975e-02 -1.94000134e+00] [-2.18032549e-03 9.99996467e-01 -1.52061635e-03 2.87494926e-02] [ 3.19424448e-02 1.58948901e-03 9.99488446e-01 -2.59328735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04313336499996 meters Centerline goodness : 0.139191 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99480912e-01 2.14131996e-03 -3.21453228e-02 -1.93945800e+00] [-2.19033880e-03 9.99996491e-01 -1.48977754e-03 2.86092684e-02] [ 3.21420200e-02 1.55941337e-03 9.99482095e-01 -2.59457358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.073133365 meters Centerline goodness : 0.135442 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99464177e-01 2.06327887e-03 -3.26665158e-02 -1.93777518e+00] [-2.11380021e-03 9.99996623e-01 -1.51211978e-03 2.80944399e-02] [ 3.26632856e-02 1.58036004e-03 9.99465163e-01 -2.60179032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10313336499996 meters Centerline goodness : 0.101021 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99460508e-01 2.08058408e-03 -3.27775032e-02 -1.93733851e+00] [-2.12827670e-03 9.99996727e-01 -1.42021904e-03 2.74381065e-02] [ 3.27744411e-02 1.48921244e-03 9.99461664e-01 -2.60458710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.133133365 meters Centerline goodness : 0.141486 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99460715e-01 2.16026970e-03 -3.27660325e-02 -1.93732282e+00] [-2.20156646e-03 9.99996827e-01 -1.22432710e-03 2.65162130e-02] [ 3.27632836e-02 1.29580343e-03 9.99462300e-01 -2.60542864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16313336499996 meters Centerline goodness : 0.141486 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99460715e-01 2.16026970e-03 -3.27660325e-02 -1.93732282e+00] [-2.20156646e-03 9.99996827e-01 -1.22432710e-03 2.65162130e-02] [ 3.27632836e-02 1.29580343e-03 9.99462300e-01 -2.60542864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.193133365 meters Centerline goodness : 0.119668 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99460784e-01 2.28276753e-03 -3.27556159e-02 -1.93738008e+00] [-2.31454598e-03 9.99996887e-01 -9.32283512e-04 2.51445841e-02] [ 3.27533857e-02 1.00759519e-03 9.99462956e-01 -2.60464285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22313336499997 meters Centerline goodness : 0.137838 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.03, Z:-0.26 [[ 9.99460050e-01 -5.43573566e-03 -3.24046628e-02 -1.91785238e+00] [ 5.44516531e-03 9.99985154e-01 2.02755675e-04 2.78230461e-02] [ 3.24030796e-02 -3.79094942e-04 9.99474810e-01 -2.59133149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.253133365 meters Centerline goodness : 0.140547 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.02, Z:-0.26 [[ 9.99499195e-01 2.05605075e-03 -3.15773892e-02 -1.93735025e+00] [-2.07189493e-03 9.99997744e-01 -4.69044517e-04 1.84472687e-02] [ 3.15763536e-02 5.34234650e-04 9.99501200e-01 -2.60981802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28313336499997 meters Centerline goodness : 0.141206 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.02, Z:-0.26 [[ 9.99501831e-01 2.15877115e-03 -3.14869607e-02 -1.93766837e+00] [-2.16717357e-03 9.99997625e-01 -2.32729061e-04 1.72564610e-02] [ 3.14863835e-02 3.00850832e-04 9.99504136e-01 -2.60822140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.313133365 meters Centerline goodness : 0.140442 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.02, Z:-0.26 [[ 9.99501681e-01 2.23724811e-03 -3.14862467e-02 -1.93757245e+00] [-2.24156244e-03 9.99997483e-01 -1.01725522e-04 1.65952199e-02] [ 3.14859399e-02 1.72253218e-04 9.99504180e-01 -2.60974477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34313336499997 meters Centerline goodness : 0.121650 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.02, Z:-0.26 [[ 9.99501990e-01 2.30038696e-03 -3.14718882e-02 -1.93745128e+00] [-2.30142557e-03 9.99997352e-01 3.22274402e-06 1.60447943e-02] [ 3.14718123e-02 6.92090693e-05 9.99504637e-01 -2.61243703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.373133365 meters Centerline goodness : 0.130339 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.02, Z:-0.26 [[ 9.99499963e-01 2.40915907e-03 -3.15280895e-02 -1.93728798e+00] [-2.40587142e-03 9.99997096e-01 1.42212354e-04 1.55821801e-02] [ 3.15283406e-02 -6.62887128e-05 9.99502856e-01 -2.61339695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.403133365 meters Centerline goodness : 0.122493 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:-0.26 [[ 9.99500442e-01 2.53131206e-03 -3.15033257e-02 -1.93728884e+00] [-2.52243994e-03 9.99996767e-01 3.21364404e-04 1.48652914e-02] [ 3.15040373e-02 -2.41738617e-04 9.99503595e-01 -2.61430403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.433133365 meters Centerline goodness : 0.125792 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:-0.26 [[ 9.99501511e-01 2.82872460e-03 -3.14440576e-02 -1.93734357e+00] [-2.80429439e-03 9.99995731e-01 8.21014968e-04 1.28246062e-02] [ 3.14462458e-02 -7.32427306e-04 9.99505176e-01 -2.61592549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.463133365 meters Centerline goodness : 0.131494 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:-0.26 [[ 9.99497873e-01 2.93870535e-03 -3.15494171e-02 -1.93710402e+00] [-2.90535130e-03 9.99995171e-01 1.10299084e-03 1.13251488e-02] [ 3.15525061e-02 -1.01077486e-03 9.99501585e-01 -2.61581894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.493133365 meters Centerline goodness : 0.124562 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:-0.26 [[ 9.99496375e-01 3.05533560e-03 -3.15857624e-02 -1.93709184e+00] [-3.01085659e-03 9.99994408e-01 1.45566432e-03 9.33712868e-03] [ 3.15900333e-02 -1.35983101e-03 9.99499985e-01 -2.61465298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.523133365 meters Centerline goodness : 0.127869 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:-0.26 [[ 9.99495302e-01 3.15880042e-03 -3.16095325e-02 -1.93714942e+00] [-3.10171415e-03 9.99993469e-01 1.85485385e-03 6.95693186e-03] [ 3.16151851e-02 -1.75587397e-03 9.99498573e-01 -2.61272220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.553133365 meters Centerline goodness : 0.132035 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.00, Z:-0.26 [[ 0.99949596 0.00323642 -0.03158082 -1.93743974] [-0.00316661 0.99999243 0.00226028 0.00445205] [ 0.0315879 -0.00215913 0.99949865 -0.26090505] [ 0. 0. 0. 1. ]] SLAMing on 281.583133365 meters Centerline goodness : 0.132458 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.00, Z:-0.26 [[ 9.99499180e-01 3.35392759e-03 -3.14664986e-02 -1.93784588e+00] [-3.26931588e-03 9.99990902e-01 2.74001060e-03 1.69679295e-03] [ 3.14754021e-02 -2.63576443e-03 9.99501051e-01 -2.60672701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.613133365 meters Centerline goodness : 0.114461 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.00, Z:-0.26 [[ 0.99951816 0.00349927 -0.0308416 -1.93956022] [-0.00339068 0.99998787 0.00357238 -0.00323255] [ 0.03085372 -0.00346609 0.9995179 -0.26012086] [ 0. 0. 0. 1. ]] SLAMing on 281.643133365 meters Centerline goodness : 0.131904 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.00, Z:-0.26 [[ 9.99544598e-01 -4.25139590e-03 -2.98751237e-02 -1.91999010e+00] [ 4.39524018e-03 9.99979056e-01 4.75083298e-03 -1.43818052e-03] [ 2.98543003e-02 -4.87997778e-03 9.99542349e-01 -2.58681171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.673133365 meters Centerline goodness : 0.123849 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.00, Z:-0.26 [[ 0.99954611 -0.00415181 -0.02983842 -1.92027981] [ 0.0043055 0.99997779 0.00508843 -0.00339626] [ 0.02981663 -0.00521459 0.99954178 -0.25834679] [ 0. 0. 0. 1. ]] SLAMing on 281.703133365 meters Centerline goodness : 0.163709 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.01, Z:-0.26 [[ 0.99954736 -0.00403764 -0.02981241 -1.92063315] [ 0.00420238 0.99997623 0.00546559 -0.0056571 ] [ 0.02978963 -0.0055884 0.99954057 -0.2578508 ] [ 0. 0. 0. 1. ]] SLAMing on 281.73313336499996 meters Centerline goodness : 0.143328 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.01, Z:-0.26 [[ 9.99573807e-01 1.80367394e-03 -2.91367819e-02 -1.89963152e+00] [-1.73506342e-03 9.99995663e-01 2.37988435e-03 -9.71044717e-03] [ 2.91409481e-02 -2.32831590e-03 9.99572601e-01 -2.56689857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.763133365 meters Centerline goodness : 0.125830 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.02, Z:-0.26 [[ 9.99577748e-01 8.57183370e-04 -2.90446250e-02 -1.89968544e+00] [-7.84721251e-04 9.99996552e-01 2.50616124e-03 -1.96164666e-02] [ 2.90466731e-02 -2.48231108e-03 9.99574974e-01 -2.56750505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79313336499996 meters Centerline goodness : 0.125155 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.02, Z:-0.26 [[ 9.99574376e-01 1.12483460e-03 -2.91513508e-02 -1.89920838e+00] [-1.02991413e-03 9.99994120e-01 3.27093644e-03 -2.37359963e-02] [ 2.91548586e-02 -3.23952087e-03 9.99569657e-01 -2.57035191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.823133365 meters Centerline goodness : 0.152726 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.03, Z:-0.26 [[ 9.99570655e-01 1.36920722e-03 -2.92682739e-02 -1.89872472e+00] [-1.25136631e-03 9.99991039e-01 4.04417099e-03 -2.82448428e-02] [ 2.92735489e-02 -4.00580931e-03 9.99563411e-01 -2.57270363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85313336499996 meters Centerline goodness : 0.127705 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.04, Z:-0.26 [[ 9.99541894e-01 -5.91100860e-04 -3.02597569e-02 -1.89509549e+00] [ 6.83601101e-04 9.99995125e-01 3.04661934e-03 -3.75371580e-02] [ 3.02578085e-02 -3.06590926e-03 9.99537426e-01 -2.58630945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.883133365 meters Centerline goodness : 0.137981 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.04, Z:-0.26 [[ 9.99534102e-01 -2.63316065e-04 -3.05206471e-02 -1.89426762e+00] [ 3.81210941e-04 9.99992489e-01 3.85703645e-03 -4.17026716e-02] [ 3.05194022e-02 -3.86687426e-03 9.99526695e-01 -2.58901853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91313336499996 meters SLAMing on 281.943133365 meters Centerline goodness : 0.154937 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.05, Z:-0.26 [[ 9.99526170e-01 2.11791887e-04 -3.07797108e-02 -1.89291340e+00] [-5.36436666e-05 9.99986795e-01 5.13880206e-03 -5.11851716e-02] [ 3.07803927e-02 -5.13471601e-03 9.99512982e-01 -2.59771781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97313336499997 meters SLAMing on 282.003133365 meters SLAMing on 282.03313336499997 meters Centerline goodness : 0.147516 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99512198e-01 4.37082166e-04 -3.12278009e-02 -1.89130570e+00] [-2.32286842e-04 9.99978447e-01 6.56143587e-03 -6.69049659e-02] [ 3.12299958e-02 -6.55098138e-03 9.99490756e-01 -2.60248104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.063133365 meters Centerline goodness : 0.158467 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99513420e-01 6.42862810e-04 -3.11850889e-02 -1.89138806e+00] [-4.25861959e-04 9.99975656e-01 6.96462392e-03 -6.87980486e-02] [ 3.11888071e-02 -6.94795454e-03 9.99489362e-01 -2.60236836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09313336499997 meters Centerline goodness : 0.140700 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99518347e-01 8.77271719e-04 -3.10210185e-02 -1.89176553e+00] [-6.50003851e-04 9.99972883e-01 7.33557973e-03 -7.04453260e-02] [ 3.10266126e-02 -7.31188275e-03 9.99491814e-01 -2.60218002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.123133365 meters Centerline goodness : 0.124891 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99528542e-01 1.06199014e-03 -3.06849528e-02 -1.89255176e+00] [-8.28780617e-04 9.99970686e-01 7.61184574e-03 -7.15708315e-02] [ 3.06921370e-02 -7.58282598e-03 9.99500122e-01 -2.60194798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.153133365 meters Centerline goodness : 0.133861 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99534521e-01 1.20183952e-03 -3.04843757e-02 -1.89292665e+00] [-9.65539653e-04 9.99969385e-01 7.76504384e-03 -7.22187010e-02] [ 3.04927747e-02 -7.73199550e-03 9.99505081e-01 -2.60356717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.183133365 meters SLAMing on 282.213133365 meters SLAMing on 282.243133365 meters SLAMing on 282.273133365 meters Centerline goodness : 0.142011 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.99953289 0.00243644 -0.03046427 -1.89315544] [-0.00217197 0.99995969 0.00871157 -0.07384663] [ 0.03048426 -0.00864133 0.99949789 -0.26026014] [ 0. 0. 0. 1. ]] SLAMing on 282.303133365 meters Centerline goodness : 0.141631 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.99954285 0.00244995 -0.03013454 -1.8940911 ] [-0.00218879 0.99995979 0.00869636 -0.07370792] [ 0.03015463 -0.00862643 0.99950802 -0.26003415] [ 0. 0. 0. 1. ]] SLAMing on 282.333133365 meters Centerline goodness : 0.141054 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.99954975 0.00244795 -0.02990494 -1.89466304] [-0.00218905 0.99995987 0.0086869 -0.07367686] [ 0.02992501 -0.00861752 0.999515 -0.2600306 ] [ 0. 0. 0. 1. ]] SLAMing on 282.363133365 meters Centerline goodness : 0.135187 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.9995491 0.00241881 -0.02992893 -1.89434868] [-0.0021608 0.99996025 0.00864982 -0.07364248] [ 0.02994866 -0.00858125 0.9995146 -0.26045199] [ 0. 0. 0. 1. ]] SLAMing on 282.393133365 meters Centerline goodness : 0.153267 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.9995412 0.00235757 -0.03019655 -1.89326404] [-0.00209785 0.99996056 0.00862977 -0.07381636] [ 0.0302157 -0.00856246 0.99950673 -0.26112911] [ 0. 0. 0. 1. ]] SLAMing on 282.423133365 meters Centerline goodness : 0.142168 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.99953786 0.00235693 -0.03030689 -1.89289983] [-0.00209539 0.99996032 0.00865851 -0.07402771] [ 0.03032609 -0.00859101 0.99950314 -0.26128238] [ 0. 0. 0. 1. ]] SLAMing on 282.453133365 meters Centerline goodness : 0.144847 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.99953857 0.00236343 -0.03028316 -1.89296322] [-0.00210071 0.99995991 0.00870421 -0.07423554] [ 0.03030251 -0.00863658 0.99950346 -0.26127773] [ 0. 0. 0. 1. ]] SLAMing on 282.48313336499996 meters Centerline goodness : 0.174518 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.99952982 0.00231665 -0.03057388 -1.89233832] [-0.00205087 0.99995986 0.00872141 -0.07459996] [ 0.03059286 -0.00865461 0.99949446 -0.26119082] [ 0. 0. 0. 1. ]] SLAMing on 282.513133365 meters SLAMing on 282.54313336499996 meters Centerline goodness : 0.136295 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99502150e-01 2.09941989e-03 -3.14808449e-02 -1.88944714e+00] [-1.83502942e-03 9.99962825e-01 8.42499619e-03 -7.38897823e-02] [ 3.14973622e-02 -8.36303353e-03 9.99468847e-01 -2.62483747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.573133365 meters SLAMing on 282.60313336499996 meters SLAMing on 282.633133365 meters Centerline goodness : 0.115840 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.99951918 0.00218936 -0.03092931 -1.89105573] [-0.00193551 0.99996422 0.00823475 -0.07179451] [ 0.03094623 -0.00817093 0.99948765 -0.26203183] [ 0. 0. 0. 1. ]] SLAMing on 282.66313336499996 meters SLAMing on 282.693133365 meters Centerline goodness : 0.128760 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99539727e-01 2.11221565e-03 -3.02633782e-02 -1.89300704e+00] [-1.87766511e-03 9.99967999e-01 7.77663306e-03 -6.88236790e-02] [ 3.02788356e-02 -7.71622919e-03 9.99511707e-01 -2.61550540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72313336499997 meters SLAMing on 282.753133365 meters Centerline goodness : 0.140085 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99542209e-01 1.93514991e-03 -3.01931736e-02 -1.89303517e+00] [-1.71370475e-03 9.99971458e-01 7.35843303e-03 -6.68138231e-02] [ 3.02065515e-02 -7.30332222e-03 9.99516996e-01 -2.61833368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78313336499997 meters Centerline goodness : 0.187609 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99545868e-01 1.86261061e-03 -3.00763779e-02 -1.89335113e+00] [-1.64625338e-03 9.99972604e-01 7.21675392e-03 -6.61573200e-02] [ 3.00889959e-02 -7.16396322e-03 9.99521551e-01 -2.61816020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.813133365 meters SLAMing on 282.84313336499997 meters SLAMing on 282.873133365 meters Centerline goodness : 0.147128 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.07, Z:-0.26 [[ 9.99573605e-01 -6.81466059e-04 -2.91915009e-02 -1.89644825e+00] [ 8.24596930e-04 9.99987697e-01 4.89141176e-03 -6.65475782e-02] [ 2.91878084e-02 -4.91339731e-03 9.99561869e-01 -2.60745067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.903133365 meters Centerline goodness : 0.146883 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.07, Z:-0.26 [[ 9.99567210e-01 -8.08676759e-04 -2.94064553e-02 -1.89595940e+00] [ 9.46970941e-04 9.99988557e-01 4.68922874e-03 -6.59025246e-02] [ 2.94023268e-02 -4.71504634e-03 9.99556537e-01 -2.60731723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.933133365 meters SLAMing on 282.963133365 meters Centerline goodness : 0.136491 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:-0.26 [[ 9.99574659e-01 -8.21030986e-04 -2.91517760e-02 -1.89664554e+00] [ 9.42899927e-04 9.99990873e-01 4.16699757e-03 -6.19483290e-02] [ 2.91480887e-02 -4.19271238e-03 9.99566311e-01 -2.60793296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.993133365 meters SLAMing on 283.023133365 meters SLAMing on 283.053133365 meters Centerline goodness : 0.140308 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:-0.26 [[ 9.99582545e-01 -1.10685755e-03 -2.88706000e-02 -1.89746094e+00] [ 1.20491072e-03 9.99993565e-01 3.37912234e-03 -5.78757496e-02] [ 2.88666740e-02 -3.41249820e-03 9.99577446e-01 -2.60692559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.083133365 meters Centerline goodness : 0.140308 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:-0.26 [[ 9.99582545e-01 -1.10685755e-03 -2.88706000e-02 -1.89746094e+00] [ 1.20491072e-03 9.99993565e-01 3.37912234e-03 -5.78757496e-02] [ 2.88666740e-02 -3.41249820e-03 9.99577446e-01 -2.60692559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.113133365 meters Centerline goodness : 0.183962 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:-0.26 [[ 9.99576916e-01 -1.23277212e-03 -2.90597672e-02 -1.89707247e+00] [ 1.32323855e-03 9.99994338e-01 3.09409111e-03 -5.66021669e-02] [ 2.90557883e-02 -3.13123505e-03 9.99572887e-01 -2.60662688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.143133365 meters Centerline goodness : 0.215464 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:-0.26 [[ 9.99573898e-01 -1.33583670e-03 -2.91588283e-02 -1.89684302e+00] [ 1.41949134e-03 9.99994936e-01 2.84841915e-03 -5.53298245e-02] [ 2.91548756e-02 -2.88859614e-03 9.99570732e-01 -2.60724093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.173133365 meters Centerline goodness : 0.134450 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.05, Z:-0.26 [[ 9.99578770e-01 -1.42752382e-03 -2.89869625e-02 -1.89724184e+00] [ 1.50509966e-03 9.99995344e-01 2.65458961e-03 -5.41737223e-02] [ 2.89830381e-02 -2.69709969e-03 9.99576265e-01 -2.60782629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.203133365 meters Centerline goodness : 0.112618 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.06, Z:-0.26 [[ 9.99582837e-01 5.79838433e-03 -2.82936564e-02 -1.91578103e+00] [-5.75661553e-03 9.99982218e-01 1.55749197e-03 -5.90829928e-02] [ 2.83021842e-02 -1.39396654e-03 9.99598441e-01 -2.63042433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23313336499996 meters Centerline goodness : 0.134087 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.06, Z:-0.26 [[ 9.99581134e-01 5.71753913e-03 -2.83701672e-02 -1.91551632e+00] [-5.67964353e-03 9.99982868e-01 1.41615866e-03 -5.84576000e-02] [ 2.83777781e-02 -1.25443304e-03 9.99596483e-01 -2.63148702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.263133365 meters Centerline goodness : 0.102017 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.06, Z:-0.26 [[ 9.99575717e-01 5.62620596e-03 -2.85785037e-02 -1.91492388e+00] [-5.59379626e-03 9.99983618e-01 1.21388012e-03 -5.76033207e-02] [ 2.85848651e-02 -1.05350277e-03 9.99590814e-01 -2.63319519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29313336499996 meters Centerline goodness : 0.096981 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.06, Z:-0.26 [[ 9.99569726e-01 5.53408632e-03 -2.88051428e-02 -1.91435279e+00] [-5.50936963e-03 9.99984384e-01 9.37360838e-04 -5.62680465e-02] [ 2.88098804e-02 -7.78259338e-04 9.99584606e-01 -2.63439009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.323133365 meters Centerline goodness : 0.098220 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.05, Z:-0.27 [[ 9.99565648e-01 -3.05006754e-03 -2.93123249e-02 -1.93422908e+00] [ 3.10373982e-03 9.99993589e-01 1.78572363e-03 -5.11456646e-02] [ 2.93066904e-02 -1.87592583e-03 9.99568706e-01 -2.65064221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35313336499996 meters Centerline goodness : 0.121762 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.05, Z:-0.26 [[ 9.99576234e-01 -2.46587411e-03 -2.90046825e-02 -1.93536659e+00] [ 2.52042831e-03 9.99995123e-01 1.84446606e-03 -4.64377451e-02] [ 2.89999928e-02 -1.91678866e-03 9.99577574e-01 -2.64742100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.383133365 meters Centerline goodness : 0.122211 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.05, Z:-0.26 [[ 9.99593968e-01 6.13052001e-03 -2.78265309e-02 -1.91618087e+00] [-6.12088635e-03 9.99981174e-01 4.31369428e-04 -4.54217647e-02] [ 2.78286515e-02 -2.60871245e-04 9.99612674e-01 -2.63359598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41313336499996 meters Centerline goodness : 0.135232 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.05, Z:-0.26 [[ 9.99547044e-01 5.46788591e-03 -2.95940824e-02 -1.96244057e+00] [-5.45735637e-03 9.99985013e-01 4.36558343e-04 -4.59110576e-02] [ 2.95960259e-02 -2.74855147e-04 9.99561904e-01 -2.63482748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.443133365 meters Centerline goodness : 0.105592 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.04, Z:-0.26 [[ 9.99551516e-01 5.25843818e-03 -2.94807729e-02 -1.96272588e+00] [-5.26364640e-03 9.99986142e-01 -9.90621209e-05 -4.34791356e-02] [ 2.94798434e-02 2.54194057e-04 9.99565343e-01 -2.63575823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47313336499997 meters Centerline goodness : 0.133406 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.04, Z:-0.26 [[ 9.99556041e-01 5.00479061e-03 -2.93712826e-02 -1.96318322e+00] [-5.03135618e-03 9.99986998e-01 -8.30638944e-04 -3.95913273e-02] [ 2.93667435e-02 9.78047559e-04 9.99568226e-01 -2.63426897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.503133365 meters Centerline goodness : 0.131549 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.03, Z:-0.26 [[ 9.99608258e-01 5.89940020e-03 -2.73592499e-02 -1.91980842e+00] [-5.93355946e-03 9.99981715e-01 -1.16752847e-03 -3.32208783e-02] [ 2.73518619e-02 1.32940884e-03 9.99624984e-01 -2.62532609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53313336499997 meters Centerline goodness : 0.129795 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.03, Z:-0.26 [[ 9.99643668e-01 -2.55529869e-03 -2.65707934e-02 -1.94009257e+00] [ 2.55091453e-03 9.99996727e-01 -1.98893858e-04 -2.81542424e-02] [ 2.65712147e-02 1.31043162e-04 9.99646914e-01 -2.64479617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.563133365 meters Centerline goodness : 0.133977 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.03, Z:-0.27 [[ 9.99647736e-01 4.66196152e-03 -2.61279486e-02 -1.95886758e+00] [-4.70512510e-03 9.99987666e-01 -1.59077306e-03 -3.18637920e-02] [ 2.61202102e-02 1.71314795e-03 9.99657341e-01 -2.66427509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59313336499997 meters Centerline goodness : 0.136237 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.03, Z:-0.27 [[ 0.99964561 0.0044285 -0.02624965 -1.95857946] [-0.00448244 0.99998796 -0.00199648 -0.03020192] [ 0.02624049 0.00211343 0.99965342 -0.26646747] [ 0. 0. 0. 1. ]] SLAMing on 283.623133365 meters SLAMing on 283.653133365 meters Centerline goodness : 0.112011 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.03, Z:-0.27 [[ 0.99964092 0.00394556 -0.02650412 -1.95805537] [-0.00402171 0.99998793 -0.0028206 -0.02624762] [ 0.02649267 0.00292618 0.99964472 -0.26645773] [ 0. 0. 0. 1. ]] SLAMing on 283.683133365 meters Centerline goodness : 0.147671 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.03, Z:-0.27 [[ 0.99963844 0.0038072 -0.02661738 -1.95788549] [-0.00389021 0.99998773 -0.00306731 -0.02508954] [ 0.02660537 0.00316975 0.99964099 -0.26632795] [ 0. 0. 0. 1. ]] SLAMing on 283.713133365 meters Centerline goodness : 0.128996 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.02, Z:-0.27 [[ 0.99963492 0.00361867 -0.02677569 -1.95754065] [-0.00370965 0.99998751 -0.00334873 -0.02410732] [ 0.02676324 0.00344684 0.99963586 -0.26628245] [ 0. 0. 0. 1. ]] SLAMing on 283.743133365 meters Centerline goodness : 0.148188 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.02, Z:-0.27 [[ 0.99962975 0.00341355 -0.02699463 -1.95690119] [-0.00351153 0.99998742 -0.00358302 -0.02357688] [ 0.02698206 0.00367649 0.99962916 -0.26646743] [ 0. 0. 0. 1. ]] SLAMing on 283.773133365 meters SLAMing on 283.803133365 meters Centerline goodness : 0.127994 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.02, Z:-0.26 [[ 0.99963506 -0.00539291 -0.02646989 -1.9377077 ] [ 0.00531192 0.999981 -0.0031289 -0.01820191] [ 0.02648626 0.00298715 0.99964471 -0.26437326] [ 0. 0. 0. 1. ]] SLAMing on 283.833133365 meters Centerline goodness : 0.126746 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.02, Z:-0.26 [[ 0.99963906 -0.00538973 -0.02631932 -1.93834778] [ 0.00531366 0.9999815 -0.00295962 -0.01916053] [ 0.02633478 0.0028187 0.99964921 -0.2639199 ] [ 0. 0. 0. 1. ]] SLAMing on 283.863133365 meters Centerline goodness : 0.123300 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.02, Z:-0.26 [[ 0.99963693 -0.00545089 -0.02638755 -1.93820914] [ 0.00537756 0.99998148 -0.00284923 -0.0203051 ] [ 0.0264026 0.0027063 0.99964773 -0.26382408] [ 0. 0. 0. 1. ]] SLAMing on 283.893133365 meters Centerline goodness : 0.101865 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.03, Z:-0.27 [[ 9.99643722e-01 1.55061466e-03 -2.66462854e-02 -1.95569436e+00] [-1.66828080e-03 9.99988954e-01 -4.39419221e-03 -2.72693077e-02] [ 2.66391774e-02 4.43708014e-03 9.99635267e-01 -2.66437674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.923133365 meters Centerline goodness : 0.131142 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.03, Z:-0.27 [[ 9.99634555e-01 1.52955460e-03 -2.69891818e-02 -1.95463296e+00] [-1.64529227e-03 9.99989544e-01 -4.26661309e-03 -2.83797288e-02] [ 2.69823736e-02 4.30945897e-03 9.99626620e-01 -2.66843844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.953133365 meters Centerline goodness : 0.103579 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.03, Z:-0.27 [[ 9.99619044e-01 1.67528193e-03 -2.75492187e-02 -1.95292187e+00] [-1.78297542e-03 9.99990864e-01 -3.88503046e-03 -3.00952452e-02] [ 2.75424584e-02 3.93267002e-03 9.99612899e-01 -2.67464660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98313336499996 meters Centerline goodness : 0.108219 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.03, Z:-0.27 [[ 9.99615415e-01 1.76674023e-03 -2.76749080e-02 -1.95249714e+00] [-1.86966757e-03 9.99991430e-01 -3.69372246e-03 -3.09307560e-02] [ 2.76681450e-02 3.74404478e-03 9.99610152e-01 -2.67669219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.013133365 meters Centerline goodness : 0.088450 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.03, Z:-0.27 [[ 9.99616057e-01 1.82249659e-03 -2.76480897e-02 -1.95255574e+00] [-1.92076194e-03 9.99991932e-01 -3.52800480e-03 -3.19294689e-02] [ 2.76414369e-02 3.57975564e-03 9.99611493e-01 -2.67667859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04313336499996 meters Centerline goodness : 0.111829 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.03, Z:-0.27 [[ 9.99616950e-01 1.87545257e-03 -2.76122563e-02 -1.95281669e+00] [-1.96910304e-03 9.99992400e-01 -3.36482675e-03 -3.29029337e-02] [ 2.76057359e-02 3.41790923e-03 9.99613046e-01 -2.67377793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.073133365 meters Centerline goodness : 0.137687 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.03, Z:-0.27 [[ 0.99962052 0.00206496 -0.02746928 -1.95321435] [-0.00214941 0.99999305 -0.00304513 -0.03426878] [ 0.0274628 0.00310302 0.99961801 -0.26728493] [ 0. 0. 0. 1. ]] SLAMing on 284.10313336499996 meters Centerline goodness : 0.135819 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.04, Z:-0.27 [[ 0.99962149 0.00214262 -0.02742778 -1.95340709] [-0.00222205 0.99999342 -0.00286595 -0.03518787] [ 0.02742146 0.00292581 0.99961968 -0.26714631] [ 0. 0. 0. 1. ]] SLAMing on 284.133133365 meters Centerline goodness : 0.097187 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.03, Z:-0.27 [[ 9.99627086e-01 -5.34399994e-03 -2.67792941e-02 -1.93484184e+00] [ 5.29813880e-03 9.99984375e-01 -1.78322059e-03 -3.19365020e-02] [ 2.67884051e-02 1.64067518e-03 9.99639780e-01 -2.65414392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16313336499996 meters Centerline goodness : 0.139193 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.04, Z:-0.27 [[ 0.99965605 0.00217215 -0.02613548 -1.95508559] [-0.00223868 0.99999433 -0.0025168 -0.03943222] [ 0.02612986 0.00257445 0.99965524 -0.26685866] [ 0. 0. 0. 1. ]] SLAMing on 284.193133365 meters Centerline goodness : 0.139749 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.04, Z:-0.27 [[ 0.99965786 0.00229633 -0.02605548 -1.95546921] [-0.00235505 0.99999476 -0.00222299 -0.04083905] [ 0.02605024 0.00228359 0.99965803 -0.26655461] [ 0. 0. 0. 1. ]] SLAMing on 284.22313336499997 meters Centerline goodness : 0.137599 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.04, Z:-0.27 [[ 9.99653150e-01 2.61755264e-03 -2.62054947e-02 -1.95502680e+00] [-2.65956979e-03 9.99995233e-01 -1.56864668e-03 -4.35825402e-02] [ 2.62012637e-02 1.63779794e-03 9.99655346e-01 -2.66672216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.253133365 meters Centerline goodness : 0.250604 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.04, Z:-0.27 [[ 9.99650186e-01 2.68136646e-03 -2.63118993e-02 -1.95463886e+00] [-2.71771614e-03 9.99995401e-01 -1.34582904e-03 -4.49463755e-02] [ 2.63081696e-02 1.41686652e-03 9.99652876e-01 -2.66885054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28313336499997 meters Centerline goodness : 0.138255 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99645790e-01 2.70703130e-03 -2.64757747e-02 -1.95413966e+00] [-2.73918038e-03 9.99995554e-01 -1.17809081e-03 -4.62107107e-02] [ 2.64724678e-02 1.25019544e-03 9.99648761e-01 -2.67044244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.313133365 meters Centerline goodness : 0.130979 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99647108e-01 2.73071751e-03 -2.64235152e-02 -1.95434700e+00] [-2.75962655e-03 9.99995633e-01 -1.05766076e-03 -4.71465905e-02] [ 2.64205116e-02 1.13020655e-03 9.99650278e-01 -2.66916929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34313336499997 meters Centerline goodness : 0.131574 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99651408e-01 2.82311410e-03 -2.62505636e-02 -1.95485325e+00] [-2.84675017e-03 9.99995576e-01 -8.63074981e-04 -4.80960450e-02] [ 2.62480109e-02 9.37502916e-04 9.99655022e-01 -2.66749612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.373133365 meters Centerline goodness : 0.115506 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99650513e-01 3.00600641e-03 -2.62643392e-02 -1.95458897e+00] [-3.02101416e-03 9.99995295e-01 -5.31750769e-04 -4.94421194e-02] [ 2.62626172e-02 6.10909870e-04 9.99654891e-01 -2.67131289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.403133365 meters Centerline goodness : 0.138180 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99641748e-01 3.02202131e-03 -2.65940285e-02 -1.95338187e+00] [-3.03560463e-03 9.99995282e-01 -4.70408857e-04 -4.98983295e-02] [ 2.65924815e-02 5.50969289e-04 9.99646206e-01 -2.67818296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.433133365 meters Centerline goodness : 0.097374 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99636146e-01 3.03322249e-03 -2.68025094e-02 -1.95260887e+00] [-3.04571140e-03 9.99995271e-01 -4.25148963e-04 -5.03232139e-02] [ 2.68010931e-02 5.06626980e-04 9.99640658e-01 -2.68288026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.463133365 meters Centerline goodness : 0.087081 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99631087e-01 3.02220558e-03 -2.69917763e-02 -1.95213494e+00] [-3.03457336e-03 9.99995309e-01 -4.17255541e-04 -5.05355476e-02] [ 2.69903887e-02 4.99010135e-04 9.99635569e-01 -2.68348023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.493133365 meters Centerline goodness : 0.090052 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.05, Z:-0.27 [[ 9.99627768e-01 -4.16887566e-03 -2.69619181e-02 -1.93450795e+00] [ 4.19400581e-03 9.99990822e-01 8.75578312e-04 -4.60310646e-02] [ 2.69580205e-02 -9.88330836e-04 9.99636078e-01 -2.65774925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.523133365 meters Centerline goodness : 0.128241 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.05, Z:-0.26 [[ 9.99635059e-01 -4.00896038e-03 -2.67147297e-02 -1.93581433e+00] [ 4.04393823e-03 9.99991035e-01 1.25541212e-03 -4.74980584e-02] [ 2.67094573e-02 -1.36298669e-03 9.99642310e-01 -2.64652140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.553133365 meters Centerline goodness : 0.105389 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.05, Z:-0.26 [[ 9.99630754e-01 -3.94574517e-03 -2.68847011e-02 -1.93532020e+00] [ 3.98570647e-03 9.99991030e-01 1.43297038e-03 -4.83477203e-02] [ 2.68788058e-02 -1.53959579e-03 9.99637514e-01 -2.64768470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.583133365 meters Centerline goodness : 0.118829 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99600666e-01 3.43834269e-03 -2.80479171e-02 -1.95337416e+00] [-3.43437088e-03 9.99994085e-01 1.89780075e-04 -5.44931645e-02] [ 2.80484037e-02 -9.33773395e-05 9.99606562e-01 -2.66710388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.613133365 meters SLAMing on 284.643133365 meters SLAMing on 284.673133365 meters Centerline goodness : 0.127958 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.06, Z:-0.27 [[ 9.99613346e-01 -3.38845385e-04 -2.78036752e-02 -1.95414418e+00] [ 2.47672556e-04 9.99994582e-01 -3.28254291e-03 -5.62367607e-02] [ 2.78046368e-02 3.27438750e-03 9.99608013e-01 -2.66420585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.703133365 meters Centerline goodness : 0.141643 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.06, Z:-0.27 [[ 9.99618639e-01 -1.75453923e-04 -2.76142237e-02 -1.95511614e+00] [ 9.89636354e-05 9.99996155e-01 -2.77130200e-03 -5.89170705e-02] [ 2.76146038e-02 2.76751233e-03 9.99614813e-01 -2.65538195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73313336499996 meters Centerline goodness : 0.139306 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.06, Z:-0.27 [[ 9.99614599e-01 -7.72076911e-05 -2.77605382e-02 -1.95462958e+00] [ 6.70556209e-06 9.99996775e-01 -2.53973694e-03 -6.00340106e-02] [ 2.77606448e-02 2.53857197e-03 9.99611376e-01 -2.65753949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.763133365 meters Centerline goodness : 0.146190 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.06, Z:-0.27 [[ 9.99611775e-01 2.18391149e-05 -2.78621298e-02 -1.95421679e+00] [-8.74974125e-05 9.99997222e-01 -2.35532567e-03 -6.08682981e-02] [ 2.78620010e-02 2.35684914e-03 9.99609001e-01 -2.66034188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79313336499996 meters Centerline goodness : 0.138588 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.06, Z:-0.27 [[ 9.99611227e-01 1.31269203e-04 -2.78815064e-02 -1.95422785e+00] [-1.93732506e-04 9.99997478e-01 -2.23762356e-03 -6.12249201e-02] [ 2.78811423e-02 2.24215518e-03 9.99608731e-01 -2.65954989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.823133365 meters Centerline goodness : 0.148883 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.06, Z:-0.27 [[ 9.99629048e-01 5.15814411e-04 -2.72305111e-02 -1.95602769e+00] [-5.73958063e-04 9.99997572e-01 -2.12746622e-03 -6.05000583e-02] [ 2.72293476e-02 2.14230621e-03 9.99626917e-01 -2.65605083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85313336499996 meters Centerline goodness : 0.159161 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.06, Z:-0.27 [[ 9.99633153e-01 5.66984140e-04 -2.70783491e-02 -1.95627787e+00] [-6.28439033e-04 9.99997246e-01 -2.26106524e-03 -5.94639461e-02] [ 2.70769925e-02 2.27725286e-03 9.99630757e-01 -2.65804621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.883133365 meters Centerline goodness : 0.159873 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.06, Z:-0.27 [[ 9.99635653e-01 6.13969733e-04 -2.69848915e-02 -1.95626230e+00] [-6.81449845e-04 9.99996664e-01 -2.49153775e-03 -5.78535548e-02] [ 2.69832717e-02 2.50901881e-03 9.99632736e-01 -2.66225324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91313336499996 meters Centerline goodness : 0.143729 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.06, Z:-0.27 [[ 9.99634331e-01 5.68712453e-04 -2.70347906e-02 -1.95571984e+00] [-6.44686016e-04 9.99995868e-01 -2.80158160e-03 -5.60481758e-02] [ 2.70330855e-02 2.81798611e-03 9.99630567e-01 -2.66965319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.943133365 meters Centerline goodness : 0.160003 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.05, Z:-0.27 [[ 9.99630393e-01 5.03252000e-04 -2.71813371e-02 -1.95501996e+00] [-5.90586958e-04 9.99994689e-01 -3.20511625e-03 -5.37911150e-02] [ 2.71795798e-02 3.21998456e-03 9.99625381e-01 -2.67630800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97313336499997 meters Centerline goodness : 0.160003 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.05, Z:-0.27 [[ 9.99630393e-01 5.03252000e-04 -2.71813371e-02 -1.95501996e+00] [-5.90586958e-04 9.99994689e-01 -3.20511625e-03 -5.37911150e-02] [ 2.71795798e-02 3.21998456e-03 9.99625381e-01 -2.67630800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.003133365 meters Centerline goodness : 0.140151 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99621671e-01 4.53889843e-04 -2.75010549e-02 -1.95418940e+00] [-5.58001835e-04 9.99992707e-01 -3.77818938e-03 -5.01728968e-02] [ 2.74991394e-02 3.79210562e-03 9.99614634e-01 -2.67949520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03313336499997 meters Centerline goodness : 0.135067 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99622698e-01 3.86134693e-04 -2.74647560e-02 -1.95461139e+00] [-4.94834505e-04 9.99992072e-01 -3.95110633e-03 -4.92203489e-02] [ 2.74630126e-02 3.96320608e-03 9.99614964e-01 -2.67530242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.063133365 meters Centerline goodness : 0.146778 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.05, Z:-0.27 [[ 9.99627629e-01 3.58294097e-04 -2.72850514e-02 -1.95535613e+00] [-4.66070564e-04 9.99992115e-01 -3.94376176e-03 -4.92562283e-02] [ 2.72834232e-02 3.95500998e-03 9.99619914e-01 -2.66998999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09313336499997 meters Centerline goodness : 0.134930 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.05, Z:-0.27 [[ 9.99634944e-01 2.79567036e-04 -2.70166724e-02 -1.95627226e+00] [-3.83502752e-04 9.99992546e-01 -3.84199057e-03 -5.01207335e-02] [ 2.70153969e-02 3.85094899e-03 9.99627600e-01 -2.66490118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.123133365 meters Centerline goodness : 0.147939 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.05, Z:-0.27 [[ 9.99636321e-01 1.43961826e-04 -2.69667239e-02 -1.95648881e+00] [-2.44705270e-04 9.99993004e-01 -3.73258011e-03 -5.13955319e-02] [ 2.69659979e-02 3.73782155e-03 9.99629363e-01 -2.66264845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.153133365 meters Centerline goodness : 0.142536 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.05, Z:-0.27 [[ 9.99635320e-01 -5.16432533e-05 -2.70041708e-02 -1.95630412e+00] [-4.68345789e-05 9.99993352e-01 -3.64611859e-03 -5.28204162e-02] [ 2.70041796e-02 3.64605366e-03 9.99628671e-01 -2.66314475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.183133365 meters Centerline goodness : 0.073936 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.06, Z:-0.27 [[ 9.99628821e-01 -4.46666029e-04 -2.72400510e-02 -1.95568786e+00] [ 3.53539829e-04 9.99994078e-01 -3.42344371e-03 -5.57330451e-02] [ 2.72414188e-02 3.41254256e-03 9.99623059e-01 -2.66238929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.213133365 meters Centerline goodness : 0.138448 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.06, Z:-0.27 [[ 9.99622389e-01 -3.39721946e-04 -2.74766134e-02 -1.95523664e+00] [ 2.56781382e-04 9.99995401e-01 -3.02205968e-03 -5.77658436e-02] [ 2.74775137e-02 3.01386303e-03 9.99617878e-01 -2.66027624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.243133365 meters Centerline goodness : 0.135210 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.06, Z:-0.27 [[ 9.99618166e-01 -2.36041773e-04 -2.76308984e-02 -1.95491583e+00] [ 1.64006772e-04 9.99996582e-01 -2.60928242e-03 -6.00263764e-02] [ 2.76314199e-02 2.60375445e-03 9.99614788e-01 -2.65914033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.273133365 meters Centerline goodness : 0.155700 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.06, Z:-0.27 [[ 9.99612459e-01 -2.03029393e-04 -2.78368613e-02 -1.95453152e+00] [ 1.39463975e-04 9.99997379e-01 -2.28542051e-03 -6.21494944e-02] [ 2.78372523e-02 2.28065258e-03 9.99609867e-01 -2.65705545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.303133365 meters Centerline goodness : 0.143346 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.07, Z:-0.27 [[ 9.99551045e-01 -1.70560458e-03 -2.99131953e-02 -1.99961489e+00] [ 1.63809070e-03 9.99996056e-01 -2.28135372e-03 -6.78001081e-02] [ 2.99169684e-02 2.23132897e-03 9.99549897e-01 -2.65800541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.333133365 meters Centerline goodness : 0.123768 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.07, Z:-0.27 [[ 9.99546331e-01 -1.55053582e-03 -3.00787047e-02 -1.99942316e+00] [ 1.49494838e-03 9.99997133e-01 -1.87046640e-03 -6.98464104e-02] [ 3.00815187e-02 1.82465171e-03 9.99545783e-01 -2.65484499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.363133365 meters Centerline goodness : 0.132892 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.07, Z:-0.27 [[ 9.99546372e-01 -1.13584501e-03 -3.00958438e-02 -1.99951870e+00] [ 1.10766070e-03 9.99998932e-01 -9.53140502e-04 -7.37507223e-02] [ 3.00968943e-02 9.19372147e-04 9.99546563e-01 -2.65222489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.393133365 meters Centerline goodness : 0.141264 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.08, Z:-0.27 [[ 9.99547479e-01 -9.86127409e-04 -3.00643421e-02 -1.99960674e+00] [ 9.70703520e-04 9.99999390e-01 -5.27620088e-04 -7.59360227e-02] [ 3.00648441e-02 4.98197766e-04 9.99547826e-01 -2.65122925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.423133365 meters Centerline goodness : 0.141428 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.08, Z:-0.26 [[ 9.99551921e-01 -9.25204050e-04 -2.99182422e-02 -2.00008255e+00] [ 9.20389824e-04 9.99999561e-01 -1.74683656e-04 -7.82455395e-02] [ 2.99183906e-02 1.47068939e-04 9.99552334e-01 -2.64872136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.453133365 meters Centerline goodness : 0.147375 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.08, Z:-0.26 [[ 9.99550958e-01 -8.48136437e-04 -2.99526747e-02 -2.00018955e+00] [ 8.54440945e-04 9.99999615e-01 1.97683665e-04 -8.05896948e-02] [ 2.99524955e-02 -2.23187688e-04 9.99551298e-01 -2.64559684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48313336499996 meters Centerline goodness : 0.156168 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.09, Z:-0.26 [[ 9.99547460e-01 -5.49108212e-04 -3.00761294e-02 -2.00005529e+00] [ 5.82037186e-04 9.99999241e-01 1.08611037e-03 -8.50064878e-02] [ 3.00755102e-02 -1.10312429e-03 9.99547021e-01 -2.64281147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.513133365 meters Centerline goodness : 0.141309 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.09, Z:-0.26 [[ 9.99546707e-01 -4.10110753e-04 -3.01033482e-02 -2.00010792e+00] [ 4.56615479e-04 9.99998713e-01 1.53797753e-03 -8.73640574e-02] [ 3.01026787e-02 -1.55102603e-03 9.99545608e-01 -2.64070479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54313336499996 meters Centerline goodness : 0.156385 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.09, Z:-0.26 [[ 9.99551998e-01 -3.26409469e-04 -2.99281788e-02 -2.00070720e+00] [ 3.86571530e-04 9.99997916e-01 2.00445063e-03 -9.01616412e-02] [ 2.99274621e-02 -2.01512202e-03 9.99550042e-01 -2.63702942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.573133365 meters Centerline goodness : 0.140151 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.09, Z:-0.26 [[ 9.99558644e-01 -3.43956279e-04 -2.97051943e-02 -2.00147447e+00] [ 4.16410718e-04 9.99996954e-01 2.43296512e-03 -9.32943828e-02] [ 2.97042669e-02 -2.44426088e-03 9.99555742e-01 -2.63209795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60313336499996 meters Centerline goodness : 0.159146 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.10, Z:-0.26 [[ 9.99554553e-01 -3.27356865e-04 -2.98427205e-02 -2.00123867e+00] [ 4.14957149e-04 9.99995624e-01 2.92925287e-03 -9.65773682e-02] [ 2.98416310e-02 -2.94033149e-03 9.99550315e-01 -2.63041568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.633133365 meters SLAMing on 285.66313336499996 meters Centerline goodness : 0.126969 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.11, Z:-0.27 [[ 0.9995274 -0.00253037 -0.03063609 -1.99830594] [ 0.00262693 0.99999171 0.00311198 -0.11190895] [ 0.03062796 -0.00319099 0.99952576 -0.26550759] [ 0. 0. 0. 1. ]] SLAMing on 285.693133365 meters Centerline goodness : 0.151079 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.12, Z:-0.27 [[ 0.99951627 -0.00264078 -0.0309878 -1.99757298] [ 0.00275773 0.99998923 0.00373203 -0.115514 ] [ 0.03097761 -0.00381568 0.9995128 -0.26577766] [ 0. 0. 0. 1. ]] SLAMing on 285.72313336499997 meters Centerline goodness : 0.164792 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.13, Z:-0.27 [[ 0.99950279 -0.00574138 -0.0310033 -1.99803635] [ 0.00582011 0.99998006 0.00244974 -0.12566775] [ 0.03098862 -0.00262897 0.99951628 -0.26597594] [ 0. 0. 0. 1. ]] SLAMing on 285.753133365 meters Centerline goodness : 0.065319 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.13, Z:-0.27 [[ 0.99951154 -0.00574424 -0.03071955 -1.99907369] [ 0.00584771 0.99997752 0.00327962 -0.12944943] [ 0.03070002 -0.00345766 0.99952266 -0.26586846] [ 0. 0. 0. 1. ]] SLAMing on 285.78313336499997 meters Centerline goodness : 0.101645 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.13, Z:-0.27 [[ 0.999521 -0.00573128 -0.03041243 -2.00010393] [ 0.00585763 0.99997457 0.00406709 -0.1330172 ] [ 0.03038834 -0.00424329 0.99952916 -0.26585166] [ 0. 0. 0. 1. ]] SLAMing on 285.813133365 meters Centerline goodness : 0.078835 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.14, Z:-0.27 [[ 0.99952359 -0.00561293 -0.03034933 -2.00032957] [ 0.00576194 0.99997176 0.00482467 -0.13614925] [ 0.03032139 -0.00499724 0.99952771 -0.26607762] [ 0. 0. 0. 1. ]] SLAMing on 285.84313336499997 meters Centerline goodness : 0.116520 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.14, Z:-0.27 [[ 0.99951808 -0.00541178 -0.03056675 -1.99976273] [ 0.00558538 0.99996874 0.00559659 -0.13922391] [ 0.0305355 -0.00576462 0.99951706 -0.26645751] [ 0. 0. 0. 1. ]] SLAMing on 285.873133365 meters Centerline goodness : 0.118715 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.14, Z:-0.27 [[ 0.99951219 -0.00519048 -0.03079693 -1.99900892] [ 0.00538327 0.99996641 0.00618034 -0.14210977] [ 0.03076382 -0.00634311 0.99950655 -0.26673132] [ 0. 0. 0. 1. ]] SLAMing on 285.903133365 meters Centerline goodness : 0.098428 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.14, Z:-0.27 [[ 0.99950505 -0.00487301 -0.0310791 -1.998266 ] [ 0.00509009 0.99996317 0.00690968 -0.14465048] [ 0.03104428 -0.00706446 0.99949304 -0.26703774] [ 0. 0. 0. 1. ]] SLAMing on 285.933133365 meters Centerline goodness : 0.129522 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.15, Z:-0.27 [[ 9.99497847e-01 1.95276561e-03 -3.16265646e-02 -1.97550157e+00] [-1.80675846e-03 9.99987582e-01 4.64451879e-03 -1.51192704e-01] [ 3.16352416e-02 -4.58504497e-03 9.99488964e-01 -2.66965759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.963133365 meters Centerline goodness : 0.099346 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.15, Z:-0.27 [[ 9.99492204e-01 1.95552410e-03 -3.18042414e-02 -1.97494831e+00] [-1.80262040e-03 9.99986684e-01 4.83561354e-03 -1.52733661e-01] [ 3.18132740e-02 -4.77582706e-03 9.99482420e-01 -2.67155932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.993133365 meters Centerline goodness : 0.048258 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.15, Z:-0.27 [[ 9.99491699e-01 2.03494433e-03 -3.18151238e-02 -1.97493440e+00] [-1.87223573e-03 9.99985021e-01 5.14314441e-03 -1.54558372e-01] [ 3.18251133e-02 -5.08096473e-03 9.99480538e-01 -2.67138064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.023133365 meters Centerline goodness : 0.098781 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.16, Z:-0.27 [[ 9.99493322e-01 2.12840726e-03 -3.17579782e-02 -1.97516202e+00] [-1.95517955e-03 9.99983048e-01 5.48467764e-03 -1.56358993e-01] [ 3.17691135e-02 -5.41980613e-03 9.99480540e-01 -2.67005645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.053133365 meters Centerline goodness : 0.041056 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.16, Z:-0.27 [[ 0.99949761 0.00222973 -0.03161589 -1.97567467] [-0.0020464 0.99998091 0.00582987 -0.15804729] [ 0.03162829 -0.00576225 0.99948309 -0.26674475] [ 0. 0. 0. 1. ]] SLAMing on 286.083133365 meters Centerline goodness : 0.120382 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.16, Z:-0.27 [[ 0.99949491 0.00222625 -0.0317014 -1.97567717] [-0.002026 0.9999778 0.0063474 -0.16139258] [ 0.03171482 -0.00627996 0.99947723 -0.26637258] [ 0. 0. 0. 1. ]] SLAMing on 286.113133365 meters Centerline goodness : 0.099621 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.16, Z:-0.27 [[ 0.99948732 0.00225377 -0.03193778 -1.97506327] [-0.0020448 0.9999763 0.0065742 -0.1628706 ] [ 0.03195184 -0.00650552 0.99946824 -0.26647754] [ 0. 0. 0. 1. ]] SLAMing on 286.143133365 meters Centerline goodness : 0.117594 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.16, Z:-0.27 [[ 0.99948291 0.00224816 -0.03207577 -1.97454295] [-0.00203396 0.99997542 0.00670916 -0.16387467] [ 0.03209007 -0.00664045 0.99946292 -0.26677745] [ 0. 0. 0. 1. ]] SLAMing on 286.173133365 meters Centerline goodness : 0.131585 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.16, Z:-0.27 [[ 0.9994807 0.00228836 -0.03214177 -1.9742971 ] [-0.00206883 0.99997432 0.00686178 -0.16478264] [ 0.03215665 -0.00679172 0.99945977 -0.26691541] [ 0. 0. 0. 1. ]] SLAMing on 286.203133365 meters Centerline goodness : 0.096397 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.16, Z:-0.27 [[ 0.99953742 0.00338193 -0.0302244 -1.93152404] [-0.00319319 0.99997511 0.00629092 -0.16454202] [ 0.03024492 -0.00619149 0.99952334 -0.26576785] [ 0. 0. 0. 1. ]] SLAMing on 286.23313336499996 meters Centerline goodness : 0.127212 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.17, Z:-0.26 [[ 0.99954864 0.00350518 -0.02983662 -1.93295602] [-0.00330912 0.99997263 0.00661799 -0.16600796] [ 0.029859 -0.00651627 0.99953288 -0.26491915] [ 0. 0. 0. 1. ]] SLAMing on 286.263133365 meters Centerline goodness : 0.159798 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.16, Z:-0.26 [[ 0.99956624 -0.00376801 -0.02920842 -1.9137638 ] [ 0.00399119 0.99996326 0.00758628 -0.16261561] [ 0.02917876 -0.00769957 0.99954455 -0.26314924] [ 0. 0. 0. 1. ]] SLAMing on 286.29313336499996 meters Centerline goodness : 0.117914 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.16, Z:-0.26 [[ 0.99956789 -0.0037185 -0.02915833 -1.91399237] [ 0.00394433 0.99996264 0.00769125 -0.16303935] [ 0.02912865 -0.00780293 0.99954521 -0.26296544] [ 0. 0. 0. 1. ]] SLAMing on 286.323133365 meters Centerline goodness : 0.147408 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.16, Z:-0.26 [[ 0.99956413 -0.00371067 -0.02928786 -1.91357911] [ 0.00393779 0.9999626 0.00770074 -0.16300821] [ 0.02925819 -0.00781271 0.99954135 -0.26315999] [ 0. 0. 0. 1. ]] SLAMing on 286.35313336499996 meters Centerline goodness : 0.171495 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.16, Z:-0.26 [[ 0.9995583 -0.00376646 -0.02947918 -1.91303293] [ 0.00399325 0.99996286 0.00763795 -0.16285579] [ 0.02944932 -0.0077523 0.99953621 -0.26334866] [ 0. 0. 0. 1. ]] SLAMing on 286.383133365 meters Centerline goodness : 0.184455 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.16, Z:-0.26 [[ 0.99955452 -0.00384107 -0.02959733 -1.91279051] [ 0.00406592 0.9999633 0.00754056 -0.1625662 ] [ 0.02956728 -0.00765754 0.99953346 -0.2633197 ] [ 0. 0. 0. 1. ]] SLAMing on 286.41313336499996 meters Centerline goodness : 0.098474 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.17, Z:-0.26 [[ 0.99958805 0.00475853 -0.02830354 -1.89436913] [-0.00458048 0.99996933 0.00635203 -0.16535722] [ 0.0283329 -0.00621977 0.99957919 -0.26180447] [ 0. 0. 0. 1. ]] SLAMing on 286.443133365 meters Centerline goodness : 0.133358 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.16, Z:-0.26 [[ 0.99959764 0.00476574 -0.02796143 -1.895466 ] [-0.00459151 0.99996966 0.00629209 -0.16478154] [ 0.02799056 -0.00616118 0.9995892 -0.26135834] [ 0. 0. 0. 1. ]] SLAMing on 286.47313336499997 meters SLAMing on 286.503133365 meters Centerline goodness : 0.118746 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.16, Z:-0.26 [[ 0.99966117 -0.00236584 -0.02592213 -1.87764342] [ 0.00255565 0.99997015 0.00729176 -0.158717 ] [ 0.02590411 -0.00735554 0.99963737 -0.25911723] [ 0. 0. 0. 1. ]] SLAMing on 286.53313336499997 meters Centerline goodness : 0.100172 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.16, Z:-0.26 [[ 0.99966002 -0.00246242 -0.02595719 -1.87746956] [ 0.00264645 0.99997159 0.00705761 -0.15758063] [ 0.02593907 -0.00712391 0.99963814 -0.25927498] [ 0. 0. 0. 1. ]] SLAMing on 286.563133365 meters Centerline goodness : 0.100059 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.15, Z:-0.26 [[ 0.99964788 -0.00269294 -0.02639801 -1.87581167] [ 0.00286334 0.9999753 0.00641947 -0.15421805] [ 0.02638007 -0.0064928 0.9996309 -0.26036179] [ 0. 0. 0. 1. ]] SLAMing on 286.59313336499997 meters Centerline goodness : 0.099928 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.15, Z:-0.26 [[ 0.99964367 -0.00280393 -0.0265455 -1.87537628] [ 0.00296809 0.9999767 0.00614695 -0.1528271 ] [ 0.02652764 -0.00622355 0.99962871 -0.26056797] [ 0. 0. 0. 1. ]] SLAMing on 286.623133365 meters Centerline goodness : 0.225409 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.15, Z:-0.26 [[ 0.99964279 -0.00292127 -0.0265662 -1.87552238] [ 0.00307958 0.99997773 0.00592019 -0.15176666] [ 0.02654831 -0.00599988 0.99962953 -0.26031182] [ 0. 0. 0. 1. ]] SLAMing on 286.653133365 meters Centerline goodness : 0.121447 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.15, Z:-0.26 [[ 0.99968534 0.00220709 -0.02498686 -1.85474502] [-0.00215306 0.99999529 0.00218891 -0.15222504] [ 0.02499158 -0.00213443 0.99968538 -0.26030808] [ 0. 0. 0. 1. ]] SLAMing on 286.683133365 meters Centerline goodness : 0.120289 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.15, Z:-0.26 [[ 0.99967879 0.00192117 -0.02527121 -1.85400053] [-0.00186863 0.99999604 0.00210255 -0.15268934] [ 0.02527515 -0.00205466 0.99967842 -0.26055618] [ 0. 0. 0. 1. ]] SLAMing on 286.713133365 meters Centerline goodness : 0.124981 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.15, Z:-0.26 [[ 9.99663971e-01 1.63977895e-03 -2.58699774e-02 -1.85242367e+00] [-1.58482158e-03 9.99996444e-01 2.14472883e-03 -1.53853973e-01] [ 2.58734023e-02 -2.10300884e-03 9.99663015e-01 -2.60988839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.743133365 meters Centerline goodness : 0.125279 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.16, Z:-0.26 [[ 9.99656623e-01 1.45220171e-03 -2.61634632e-02 -1.85149856e+00] [-1.39314911e-03 9.99996441e-01 2.27515001e-03 -1.55180283e-01] [ 2.61666741e-02 -2.23791918e-03 9.99655089e-01 -2.61491624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.773133365 meters Centerline goodness : 0.127143 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.15, Z:-0.26 [[ 0.99961669 -0.00626411 -0.02696731 -1.83092242] [ 0.00635108 0.9999749 0.0031405 -0.15351346] [ 0.02694696 -0.00331057 0.99963138 -0.2599254 ] [ 0. 0. 0. 1. ]] SLAMing on 286.803133365 meters Centerline goodness : 0.128229 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.16, Z:-0.26 [[ 9.99642459e-01 6.90987928e-04 -2.67297094e-02 -1.81060387e+00] [-6.63555032e-04 9.99999244e-01 1.03516361e-03 -1.57630008e-01] [ 2.67304045e-02 -1.01705687e-03 9.99642162e-01 -2.59117762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.833133365 meters SLAMing on 286.863133365 meters SLAMing on 286.893133365 meters SLAMing on 286.923133365 meters Centerline goodness : 0.156219 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.15, Z:-0.26 [[ 9.99687128e-01 2.28364700e-03 -2.49084423e-02 -1.81753264e+00] [-2.23867720e-03 9.99995814e-01 1.83313968e-03 -1.51232765e-01] [ 2.49125243e-02 -1.77680418e-03 9.99688056e-01 -2.55793800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.953133365 meters Centerline goodness : 0.152202 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.15, Z:-0.26 [[ 9.99685576e-01 2.69893264e-03 -2.49291884e-02 -1.81670347e+00] [-2.65869749e-03 9.99995109e-01 1.64698134e-03 -1.45361668e-01] [ 2.49335116e-02 -1.58018432e-03 9.99687863e-01 -2.56693515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98313336499996 meters Centerline goodness : 0.119635 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.14, Z:-0.26 [[ 9.99677937e-01 2.55263119e-03 -2.52488809e-02 -1.81547640e+00] [-2.52314647e-03 9.99996097e-01 1.19955269e-03 -1.43079276e-01] [ 2.52518444e-02 -1.13545973e-03 9.99680476e-01 -2.57410025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.013133365 meters SLAMing on 287.04313336499996 meters Centerline goodness : 0.148117 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.14, Z:-0.26 [[ 9.99667296e-01 2.33987050e-03 -2.56870028e-02 -1.81406099e+00] [-2.32657773e-03 9.99997144e-01 5.47363989e-04 -1.39682724e-01] [ 2.56882102e-02 -4.87419070e-04 9.99669885e-01 -2.58084833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.073133365 meters Centerline goodness : 0.121215 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.14, Z:-0.26 [[ 9.99703689e-01 3.31687040e-03 -2.41149878e-02 -1.77043881e+00] [-3.31900961e-03 9.99994491e-01 -4.86845249e-05 -1.38023177e-01] [ 2.41146935e-02 1.28707975e-04 9.99709190e-01 -2.57463413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10313336499996 meters Centerline goodness : 0.138440 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.14, Z:-0.26 [[ 9.99701541e-01 3.21409841e-03 -2.42177218e-02 -1.77007505e+00] [-3.22176001e-03 9.99994772e-01 -2.77352346e-04 -1.36908093e-01] [ 2.42167037e-02 3.55293256e-04 9.99706669e-01 -2.57664575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.133133365 meters Centerline goodness : 0.139933 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.14, Z:-0.26 [[ 9.99690004e-01 3.02102434e-03 -2.47137398e-02 -1.76838538e+00] [-3.03674107e-03 9.99995210e-01 -5.98445273e-04 -1.35418759e-01] [ 2.47118135e-02 6.73308986e-04 9.99694390e-01 -2.58639755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16313336499996 meters Centerline goodness : 0.134672 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.13, Z:-0.26 [[ 9.99687103e-01 2.96473161e-03 -2.48376218e-02 -1.76790809e+00] [-2.98253572e-03 9.99995321e-01 -6.79805524e-04 -1.34737439e-01] [ 2.48354902e-02 7.53671909e-04 9.99691268e-01 -2.58921521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.193133365 meters Centerline goodness : 0.112776 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.13, Z:-0.26 [[ 9.99692385e-01 2.97191145e-03 -2.46232219e-02 -1.76856861e+00] [-2.98921288e-03 9.99995311e-01 -6.65868780e-04 -1.34411118e-01] [ 2.46211276e-02 7.39268000e-04 9.99696581e-01 -2.58757397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22313336499997 meters Centerline goodness : 0.092080 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.13, Z:-0.26 [[ 9.99700598e-01 2.92072439e-03 -2.42936928e-02 -1.76973802e+00] [-2.93882867e-03 9.99995430e-01 -7.09556076e-04 -1.34108639e-01] [ 2.42915093e-02 7.80738634e-04 9.99704613e-01 -2.58168271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.253133365 meters Centerline goodness : 0.126703 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.13, Z:-0.26 [[ 9.99710879e-01 2.74610015e-03 -2.38875810e-02 -1.77112613e+00] [-2.76547746e-03 9.99995873e-01 -7.78190366e-04 -1.33968902e-01] [ 2.38853454e-02 8.44025942e-04 9.99714348e-01 -2.57520439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28313336499997 meters Centerline goodness : 0.103049 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.13, Z:-0.26 [[ 9.99690511e-01 -5.75400675e-03 -2.42027642e-02 -1.78954685e+00] [ 5.76805208e-03 9.99983234e-01 5.10547260e-04 -1.28515805e-01] [ 2.41994208e-02 -6.49992056e-04 9.99706940e-01 -2.59030651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.313133365 meters Centerline goodness : 0.102517 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.13, Z:-0.26 [[ 9.99687066e-01 -5.77835993e-03 -2.43388818e-02 -1.78922137e+00] [ 5.79203066e-03 9.99983105e-01 4.91223124e-04 -1.28048532e-01] [ 2.43356322e-02 -6.32040953e-04 9.99703645e-01 -2.59101420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34313336499997 meters Centerline goodness : 0.091398 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.13, Z:-0.26 [[ 9.99685990e-01 -5.79941284e-03 -2.43780258e-02 -1.78918712e+00] [ 5.81134095e-03 9.99983026e-01 4.18480363e-04 -1.27526803e-01] [ 2.43751851e-02 -5.60017976e-04 9.99702724e-01 -2.59033281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.373133365 meters Centerline goodness : 0.111375 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.13, Z:-0.26 [[ 9.99684002e-01 -5.89191738e-03 -2.44373135e-02 -1.78907596e+00] [ 5.89873235e-03 9.99982581e-01 2.06799034e-04 -1.26469360e-01] [ 2.44356694e-02 -3.50882857e-04 9.99701343e-01 -2.59014447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.403133365 meters Centerline goodness : 0.142780 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.13, Z:-0.26 [[ 9.99681790e-01 -6.01543140e-03 -2.44976034e-02 -1.78888643e+00] [ 6.01544606e-03 9.99981904e-01 -7.30950112e-05 -1.25074441e-01] [ 2.44975998e-02 -7.42922600e-05 9.99699886e-01 -2.59059532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.433133365 meters Centerline goodness : 0.113572 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.12, Z:-0.26 [[ 9.99682959e-01 -6.19274432e-03 -2.44055468e-02 -1.78884980e+00] [ 6.17799882e-03 9.99980685e-01 -6.79540818e-04 -1.21856235e-01] [ 2.44092836e-02 5.28547936e-04 9.99701909e-01 -2.59478390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.463133365 meters Centerline goodness : 0.122569 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.12, Z:-0.26 [[ 9.99713450e-01 2.44079508e-03 -2.38130108e-02 -1.76958628e+00] [-2.48208225e-03 9.99995467e-01 -1.70440410e-03 -1.23373919e-01] [ 2.38087428e-02 1.76302155e-03 9.99714977e-01 -2.58372716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.493133365 meters Centerline goodness : 0.110409 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.12, Z:-0.26 [[ 9.99671014e-01 1.77683322e-03 -2.55872288e-02 -1.81521824e+00] [-1.81268171e-03 9.99997408e-01 -1.37790420e-03 -1.19908133e-01] [ 2.55847142e-02 1.42383239e-03 9.99671644e-01 -2.58332423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.523133365 meters Centerline goodness : 0.109548 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.12, Z:-0.26 [[ 9.99667889e-01 1.40932771e-03 -2.57317851e-02 -1.81462045e+00] [-1.46168962e-03 9.99996899e-01 -2.01621615e-03 -1.17306015e-01] [ 2.57288638e-02 2.05315843e-03 9.99666850e-01 -2.58745412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.553133365 meters Centerline goodness : 0.115827 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.12, Z:-0.26 [[ 9.99661499e-01 1.22311273e-03 -2.59882749e-02 -1.81352136e+00] [-1.28091856e-03 9.99996742e-01 -2.20777361e-03 -1.16521394e-01] [ 2.59854899e-02 2.24031514e-03 9.99659810e-01 -2.59613192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.583133365 meters Centerline goodness : 0.116534 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.11, Z:-0.26 [[ 9.99620295e-01 -7.29432711e-03 -2.65717794e-02 -1.83153938e+00] [ 7.27275513e-03 9.99973141e-01 -9.08390887e-04 -1.10515267e-01] [ 2.65776918e-02 7.14795921e-04 9.99646495e-01 -2.61881471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.613133365 meters Centerline goodness : 0.110964 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.11, Z:-0.26 [[ 9.99621120e-01 -7.34706342e-03 -2.65261528e-02 -1.83153194e+00] [ 7.32315010e-03 9.99972687e-01 -9.98533146e-04 -1.09855835e-01] [ 2.65327646e-02 8.03899824e-04 9.99647621e-01 -2.62150007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.643133365 meters Centerline goodness : 0.116635 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.11, Z:-0.26 [[ 9.99644683e-01 5.80824994e-04 -2.66490150e-02 -1.85200442e+00] [-6.22130727e-04 9.99998618e-01 -1.54172610e-03 -1.12084421e-01] [ 2.66480827e-02 1.55775747e-03 9.99643663e-01 -2.63438500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.673133365 meters Centerline goodness : 0.126700 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.11, Z:-0.26 [[ 9.99641209e-01 5.17662728e-04 -2.67803251e-02 -1.85169382e+00] [-5.59842044e-04 9.99998615e-01 -1.56753762e-03 -1.11840893e-01] [ 2.67794765e-02 1.58196795e-03 9.99640114e-01 -2.63555405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.703133365 meters Centerline goodness : 0.113774 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.11, Z:-0.26 [[ 9.99632856e-01 3.98330819e-04 -2.70923516e-02 -1.85072959e+00] [-4.39382602e-04 9.99998764e-01 -1.50931745e-03 -1.12176340e-01] [ 2.70917170e-02 1.52066722e-03 9.99631795e-01 -2.64081639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73313336499996 meters Centerline goodness : 0.091568 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.11, Z:-0.26 [[ 9.99630556e-01 3.48052681e-04 -2.71777400e-02 -1.85051768e+00] [-3.87352039e-04 9.99998887e-01 -1.44076146e-03 -1.12786643e-01] [ 2.71772082e-02 1.45075653e-03 9.99629579e-01 -2.64200809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.763133365 meters Centerline goodness : 0.111551 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.11, Z:-0.26 [[ 9.99623716e-01 2.53002477e-04 -2.74292190e-02 -1.84978858e+00] [-2.91303366e-04 9.99998988e-01 -1.39236676e-03 -1.13414715e-01] [ 2.74288390e-02 1.39983305e-03 9.99622778e-01 -2.64498013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79313336499996 meters Centerline goodness : 0.097277 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.11, Z:-0.27 [[ 9.99557416e-01 -6.95291214e-04 -2.97403403e-02 -1.89415899e+00] [ 6.59675891e-04 9.99999054e-01 -1.20733745e-03 -1.12156762e-01] [ 2.97411516e-02 1.18718411e-03 9.99556929e-01 -2.65135796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.823133365 meters Centerline goodness : 0.099030 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.11, Z:-0.27 [[ 9.99558430e-01 -6.38435878e-04 -2.97075149e-02 -1.89419879e+00] [ 6.06650059e-04 9.99999234e-01 -1.07895958e-03 -1.12491284e-01] [ 2.97081809e-02 1.06046108e-03 9.99558052e-01 -2.65291250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85313336499996 meters Centerline goodness : 0.095494 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.11, Z:-0.27 [[ 0.99952773 -0.00728976 -0.02985274 -1.91576478] [ 0.00735137 0.99997107 0.00195471 -0.10996858] [ 0.02983763 -0.00217325 0.9995524 -0.26575724] [ 0. 0. 0. 1. ]] SLAMing on 287.883133365 meters Centerline goodness : 0.124617 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.11, Z:-0.27 [[ 0.99953351 -0.00729475 -0.02965708 -1.91634266] [ 0.00735667 0.99997098 0.00197909 -0.11025229] [ 0.02964178 -0.00219634 0.99955817 -0.26556239] [ 0. 0. 0. 1. ]] SLAMing on 287.91313336499996 meters Centerline goodness : 0.094269 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.11, Z:-0.26 [[ 9.99582417e-01 6.40478228e-04 -2.88891261e-02 -1.89905378e+00] [-6.32654114e-04 9.99999761e-01 2.79972006e-04 -1.14986266e-01] [ 2.88892985e-02 -2.61578270e-04 9.99582583e-01 -2.63292624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.943133365 meters Centerline goodness : 0.095553 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.11, Z:-0.26 [[ 9.99589339e-01 6.22113242e-04 -2.86490035e-02 -1.89989484e+00] [-6.17273377e-04 9.99999794e-01 1.77780253e-04 -1.14524898e-01] [ 2.86491082e-02 -1.60022979e-04 9.99589517e-01 -2.62829582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97313336499997 meters Centerline goodness : 0.100491 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.11, Z:-0.26 [[ 9.99595545e-01 6.46488653e-04 -2.84311029e-02 -1.90058885e+00] [-6.46472687e-04 9.99999791e-01 9.75336137e-06 -1.13313169e-01] [ 2.84311032e-02 8.63051490e-06 9.99595754e-01 -2.62520107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.003133365 meters Centerline goodness : 0.118207 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.11, Z:-0.26 [[ 0.99959538 0.00453434 -0.02808061 -1.90153948] [-0.00443802 0.99998406 0.00349152 -0.1112356 ] [ 0.02809599 -0.00336548 0.99959956 -0.26227704] [ 0. 0. 0. 1. ]] SLAMing on 288.03313336499997 meters Centerline goodness : 0.103559 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.10, Z:-0.26 [[ 9.99616834e-01 -1.91067365e-03 -2.76140317e-02 -1.92317329e+00] [ 2.07430255e-03 9.99980454e-01 5.89814093e-03 -1.04140098e-01] [ 2.76022226e-02 -5.95316082e-03 9.99601259e-01 -2.63160890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.063133365 meters Centerline goodness : 0.097738 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.10, Z:-0.26 [[ 0.99961554 -0.00207679 -0.02764881 -1.9229991 ] [ 0.00222489 0.99998334 0.00532673 -0.10127989] [ 0.02763728 -0.0053862 0.99960351 -0.26324853] [ 0. 0. 0. 1. ]] SLAMing on 288.09313336499997 meters Centerline goodness : 0.114854 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.10, Z:-0.26 [[ 0.99961245 -0.00227121 -0.027745 -1.92281013] [ 0.00240354 0.99998589 0.00473705 -0.09836346] [ 0.02773385 -0.0048019 0.99960381 -0.26319419] [ 0. 0. 0. 1. ]] SLAMing on 288.123133365 meters Centerline goodness : 0.109264 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.09, Z:-0.26 [[ 9.99611917e-01 1.29306515e-03 -2.78270250e-02 -1.92285511e+00] [-1.08176264e-03 9.99970480e-01 7.60714302e-03 -9.37469698e-02] [ 2.78360401e-02 -7.57408858e-03 9.99583807e-01 -2.62984108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.153133365 meters Centerline goodness : 0.116522 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.09, Z:-0.26 [[ 9.99611340e-01 1.13991164e-03 -2.78544515e-02 -1.92256312e+00] [-9.42582181e-04 9.99974376e-01 7.09640960e-03 -9.09150421e-02] [ 2.78618270e-02 -7.06739640e-03 9.99586800e-01 -2.63349707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.183133365 meters Centerline goodness : 0.107753 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.09, Z:-0.26 [[ 9.99610021e-01 8.80666722e-04 -2.79111247e-02 -1.92219629e+00] [-6.99727359e-04 9.99978683e-01 6.49180109e-03 -8.80319602e-02] [ 2.79162469e-02 -6.46973924e-03 9.99589328e-01 -2.63734984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.213133365 meters Centerline goodness : 0.098780 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.09, Z:-0.26 [[ 9.99611030e-01 6.26695504e-04 -2.78818180e-02 -1.92202508e+00] [-4.61273443e-04 9.99982258e-01 5.93900884e-03 -8.55496444e-02] [ 2.78850453e-02 -5.92383761e-03 9.99593584e-01 -2.64149766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.243133365 meters Centerline goodness : 0.118275 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.08, Z:-0.26 [[ 9.99612851e-01 4.40165426e-04 -2.78200521e-02 -1.92207473e+00] [-2.86053814e-04 9.99984595e-01 5.54332453e-03 -8.35702813e-02] [ 2.78220635e-02 -5.53322040e-03 9.99597577e-01 -2.64310678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.273133365 meters Centerline goodness : 0.116100 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.08, Z:-0.26 [[ 0.99956997 -0.00703898 -0.02846625 -1.90331127] [ 0.00721951 0.99995444 0.00624404 -0.07515649] [ 0.028421 -0.00644687 0.99957525 -0.26179612] [ 0. 0. 0. 1. ]] SLAMing on 288.303133365 meters Centerline goodness : 0.119583 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.07, Z:-0.26 [[ 0.99957186 -0.00726579 -0.02834263 -1.90352895] [ 0.00743446 0.99995525 0.0058501 -0.07350543] [ 0.02829886 -0.00605831 0.99958115 -0.26196999] [ 0. 0. 0. 1. ]] SLAMing on 288.333133365 meters Centerline goodness : 0.106605 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.07, Z:-0.26 [[ 0.99957347 -0.00750374 -0.02822365 -1.90376938] [ 0.00765971 0.99995596 0.00542202 -0.07170696] [ 0.02818172 -0.0056359 0.99958693 -0.2621083 ] [ 0. 0. 0. 1. ]] SLAMing on 288.363133365 meters Centerline goodness : 0.132434 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.07, Z:-0.26 [[ 0.99957548 -0.00772947 -0.02809108 -1.90401593] [ 0.00787125 0.99995682 0.0049402 -0.06947997] [ 0.02805169 -0.00515921 0.99959316 -0.26220969] [ 0. 0. 0. 1. ]] SLAMing on 288.393133365 meters Centerline goodness : 0.097394 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.07, Z:-0.26 [[ 9.99651975e-01 2.92533291e-04 -2.63788440e-02 -1.88442830e+00] [-1.99050692e-04 9.99993692e-01 3.54640363e-03 -6.63242286e-02] [ 2.63797150e-02 -3.53991866e-03 9.99645727e-01 -2.62068906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.423133365 meters Centerline goodness : 0.115933 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.06, Z:-0.26 [[ 9.99649239e-01 2.74321097e-05 -2.64839213e-02 -1.88398322e+00] [ 4.90449464e-05 9.99995831e-01 2.88702484e-03 -6.30040537e-02] [ 2.64838901e-02 -2.88731109e-03 9.99645071e-01 -2.62329989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.453133365 meters Centerline goodness : 0.106014 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.06, Z:-0.26 [[ 9.99643281e-01 -2.35482454e-04 -2.67068281e-02 -1.88303002e+00] [ 2.93747947e-04 9.99997586e-01 2.17776800e-03 -5.93739532e-02] [ 2.67062508e-02 -2.18483623e-03 9.99640937e-01 -2.62919081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48313336499996 meters Centerline goodness : 0.101402 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.05, Z:-0.26 [[ 9.99631823e-01 1.10797099e-03 -2.71107201e-02 -1.88126849e+00] [-1.04222715e-03 9.99996482e-01 2.43902286e-03 -4.94687604e-02] [ 2.71133271e-02 -2.40986934e-03 9.99629461e-01 -2.63951596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.513133365 meters Centerline goodness : 0.190203 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.05, Z:-0.26 [[ 9.99639526e-01 9.52666647e-04 -2.68311299e-02 -1.88190459e+00] [-9.04501599e-04 9.99997958e-01 1.80719751e-03 -4.58107730e-02] [ 2.68327967e-02 -1.78227727e-03 9.99638347e-01 -2.63904630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54313336499996 meters Centerline goodness : 0.087657 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.04, Z:-0.26 [[ 9.99643340e-01 7.46681594e-04 -2.66952329e-02 -1.88220734e+00] [-7.15520662e-04 9.99999052e-01 1.17681763e-03 -4.22812201e-02] [ 2.66960863e-02 -1.15729691e-03 9.99642926e-01 -2.63875284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.573133365 meters Centerline goodness : 0.091863 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.04, Z:-0.26 [[ 9.99640667e-01 5.07204008e-04 -2.68007330e-02 -1.88189380e+00] [-4.92857361e-04 9.99999732e-01 5.41910940e-04 -3.90473278e-02] [ 2.68010007e-02 -5.28507275e-04 9.99640649e-01 -2.63932029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60313336499996 meters Centerline goodness : 0.165025 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.04, Z:-0.26 [[ 9.99636067e-01 2.65769603e-04 -2.69752388e-02 -1.88121594e+00] [-2.67180861e-04 9.99999963e-01 -4.87125159e-05 -3.62148549e-02] [ 2.69752249e-02 5.59020553e-05 9.99636101e-01 -2.64321612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.633133365 meters Centerline goodness : 0.106904 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.27 [[ 9.99621153e-01 -9.36115442e-05 -2.75234794e-02 -1.87928262e+00] [ 6.98290540e-05 9.99999623e-01 -8.65039961e-04 -3.22549026e-02] [ 2.75235500e-02 8.62790305e-04 9.99620783e-01 -2.65314114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66313336499996 meters Centerline goodness : 0.094348 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.27 [[ 9.99616030e-01 -1.90732493e-04 -2.77084018e-02 -1.87863499e+00] [ 1.60055716e-04 9.99999372e-01 -1.10934273e-03 -3.09671191e-02] [ 2.77085960e-02 1.10448189e-03 9.99615433e-01 -2.65657773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.693133365 meters Centerline goodness : 0.105570 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.27 [[ 9.99617207e-01 -2.34959225e-04 -2.76655633e-02 -1.87850959e+00] [ 2.00530616e-04 9.99999202e-01 -1.24722503e-03 -3.00990893e-02] [ 2.76658343e-02 1.24119981e-03 9.99616457e-01 -2.66017933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72313336499997 meters Centerline goodness : 0.106645 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.27 [[ 9.99620165e-01 -2.95311301e-04 -2.75579145e-02 -1.87882490e+00] [ 2.57630875e-04 9.99999027e-01 -1.37085831e-03 -2.94675406e-02] [ 2.75582925e-02 1.36323784e-03 9.99619269e-01 -2.65947913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.753133365 meters Centerline goodness : 0.093509 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.27 [[ 9.99626767e-01 -3.27882296e-04 -2.73170210e-02 -1.87957432e+00] [ 2.89487383e-04 9.99998965e-01 -1.40947358e-03 -2.93447843e-02] [ 2.73174548e-02 1.40103959e-03 9.99625827e-01 -2.65683226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78313336499997 meters Centerline goodness : 0.093509 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.27 [[ 9.99626767e-01 -3.27882296e-04 -2.73170210e-02 -1.87957432e+00] [ 2.89487383e-04 9.99998965e-01 -1.40947358e-03 -2.93447843e-02] [ 2.73174548e-02 1.40103959e-03 9.99625827e-01 -2.65683226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.813133365 meters Centerline goodness : 0.117558 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.26 [[ 9.99638519e-01 -4.26193616e-04 -2.68821592e-02 -1.88116859e+00] [ 3.84681113e-04 9.99998726e-01 -1.54939245e-03 -2.88408497e-02] [ 2.68827853e-02 1.53849132e-03 9.99637409e-01 -2.64830350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84313336499997 meters Centerline goodness : 0.098497 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.03, Z:-0.27 [[ 9.99589682e-01 -6.84472742e-04 -2.86356259e-02 -1.92690850e+00] [ 6.36175568e-04 9.99998360e-01 -1.69568795e-03 -2.50816743e-02] [ 2.86367396e-02 1.67677489e-03 9.99588478e-01 -2.65172451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.873133365 meters Centerline goodness : 0.055227 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.02, Z:-0.27 [[ 9.99594554e-01 -7.64305021e-04 -2.84630037e-02 -1.92724747e+00] [ 7.10323974e-04 9.99997930e-01 -1.90659648e-03 -2.40799215e-02] [ 2.84644020e-02 1.88560551e-03 9.99593028e-01 -2.65275642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.903133365 meters Centerline goodness : 0.098377 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.02, Z:-0.27 [[ 9.99597467e-01 -8.38107892e-04 -2.83584424e-02 -1.92740381e+00] [ 7.78981595e-04 9.99997500e-01 -2.09594612e-03 -2.30950073e-02] [ 2.83601282e-02 2.07301173e-03 9.99595621e-01 -2.65384134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.933133365 meters Centerline goodness : 0.096745 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.02, Z:-0.27 [[ 9.99595706e-01 -9.34040712e-04 -2.84174597e-02 -1.92727547e+00] [ 8.66666342e-04 9.99996785e-01 -2.38310376e-03 -2.15041553e-02] [ 2.84195943e-02 2.35751183e-03 9.99593302e-01 -2.65344675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.963133365 meters Centerline goodness : 0.099547 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.02, Z:-0.27 [[ 9.99581172e-01 -1.11507745e-03 -2.89177633e-02 -1.92564872e+00] [ 1.02827925e-03 9.99994922e-01 -3.01625035e-03 -1.77501578e-02] [ 2.89209798e-02 2.98525153e-03 9.99577243e-01 -2.65939408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.993133365 meters Centerline goodness : 0.156249 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99499951e-01 -8.27245076e-04 -3.16095564e-02 -1.96834491e+00] [ 7.38759384e-04 9.99995777e-01 -2.81090988e-03 -1.28035671e-02] [ 3.16117482e-02 2.78615243e-03 9.99496341e-01 -2.67550475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.023133365 meters Centerline goodness : 0.174610 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99499380e-01 -9.22048999e-04 -3.16249733e-02 -1.96807824e+00] [ 8.24981889e-04 9.99994910e-01 -3.08222929e-03 -1.13362512e-02] [ 3.16276543e-02 3.05459623e-03 9.99495053e-01 -2.67872328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.053133365 meters Centerline goodness : 0.107386 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99508004e-01 -1.03937387e-03 -3.13475507e-02 -1.96870206e+00] [ 9.34831297e-04 9.99993954e-01 -3.34942330e-03 -1.01110074e-02] [ 3.13508425e-02 3.31847072e-03 9.99502933e-01 -2.67914435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.083133365 meters Centerline goodness : 0.099883 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99510266e-01 -1.40663018e-03 -3.12609992e-02 -1.96873994e+00] [ 1.28815558e-03 9.99991914e-01 -3.80966962e-03 -8.68052295e-03] [ 3.12661052e-02 3.76753486e-03 9.99503995e-01 -2.68191454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.113133365 meters Centerline goodness : 0.110198 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99499363e-01 -1.49693885e-03 -3.16035287e-02 -1.96764400e+00] [ 1.37375148e-03 9.99991376e-01 -3.91925243e-03 -8.18275818e-03] [ 3.16091230e-02 3.87387491e-03 9.99492800e-01 -2.68683333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.143133365 meters Centerline goodness : 0.176077 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99488987e-01 -1.53316607e-03 -3.19282599e-02 -1.96651815e+00] [ 1.40670127e-03 9.99991078e-01 -3.98299096e-03 -7.70656083e-03] [ 3.19340816e-02 3.93604208e-03 9.99482227e-01 -2.69292327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.173133365 meters Centerline goodness : 0.093142 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99481698e-01 -1.56593698e-03 -3.21540572e-02 -1.96568484e+00] [ 1.43520951e-03 9.99990613e-01 -4.08833754e-03 -6.92573548e-03] [ 3.21601575e-02 4.04007074e-03 9.99474563e-01 -2.69786955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.203133365 meters Centerline goodness : 0.132983 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99483381e-01 -1.65761011e-03 -3.20970868e-02 -1.96567430e+00] [ 1.51842238e-03 9.99989341e-01 -4.36034927e-03 -5.44988086e-03] [ 3.21039725e-02 4.30935969e-03 9.99475245e-01 -2.69971416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23313336499996 meters Centerline goodness : 0.091978 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.00, Z:-0.27 [[ 9.99485692e-01 -1.78077333e-03 -3.20184244e-02 -1.96590853e+00] [ 1.63055245e-03 9.99987545e-01 -4.71719985e-03 -3.67900065e-03] [ 3.20264259e-02 4.66256603e-03 9.99476147e-01 -2.69817789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.263133365 meters Centerline goodness : 0.106899 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.00, Z:-0.27 [[ 9.99485507e-01 -1.91249378e-03 -3.20166127e-02 -1.96607868e+00] [ 1.73953531e-03 9.99983749e-01 -5.42913033e-03 5.08939378e-04] [ 3.20264756e-02 5.37064305e-03 9.99472591e-01 -2.69392086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29313336499996 meters SLAMing on 289.323133365 meters Centerline goodness : 0.101467 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.00, Z:-0.27 [[ 9.99483653e-01 1.94398835e-03 -3.20725342e-02 -1.96604531e+00] [-2.01069627e-03 9.99995882e-01 -2.04778689e-03 3.01681314e-03] [ 3.20684212e-02 2.11121765e-03 9.99483446e-01 -2.69268625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35313336499996 meters Centerline goodness : 0.093395 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.01, Z:-0.27 [[ 9.99487038e-01 1.79993913e-03 -3.19753083e-02 -1.96632675e+00] [-1.88528748e-03 9.99994740e-01 -2.63924695e-03 6.15858444e-03] [ 3.19703896e-02 2.69817576e-03 9.99485174e-01 -2.69034560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.383133365 meters Centerline goodness : 0.104702 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.01, Z:-0.27 [[ 9.99491829e-01 1.67007315e-03 -3.18322810e-02 -1.96677697e+00] [-1.76877347e-03 9.99993715e-01 -3.07272900e-03 8.26039608e-03] [ 3.18269492e-02 3.12747162e-03 9.99488501e-01 -2.68782891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41313336499996 meters Centerline goodness : 0.105972 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.01, Z:-0.27 [[ 9.99497660e-01 1.53223647e-03 -3.16556525e-02 -1.96730646e+00] [-1.64677401e-03 9.99992191e-01 -3.59247920e-03 1.09221370e-02] [ 3.16499008e-02 3.64280426e-03 9.99492378e-01 -2.68484881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.443133365 meters Centerline goodness : 0.104831 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.01, Z:-0.27 [[ 9.99497763e-01 1.47475646e-03 -3.16551361e-02 -1.96751735e+00] [-1.60550904e-03 9.99990284e-01 -4.10551275e-03 1.39478219e-02] [ 3.16487739e-02 4.15427342e-03 9.99490419e-01 -2.68051470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47313336499997 meters Centerline goodness : 0.140821 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.02, Z:-0.27 [[ 9.99483064e-01 5.13546427e-03 -3.17369002e-02 -1.96738771e+00] [-5.17850122e-03 9.99985780e-01 -1.27400655e-03 1.93145499e-02] [ 3.17299063e-02 1.43769755e-03 9.99495446e-01 -2.67853761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.503133365 meters Centerline goodness : 0.107227 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.02, Z:-0.27 [[ 9.99480616e-01 5.02205579e-03 -3.18320263e-02 -1.96713252e+00] [-5.08163089e-03 9.99985485e-01 -1.79092202e-03 2.23110756e-02] [ 3.18225701e-02 1.95175045e-03 9.99491628e-01 -2.67807107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53313336499997 meters Centerline goodness : 0.105469 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.03, Z:-0.27 [[ 0.999483 0.0048671 -0.03178124 -1.96718949] [-0.00494303 0.99998511 -0.00231097 0.02513717] [ 0.03176952 0.00246688 0.99949218 -0.26787777] [ 0. 0. 0. 1. ]] SLAMing on 289.563133365 meters Centerline goodness : 0.100770 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:-0.27 [[ 9.99478874e-01 -2.64797513e-03 -3.21709164e-02 -1.94900553e+00] [ 2.60616274e-03 9.99995704e-01 -1.34155803e-03 3.19100804e-02] [ 3.21743306e-02 1.25701626e-03 9.99481482e-01 -2.65302578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59313336499997 meters Centerline goodness : 0.104392 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:-0.26 [[ 9.99486762e-01 -2.79652962e-03 -3.19122613e-02 -1.94985751e+00] [ 2.74348815e-03 9.99994782e-01 -1.70576879e-03 3.37066989e-02] [ 3.19168650e-02 1.61734241e-03 9.99489219e-01 -2.64957933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.623133365 meters Centerline goodness : 0.098496 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.04, Z:-0.27 [[ 0.99949915 -0.00316148 -0.03148738 -1.95084448] [ 0.00309396 0.99999281 -0.00219297 0.03545118] [ 0.03149409 0.00209445 0.99950174 -0.2650127 ] [ 0. 0. 0. 1. ]] SLAMing on 289.653133365 meters Centerline goodness : 0.121767 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.04, Z:-0.27 [[ 0.99949088 -0.00324871 -0.03173995 -1.94999878] [ 0.00317991 0.99999248 -0.00221777 0.03542272] [ 0.03174692 0.00211571 0.9994937 -0.26544676] [ 0. 0. 0. 1. ]] SLAMing on 289.683133365 meters Centerline goodness : 0.109307 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.04, Z:-0.27 [[ 0.99947764 -0.00326894 -0.03215202 -1.94878235] [ 0.00320179 0.99999259 -0.00213955 0.03515727] [ 0.03215878 0.00203549 0.9994807 -0.26591622] [ 0. 0. 0. 1. ]] SLAMing on 289.713133365 meters Centerline goodness : 0.104859 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:-0.27 [[ 0.99947149 -0.00326723 -0.03234288 -1.94807228] [ 0.00320243 0.99999276 -0.00205505 0.0349041 ] [ 0.03234936 0.00195039 0.99947472 -0.26636782] [ 0. 0. 0. 1. ]] SLAMing on 289.743133365 meters Centerline goodness : 0.109353 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:-0.27 [[ 0.99946754 -0.00349623 -0.03244085 -1.9477364 ] [ 0.00342888 0.99999185 -0.00213129 0.0345806 ] [ 0.03244804 0.00201892 0.99947138 -0.26659744] [ 0. 0. 0. 1. ]] SLAMing on 289.773133365 meters Centerline goodness : 0.107745 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:-0.27 [[ 0.99946321 -0.00354258 -0.03256907 -1.94741512] [ 0.00347725 0.99999183 -0.00206224 0.03389549] [ 0.03257611 0.00194789 0.99946736 -0.26668379] [ 0. 0. 0. 1. ]] SLAMing on 289.803133365 meters Centerline goodness : 0.106136 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.03, Z:-0.27 [[ 0.99944147 0.00450683 -0.03311247 -1.96716146] [-0.00461658 0.9999841 -0.00323896 0.03010163] [ 0.03309735 0.00339001 0.99944638 -0.26860308] [ 0. 0. 0. 1. ]] SLAMing on 289.833133365 meters Centerline goodness : 0.105648 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.03, Z:-0.27 [[ 0.99943779 0.00446995 -0.03322821 -1.96709077] [-0.00457855 0.99998442 -0.00319268 0.02953865] [ 0.03321342 0.00334303 0.99944269 -0.26835148] [ 0. 0. 0. 1. ]] SLAMing on 289.863133365 meters Centerline goodness : 0.109476 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.03, Z:-0.27 [[ 0.99943994 0.00446421 -0.03316437 -1.96753602] [-0.00457133 0.99998457 -0.00315484 0.02919611] [ 0.03314977 0.00330468 0.99944493 -0.26798257] [ 0. 0. 0. 1. ]] SLAMing on 289.893133365 meters Centerline goodness : 0.108829 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.03, Z:-0.27 [[ 9.99518479e-01 -1.27872443e-03 -3.10028285e-02 -1.99133961e+00] [ 1.25754889e-03 9.99998963e-01 -7.02508577e-04 3.45820973e-02] [ 3.10036947e-02 6.63182732e-04 9.99519050e-01 -2.67827865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.923133365 meters Centerline goodness : 0.116218 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.04, Z:-0.27 [[ 9.99522484e-01 -1.31235460e-03 -3.08720200e-02 -1.99183746e+00] [ 1.28543436e-03 9.99998776e-01 -8.91825606e-04 3.56654916e-02] [ 3.08731526e-02 8.51715790e-04 9.99522948e-01 -2.67471457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.953133365 meters Centerline goodness : 0.106508 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.04, Z:-0.27 [[ 9.99520747e-01 -1.37791342e-03 -3.09253666e-02 -1.99171124e+00] [ 1.34328698e-03 9.99998448e-01 -1.14042556e-03 3.69228195e-02] [ 3.09268900e-02 1.09833736e-03 9.99521046e-01 -2.67470846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98313336499996 meters Centerline goodness : 0.106521 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.04, Z:-0.27 [[ 9.99512919e-01 -1.46783471e-03 -3.11732444e-02 -1.99098337e+00] [ 1.42406698e-03 9.99997969e-01 -1.42617111e-03 3.83775302e-02] [ 3.11752745e-02 1.38108366e-03 9.99512979e-01 -2.67674200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.013133365 meters Centerline goodness : 0.104703 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.04, Z:-0.27 [[ 9.99466767e-01 2.92946379e-04 -3.26511322e-02 -1.98545009e+00] [-2.95064981e-04 9.99999955e-01 -6.00676521e-05 4.17766011e-02] [ 3.26511131e-02 6.96698277e-05 9.99466808e-01 -2.69913728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04313336499996 meters Centerline goodness : 0.107507 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.04, Z:-0.27 [[ 9.99464378e-01 1.63454795e-04 -3.27250675e-02 -1.98519611e+00] [-1.78439447e-04 9.99999881e-01 -4.54975250e-04 4.38399104e-02] [ 3.27249893e-02 4.60570998e-04 9.99464288e-01 -2.70007362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.073133365 meters Centerline goodness : 0.109410 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.05, Z:-0.27 [[ 9.99463656e-01 -2.13559911e-05 -3.27475195e-02 -1.98517067e+00] [-7.43880234e-06 9.99999613e-01 -8.79174847e-04 4.58094362e-02] [ 3.27475256e-02 8.78946909e-04 9.99463269e-01 -2.69939939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10313336499996 meters Centerline goodness : 0.109184 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.05, Z:-0.27 [[ 9.99464998e-01 -1.52101263e-04 -3.27061756e-02 -1.98542233e+00] [ 1.12951102e-04 9.99999275e-01 -1.19887083e-03 4.73992457e-02] [ 3.27063342e-02 1.19453523e-03 9.99464291e-01 -2.69703067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.133133365 meters Centerline goodness : 0.131362 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.05, Z:-0.27 [[ 9.99466838e-01 -2.68156456e-04 -3.26491581e-02 -1.98568491e+00] [ 2.18974446e-04 9.99998836e-01 -1.50994542e-03 4.90552465e-02] [ 3.26495250e-02 1.50199105e-03 9.99465734e-01 -2.69467020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16313336499996 meters Centerline goodness : 0.106395 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.05, Z:-0.27 [[ 9.99469620e-01 -3.69302009e-04 -3.25628922e-02 -1.98584093e+00] [ 3.10635984e-04 9.99998320e-01 -1.80666261e-03 5.07322465e-02] [ 3.25635047e-02 1.79558919e-03 9.99468056e-01 -2.69523400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.193133365 meters Centerline goodness : 0.088316 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.05, Z:-0.27 [[ 9.99472699e-01 -6.32418485e-04 -3.24642080e-02 -1.98606973e+00] [ 5.50607643e-04 9.99996651e-01 -2.52890999e-03 5.47816016e-02] [ 3.24656986e-02 2.50970145e-03 9.99469699e-01 -2.69450945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22313336499997 meters Centerline goodness : 0.106764 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.06, Z:-0.27 [[ 9.99472320e-01 -7.84456527e-04 -3.24725300e-02 -1.98599125e+00] [ 6.88027094e-04 9.99995321e-01 -2.98063689e-03 5.71449286e-02] [ 3.24747162e-02 2.95672209e-03 9.99468184e-01 -2.69499514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.253133365 meters Centerline goodness : 0.127568 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.06, Z:-0.27 [[ 9.99465040e-01 -9.35040070e-04 -3.26918899e-02 -1.98535391e+00] [ 8.23990954e-04 9.99993846e-01 -3.41014743e-03 5.94031631e-02] [ 3.26948773e-02 3.38138531e-03 9.99459660e-01 -2.69643909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28313336499997 meters Centerline goodness : 0.082382 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.06, Z:-0.27 [[ 9.99457242e-01 -1.06549505e-03 -3.29254620e-02 -1.98461804e+00] [ 9.40091692e-04 9.99992247e-01 -3.82395047e-03 6.17372238e-02] [ 3.29292812e-02 3.79092204e-03 9.99450495e-01 -2.69880808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.313133365 meters Centerline goodness : 0.075665 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.07, Z:-0.27 [[ 9.99473982e-01 2.13339102e-04 -3.24301237e-02 -1.98594387e+00] [-3.20770509e-04 9.99994479e-01 -3.30753763e-03 6.92025453e-02] [ 3.24292390e-02 3.31620044e-03 9.99468532e-01 -2.69471714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34313336499997 meters Centerline goodness : 0.118335 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.07, Z:-0.27 [[ 9.99477932e-01 1.93162550e-05 -3.23088744e-02 -1.98643036e+00] [-1.46242498e-04 9.99992282e-01 -3.92616721e-03 7.23504203e-02] [ 3.23085492e-02 3.92884241e-03 9.99470221e-01 -2.69070180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.373133365 meters Centerline goodness : 0.138091 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.08, Z:-0.27 [[ 9.99478902e-01 -1.35979844e-04 -3.22785758e-02 -1.98668862e+00] [-1.20015551e-05 9.99989492e-01 -4.58427031e-03 7.59017411e-02] [ 3.22788600e-02 4.58226885e-03 9.99468398e-01 -2.68697400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.403133365 meters SLAMing on 290.433133365 meters Centerline goodness : 0.286533 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.08, Z:-0.27 [[ 0.99946798 0.00337461 -0.03244026 -1.98628073] [-0.00344365 0.99999192 -0.00207283 0.08260224] [ 0.032433 0.00218344 0.99947153 -0.26867169] [ 0. 0. 0. 1. ]] SLAMing on 290.463133365 meters Centerline goodness : 0.111279 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.09, Z:-0.27 [[ 9.99451823e-01 6.96995355e-03 -3.23647059e-02 -1.98633493e+00] [-6.95348314e-03 9.99975631e-01 6.21426940e-04 8.85201791e-02] [ 3.23682485e-02 -3.96038851e-04 9.99475932e-01 -2.68660419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.493133365 meters Centerline goodness : 0.148494 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.09, Z:-0.27 [[ 9.99453381e-01 6.76671875e-03 -3.23596987e-02 -1.98658043e+00] [-6.76896607e-03 9.99977089e-01 4.01024439e-05 9.13956184e-02] [ 3.23592287e-02 1.78961179e-04 9.99476287e-01 -2.68290870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.523133365 meters Centerline goodness : 0.119821 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.09, Z:-0.27 [[ 9.99456548e-01 6.58195469e-03 -3.22999588e-02 -1.98691266e+00] [-6.59821779e-03 9.99978153e-01 -3.96938165e-04 9.33094881e-02] [ 3.22966405e-02 6.09844611e-04 9.99478141e-01 -2.67993375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.553133365 meters Centerline goodness : 0.123683 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.09, Z:-0.27 [[ 9.99458331e-01 6.39497977e-03 -3.22823274e-02 -1.98712219e+00] [-6.42344416e-03 9.99979067e-01 -7.78100050e-04 9.48079210e-02] [ 3.22766757e-02 9.85042305e-04 9.99478487e-01 -2.67723197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.583133365 meters SLAMing on 290.613133365 meters Centerline goodness : 0.088322 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.10, Z:-0.27 [[ 9.99459835e-01 6.23127425e-03 -3.22677806e-02 -1.98731696e+00] [-6.27355432e-03 9.99979590e-01 -1.20920905e-03 9.68965628e-02] [ 3.22595871e-02 1.41098955e-03 9.99478528e-01 -2.67482787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.643133365 meters Centerline goodness : 0.137983 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.10, Z:-0.27 [[ 9.99504844e-01 -9.74483516e-05 -3.14651608e-02 -2.00611233e+00] [ 1.14903547e-04 9.99999841e-01 5.52939044e-04 1.04602364e-01] [ 3.14651019e-02 -5.56280711e-04 9.99504696e-01 -2.70002431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.673133365 meters Centerline goodness : 0.111993 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.11, Z:-0.27 [[ 9.99502540e-01 -9.95471408e-05 -3.15382636e-02 -2.00601797e+00] [ 1.11119931e-04 9.99999927e-01 3.65191951e-04 1.05764219e-01] [ 3.15382249e-02 -3.68514813e-04 9.99502479e-01 -2.69886276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.703133365 meters Centerline goodness : 0.111993 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.11, Z:-0.27 [[ 9.99502540e-01 -9.95471408e-05 -3.15382636e-02 -2.00601797e+00] [ 1.11119931e-04 9.99999927e-01 3.65191951e-04 1.05764219e-01] [ 3.15382249e-02 -3.68514813e-04 9.99502479e-01 -2.69886276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73313336499996 meters Centerline goodness : 0.111172 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.11, Z:-0.27 [[ 9.99427340e-01 6.54365821e-04 -3.38313947e-02 -2.05064765e+00] [-6.59025418e-04 9.99999775e-01 -1.26579064e-04 1.10091181e-01] [ 3.38313042e-02 1.48802326e-04 9.99427547e-01 -2.70389692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.763133365 meters Centerline goodness : 0.136034 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.11, Z:-0.27 [[ 9.99413826e-01 6.25411791e-04 -3.42288443e-02 -2.04972177e+00] [-6.39844990e-04 9.99999711e-01 -4.10715568e-04 1.11678836e-01] [ 3.42285776e-02 4.32375972e-04 9.99413937e-01 -2.70407237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79313336499996 meters Centerline goodness : 0.113341 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.11, Z:-0.27 [[ 9.99393611e-01 7.78538832e-04 -3.48109746e-02 -2.04825039e+00] [-7.99136328e-04 9.99999514e-01 -5.77785820e-04 1.13442352e-01] [ 3.48105079e-02 6.05254172e-04 9.99393747e-01 -2.70601454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.823133365 meters Centerline goodness : 0.112076 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.12, Z:-0.27 [[ 9.99376292e-01 1.05129339e-03 -3.52976246e-02 -2.04698326e+00] [-1.07633478e-03 9.99999182e-01 -6.90440919e-04 1.15525762e-01] [ 3.52968699e-02 7.28002346e-04 9.99376606e-01 -2.70768824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85313336499996 meters Centerline goodness : 0.116131 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.12, Z:-0.27 [[ 9.99383579e-01 4.29093073e-03 -3.48432167e-02 -2.04857116e+00] [-4.24786990e-03 9.99990120e-01 1.30977894e-03 1.22851698e-01] [ 3.48484927e-02 -1.16096211e-03 9.99391932e-01 -2.70433776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.883133365 meters Centerline goodness : 0.115396 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.13, Z:-0.27 [[ 9.99398476e-01 4.46855442e-03 -3.43906792e-02 -2.04995013e+00] [-4.44276612e-03 9.99989790e-01 8.26244523e-04 1.26321805e-01] [ 3.43940202e-02 -6.72957772e-04 9.99408124e-01 -2.70134849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91313336499996 meters Centerline goodness : 0.128447 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.13, Z:-0.27 [[ 9.99410476e-01 4.72990316e-03 -3.40048220e-02 -2.05124422e+00] [-4.71742385e-03 9.99988773e-01 4.47208449e-04 1.29581120e-01] [ 3.40065555e-02 -2.86529651e-04 9.99421569e-01 -2.69789648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.943133365 meters Centerline goodness : 0.136040 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.13, Z:-0.27 [[ 9.99406593e-01 4.98691693e-03 -3.40821359e-02 -2.05131680e+00] [-4.98423379e-03 9.99987565e-01 1.63687233e-04 1.32353982e-01] [ 3.40825284e-02 6.28323333e-06 9.99419022e-01 -2.69657991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97313336499997 meters Centerline goodness : 0.132548 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.14, Z:-0.27 [[ 9.99368375e-01 7.98734902e-03 -3.46273499e-02 -2.04912615e+00] [-7.92188970e-03 9.99966567e-01 2.02718179e-03 1.39421866e-01] [ 3.46423840e-02 -1.75158733e-03 9.99398238e-01 -2.71158729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.003133365 meters Centerline goodness : 0.135979 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.14, Z:-0.27 [[ 9.99367619e-01 7.81436383e-03 -3.46885928e-02 -2.04892024e+00] [-7.76327827e-03 9.99968574e-01 1.60713750e-03 1.41040784e-01] [ 3.47000615e-02 -1.33682398e-03 9.99396877e-01 -2.71387605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03313336499997 meters Centerline goodness : 0.144169 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.14, Z:-0.27 [[ 9.99369338e-01 7.67563308e-03 -3.46700336e-02 -2.04903735e+00] [-7.63387807e-03 9.99969968e-01 1.33656925e-03 1.42156318e-01] [ 3.46792514e-02 -1.07105951e-03 9.99397920e-01 -2.71302271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.063133365 meters Centerline goodness : 0.131146 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.15, Z:-0.27 [[ 9.99411024e-01 -8.48449679e-04 -3.43057586e-02 -2.02957846e+00] [ 9.18037604e-04 9.99997553e-01 2.01276118e-03 1.47040227e-01] [ 3.43039669e-02 -2.04306969e-03 9.99409357e-01 -2.69582394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09313336499997 meters Centerline goodness : 0.112013 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.15, Z:-0.27 [[ 9.99405585e-01 -9.02862207e-04 -3.44624717e-02 -2.02936713e+00] [ 9.69251320e-04 9.99997707e-01 1.90975989e-03 1.47507474e-01] [ 3.44606684e-02 -1.94202750e-03 9.99404168e-01 -2.69335605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.123133365 meters Centerline goodness : 0.140700 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.15, Z:-0.27 [[ 9.99401001e-01 -9.74730345e-04 -3.45931801e-02 -2.02905324e+00] [ 1.03674485e-03 9.99997888e-01 1.77478788e-03 1.48071748e-01] [ 3.45913771e-02 -1.80958908e-03 9.99399901e-01 -2.69322416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.153133365 meters Centerline goodness : 0.137580 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.15, Z:-0.27 [[ 9.99406882e-01 -1.02293151e-03 -3.44214828e-02 -2.02972621e+00] [ 1.07572931e-03 9.99998273e-01 1.51537746e-03 1.49610570e-01] [ 3.44198732e-02 -1.55150686e-03 9.99406256e-01 -2.68909886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.183133365 meters Centerline goodness : 0.130022 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.15, Z:-0.27 [[ 9.99411806e-01 -1.04364812e-03 -3.42775781e-02 -2.03031555e+00] [ 1.08986726e-03 9.99998522e-01 1.32972152e-03 1.50675707e-01] [ 3.42761396e-02 -1.36629739e-03 9.99411467e-01 -2.68534228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.213133365 meters Centerline goodness : 0.115114 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.15, Z:-0.27 [[ 9.99413895e-01 6.75340810e-03 -3.35597682e-02 -2.01105120e+00] [-6.75432750e-03 9.99977186e-01 8.59740928e-05 1.48417910e-01] [ 3.35595832e-02 1.40749962e-04 9.99436709e-01 -2.66662759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.243133365 meters Centerline goodness : 0.151297 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.15, Z:-0.27 [[ 9.99409934e-01 6.65216662e-03 -3.36976587e-02 -2.01057480e+00] [-6.66496249e-03 9.99977753e-01 -2.67410133e-04 1.50013383e-01] [ 3.36951302e-02 4.91845974e-04 9.99432037e-01 -2.66902096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.273133365 meters Centerline goodness : 0.137196 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.15, Z:-0.27 [[ 9.99403177e-01 6.52567883e-03 -3.39220546e-02 -2.00992238e+00] [-6.55081138e-03 9.99978345e-01 -6.29802088e-04 1.51526328e-01] [ 3.39172101e-02 8.51643189e-04 9.99424283e-01 -2.67179398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.303133365 meters Centerline goodness : 0.140721 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.15, Z:-0.27 [[ 9.99400779e-01 6.50275794e-03 -3.39970076e-02 -2.01001057e+00] [-6.53870967e-03 9.99978175e-01 -9.46422302e-04 1.53231876e-01] [ 3.39901112e-02 1.16815175e-03 9.99421487e-01 -2.66857637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.333133365 meters Centerline goodness : 0.118610 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.27 [[ 9.99453733e-01 -1.73547623e-03 -3.30033796e-02 -1.99159126e+00] [ 1.73614036e-03 9.99998493e-01 -8.53399018e-06 1.57472502e-01] [ 3.30033447e-02 -4.87691709e-05 9.99455240e-01 -2.65003750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.363133365 meters Centerline goodness : 0.140903 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.26 [[ 9.99459018e-01 -1.81213755e-03 -3.28388190e-02 -1.99240507e+00] [ 1.80724853e-03 9.99998351e-01 -1.78560768e-04 1.58164911e-01] [ 3.28390884e-02 1.19116263e-04 9.99460645e-01 -2.64367647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.393133365 meters Centerline goodness : 0.127176 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.26 [[ 9.99464178e-01 -1.85080900e-03 -3.26792332e-02 -1.99299814e+00] [ 1.84246261e-03 9.99998262e-01 -2.85514988e-04 1.58516386e-01] [ 3.26797048e-02 2.25151738e-04 9.99465850e-01 -2.64064094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.423133365 meters Centerline goodness : 0.100368 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.26 [[ 9.99461224e-01 -1.83334031e-03 -3.27704264e-02 -1.99284152e+00] [ 1.81601787e-03 9.99998195e-01 -5.58355704e-04 1.59945988e-01] [ 3.27713909e-02 4.98543195e-04 9.99462749e-01 -2.64046298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.453133365 meters Centerline goodness : 0.122294 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.26 [[ 9.99454783e-01 -1.84367288e-03 -3.29657018e-02 -1.99216676e+00] [ 1.81829426e-03 9.99998027e-01 -7.99811410e-04 1.61116001e-01] [ 3.29671113e-02 7.39433993e-04 9.99456164e-01 -2.64399270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48313336499996 meters Centerline goodness : 0.140583 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.26 [[ 9.99448709e-01 -1.87409688e-03 -3.31476287e-02 -1.99152099e+00] [ 1.84191560e-03 9.99997802e-01 -1.00135640e-03 1.62172725e-01] [ 3.31494325e-02 9.39749223e-04 9.99449965e-01 -2.64772052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.513133365 meters Centerline goodness : 0.117652 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.26 [[ 9.99442495e-01 -1.84188631e-03 -3.33362677e-02 -1.99113743e+00] [ 1.80422696e-03 9.99997700e-01 -1.15972730e-03 1.63030055e-01] [ 3.33383272e-02 1.09893455e-03 9.99443519e-01 -2.64729767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54313336499996 meters Centerline goodness : 0.126345 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.26 [[ 9.99443256e-01 -1.90454533e-03 -3.33099250e-02 -1.99137236e+00] [ 1.85936644e-03 9.99997309e-01 -1.38724272e-03 1.64251223e-01] [ 3.33124774e-02 1.32453503e-03 9.99444108e-01 -2.64519327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.573133365 meters Centerline goodness : 0.123420 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.17, Z:-0.26 [[ 9.99444990e-01 -1.92430775e-03 -3.32567238e-02 -1.99162991e+00] [ 1.87354967e-03 9.99997032e-01 -1.55734546e-03 1.65293497e-01] [ 3.32596220e-02 1.49417299e-03 9.99445629e-01 -2.64381827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60313336499996 meters Centerline goodness : 0.133257 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.17, Z:-0.26 [[ 9.99438779e-01 -1.84626725e-03 -3.34472372e-02 -1.99093582e+00] [ 1.78878852e-03 9.99996872e-01 -1.74833159e-03 1.66977896e-01] [ 3.34503604e-02 1.68752036e-03 9.99438955e-01 -2.64835154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.633133365 meters Centerline goodness : 0.119163 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.16, Z:-0.27 [[ 0.99940333 0.0065791 -0.03390734 -2.01012859] [-0.00668329 0.99997328 -0.00296038 0.16299593] [ 0.03388696 0.00318523 0.9994206 -0.26687052] [ 0. 0. 0. 1. ]] SLAMing on 291.66313336499996 meters Centerline goodness : 0.115056 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.16, Z:-0.27 [[ 0.99940105 0.00651061 -0.03398763 -2.00998124] [-0.00662012 0.99997325 -0.00311062 0.16356832] [ 0.03396647 0.00333376 0.99941741 -0.26683429] [ 0. 0. 0. 1. ]] SLAMing on 291.693133365 meters Centerline goodness : 0.130297 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.16, Z:-0.27 [[ 0.9994029 0.00646933 -0.03394097 -2.01022323] [-0.00658216 0.99997317 -0.0032138 0.16408783] [ 0.03391927 0.00343528 0.99941867 -0.26669093] [ 0. 0. 0. 1. ]] SLAMing on 291.72313336499997 meters Centerline goodness : 0.147097 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.16, Z:-0.27 [[ 0.99940702 0.00646586 -0.03382022 -2.01072598] [-0.00657932 0.99997309 -0.00324472 0.16431386] [ 0.03379833 0.00346531 0.99942267 -0.26641089] [ 0. 0. 0. 1. ]] SLAMing on 291.753133365 meters Centerline goodness : 0.123626 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.16, Z:-0.27 [[ 0.9994078 0.00648096 -0.03379411 -2.01088698] [-0.00659516 0.99997291 -0.00326869 0.16453895] [ 0.03377201 0.00348963 0.99942347 -0.26628931] [ 0. 0. 0. 1. ]] SLAMing on 291.78313336499997 meters Centerline goodness : 0.143516 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.16, Z:-0.27 [[ 0.99939948 0.00652511 -0.03403098 -2.01007458] [-0.00663783 0.99997285 -0.00320044 0.16419136] [ 0.03400918 0.00342441 0.99941565 -0.26670307] [ 0. 0. 0. 1. ]] SLAMing on 291.813133365 meters Centerline goodness : 0.125991 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.16, Z:-0.27 [[ 0.99939388 0.00654629 -0.034191 -2.0095491 ] [-0.00665535 0.99997312 -0.00307701 0.16325225] [ 0.03416993 0.0033027 0.99941058 -0.26694283] [ 0. 0. 0. 1. ]] SLAMing on 291.84313336499997 meters Centerline goodness : 0.125060 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.17, Z:-0.27 [[ 9.99401938e-01 -1.93809785e-03 -3.45254935e-02 -2.03028732e+00] [ 1.84734928e-03 9.99994755e-01 -2.66015728e-03 1.65301166e-01] [ 3.45304681e-02 2.59478570e-03 9.99400277e-01 -2.68028083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.873133365 meters Centerline goodness : 0.133625 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.16, Z:-0.27 [[ 9.99394579e-01 -1.80369753e-03 -3.47451088e-02 -2.02999912e+00] [ 1.72867431e-03 9.99996110e-01 -2.18916504e-03 1.62739248e-01] [ 3.47489222e-02 2.12777669e-03 9.99393809e-01 -2.67625156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.903133365 meters Centerline goodness : 0.131850 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.16, Z:-0.27 [[ 0.99935019 0.0064786 -0.03545735 -2.0486151 ] [-0.00659703 0.99997304 -0.00322414 0.15626755] [ 0.03543551 0.00345596 0.99936599 -0.26936033] [ 0. 0. 0. 1. ]] SLAMing on 291.933133365 meters Centerline goodness : 0.092953 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.16, Z:-0.27 [[ 9.99356734e-01 -1.88569432e-03 -3.58128695e-02 -2.02785929e+00] [ 1.80282678e-03 9.99995623e-01 -2.34605560e-03 1.58809393e-01] [ 3.58171366e-02 2.27998207e-03 9.99355760e-01 -2.68258341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.963133365 meters Centerline goodness : 0.123098 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.15, Z:-0.27 [[ 0.99931481 0.00588884 -0.0365408 -2.04568089] [-0.00603352 0.99997439 -0.00385031 0.15140005] [ 0.03651719 0.00406814 0.99932474 -0.27059971] [ 0. 0. 0. 1. ]] SLAMing on 291.993133365 meters Centerline goodness : 0.103957 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.15, Z:-0.27 [[ 0.99931483 0.00600919 -0.03652069 -2.0457699 ] [-0.0061398 0.99997515 -0.00346515 0.14914527] [ 0.03649896 0.00368701 0.99932689 -0.27053326] [ 0. 0. 0. 1. ]] SLAMing on 292.023133365 meters Centerline goodness : 0.105548 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.14, Z:-0.27 [[ 0.99936682 0.0044459 -0.03530139 -2.05088183] [-0.00460294 0.99997986 -0.00436856 0.14324767] [ 0.03528125 0.00452829 0.99936716 -0.26799063] [ 0. 0. 0. 1. ]] SLAMing on 292.053133365 meters Centerline goodness : 0.107813 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.14, Z:-0.27 [[ 0.99937042 0.00463285 -0.03517517 -2.05151364] [-0.00477237 0.99998107 -0.00388361 0.1406643 ] [ 0.03515651 0.00404903 0.99937362 -0.26751928] [ 0. 0. 0. 1. ]] SLAMing on 292.083133365 meters Centerline goodness : 0.104512 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.14, Z:-0.27 [[ 0.99936985 0.00480235 -0.0351687 -2.05149828] [-0.0049251 0.99998208 -0.00340457 0.13800256] [ 0.03515172 0.00357564 0.99937559 -0.26755076] [ 0. 0. 0. 1. ]] SLAMing on 292.113133365 meters Centerline goodness : 0.261902 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.14, Z:-0.27 [[ 0.99936192 -0.00330821 -0.03556416 -2.0321961 ] [ 0.00322643 0.99999202 -0.00235646 0.13924731] [ 0.03557168 0.00224022 0.99936462 -0.26622698] [ 0. 0. 0. 1. ]] SLAMing on 292.143133365 meters Centerline goodness : 0.216734 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.14, Z:-0.27 [[ 9.99360436e-01 -3.09342014e-03 -3.56251154e-02 -2.03189452e+00] [ 3.02842383e-03 9.99993650e-01 -1.87826868e-03 1.36854643e-01] [ 3.56306995e-02 1.76917946e-03 9.99363459e-01 -2.66481354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.173133365 meters Centerline goodness : 0.152530 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.13, Z:-0.27 [[ 9.99364561e-01 -2.83857742e-03 -3.55304920e-02 -2.03227532e+00] [ 2.79351475e-03 9.99995230e-01 -1.31786061e-03 1.34155152e-01] [ 3.55340634e-02 1.21776824e-03 9.99367724e-01 -2.66223365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.203133365 meters Centerline goodness : 0.123753 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.13, Z:-0.27 [[ 9.99372610e-01 -2.56979766e-03 -3.53239787e-02 -2.03298330e+00] [ 2.54646022e-03 9.99996509e-01 -7.05642196e-04 1.31215534e-01] [ 3.53256687e-02 6.15248376e-04 9.99375664e-01 -2.65871459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23313336499996 meters Centerline goodness : 0.048818 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.12, Z:-0.27 [[ 9.99378524e-01 -1.97295141e-03 -3.51947764e-02 -2.03362212e+00] [ 1.99389090e-03 9.99997855e-01 5.59871992e-04 1.24216300e-01] [ 3.51935963e-02 -6.29698590e-04 9.99380315e-01 -2.65332210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.263133365 meters Centerline goodness : 0.066037 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.12, Z:-0.27 [[ 9.99380414e-01 -1.72884742e-03 -3.51539307e-02 -2.03350654e+00] [ 1.77167010e-03 9.99997726e-01 1.18703383e-03 1.20847809e-01] [ 3.51517986e-02 -1.24857953e-03 9.99381205e-01 -2.65621758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29313336499996 meters Centerline goodness : 0.099145 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.12, Z:-0.27 [[ 9.99381596e-01 -1.50909019e-03 -3.51304468e-02 -2.03324572e+00] [ 1.57178168e-03 9.99997221e-01 1.75698567e-03 1.17684014e-01] [ 3.51276977e-02 -1.81111653e-03 9.99381191e-01 -2.66064987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.323133365 meters Centerline goodness : 0.090794 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.11, Z:-0.27 [[ 9.99377005e-01 -1.25093335e-03 -3.52709148e-02 -2.03268462e+00] [ 1.33514793e-03 9.99996314e-01 2.36419713e-03 1.14556656e-01] [ 3.52678273e-02 -2.40981613e-03 9.99374991e-01 -2.66372310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35313336499996 meters Centerline goodness : 0.049047 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.11, Z:-0.27 [[ 9.99383223e-01 -5.98822777e-04 -3.51114706e-02 -2.03303073e+00] [ 7.27751791e-04 9.99993040e-01 3.65932610e-03 1.08855017e-01] [ 3.51090350e-02 -3.68262155e-03 9.99376703e-01 -2.66335345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.383133365 meters Centerline goodness : 0.100407 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.11, Z:-0.27 [[ 9.99386388e-01 -3.25134567e-04 -3.50248692e-02 -2.03338305e+00] [ 4.71727942e-04 9.99991164e-01 4.17722585e-03 1.06544062e-01] [ 3.50232016e-02 -4.19118487e-03 9.99377711e-01 -2.66087766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41313336499996 meters Centerline goodness : 0.100275 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99388426e-01 -1.57492010e-04 -3.49678432e-02 -2.03367301e+00] [ 3.17233029e-04 9.99989540e-01 4.56272505e-03 1.04593804e-01] [ 3.49667589e-02 -4.57102756e-03 9.99378022e-01 -2.65833739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.443133365 meters Centerline goodness : 0.075273 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99388613e-01 -4.81707401e-05 -3.49628015e-02 -2.03370058e+00] [ 2.18191817e-04 9.99988171e-01 4.85911424e-03 1.02820447e-01] [ 3.49621539e-02 -4.86377204e-03 9.99376802e-01 -2.65829943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47313336499997 meters Centerline goodness : 0.095113 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99382661e-01 5.52608605e-05 -3.51325265e-02 -2.03315030e+00] [ 1.25342957e-04 9.99986790e-01 5.13842089e-03 1.01169601e-01] [ 3.51323463e-02 -5.13965235e-03 9.99369452e-01 -2.66066794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.503133365 meters Centerline goodness : 0.109753 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99372054e-01 1.61379180e-04 -3.54326322e-02 -2.03215603e+00] [ 2.90545979e-05 9.99985560e-01 5.37395025e-03 9.99704154e-02] [ 3.54329878e-02 -5.37160518e-03 9.99357618e-01 -2.66507502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53313336499997 meters Centerline goodness : 0.107485 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99358356e-01 3.06937591e-04 -3.58159375e-02 -2.03046309e+00] [-1.04172633e-04 9.99983959e-01 5.66303411e-03 9.85474142e-02] [ 3.58171012e-02 -5.65566942e-03 9.99342358e-01 -2.67670337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.563133365 meters Centerline goodness : 0.092208 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99356067e-01 2.68319347e-04 -3.58800597e-02 -2.03018030e+00] [-6.70436854e-05 9.99984257e-01 5.61076571e-03 9.85259427e-02] [ 3.58810003e-02 -5.60474722e-03 9.99340353e-01 -2.67922322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59313336499997 meters Centerline goodness : 0.092208 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99356067e-01 2.68319347e-04 -3.58800597e-02 -2.03018030e+00] [-6.70436854e-05 9.99984257e-01 5.61076571e-03 9.85259427e-02] [ 3.58810003e-02 -5.60474722e-03 9.99340353e-01 -2.67922322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.623133365 meters Centerline goodness : 0.109595 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99351668e-01 2.17910319e-04 -3.60027199e-02 -2.02994361e+00] [-1.96466505e-05 9.99984835e-01 5.50717008e-03 9.88317843e-02] [ 3.60033740e-02 -5.50289227e-03 9.99336518e-01 -2.67876865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.653133365 meters Centerline goodness : 0.096026 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99352850e-01 1.86619509e-04 -3.59700896e-02 -2.03002255e+00] [ 8.36519695e-06 9.99985309e-01 5.42051892e-03 9.92363804e-02] [ 3.59705727e-02 -5.41731192e-03 9.99338166e-01 -2.67933128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.683133365 meters Centerline goodness : 0.098620 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99348576e-01 1.55603275e-04 -3.60887732e-02 -2.02970906e+00] [ 3.70710462e-05 9.99985751e-01 5.33816858e-03 9.96655744e-02] [ 3.60890896e-02 -5.33602901e-03 9.99334331e-01 -2.68019065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.713133365 meters SLAMing on 292.743133365 meters Centerline goodness : 0.096162 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99331872e-01 9.15152993e-05 -3.65486268e-02 -2.02852417e+00] [ 9.86216248e-05 9.99986473e-01 5.20046336e-03 1.00360768e-01] [ 3.65486083e-02 -5.20059327e-03 9.99318344e-01 -2.68240836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.773133365 meters Centerline goodness : 0.098571 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99336151e-01 1.04981260e-04 -3.64313806e-02 -2.02904125e+00] [ 8.64450258e-05 9.99986200e-01 5.25281905e-03 1.00061068e-01] [ 3.64314293e-02 -5.25248129e-03 9.99322352e-01 -2.67837592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.803133365 meters Centerline goodness : 0.091697 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99343613e-01 9.56047064e-05 -3.62261643e-02 -2.02999937e+00] [ 9.71071591e-05 9.99985855e-01 5.31789046e-03 9.95945028e-02] [ 3.62261603e-02 -5.31791768e-03 9.99329468e-01 -2.67129219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.833133365 meters Centerline goodness : 0.107533 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.09, Z:-0.27 [[ 0.9993324 0.00786478 -0.0356777 -2.0497853 ] [-0.00771609 0.99996097 0.00430332 0.09293905] [ 0.03571015 -0.00402516 0.99935408 -0.26861256] [ 0. 0. 0. 1. ]] SLAMing on 292.863133365 meters Centerline goodness : 0.111304 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.09, Z:-0.27 [[ 0.99933709 0.00785819 -0.03554744 -2.0502296 ] [-0.00770624 0.99996058 0.00440965 0.09206475] [ 0.03558069 -0.00413279 0.99935826 -0.26838199] [ 0. 0. 0. 1. ]] SLAMing on 292.893133365 meters Centerline goodness : 0.094715 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.09, Z:-0.27 [[ 9.99368489e-01 4.74795229e-03 -3.52147690e-02 -2.05149086e+00] [-4.69554695e-03 9.99987742e-01 1.57071681e-03 9.05686445e-02] [ 3.52217950e-02 -1.40437228e-03 9.99378533e-01 -2.67869273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.923133365 meters Centerline goodness : 0.092374 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.09, Z:-0.27 [[ 9.99366634e-01 4.81308355e-03 -3.52585489e-02 -2.05145622e+00] [-4.75199449e-03 9.99987060e-01 1.81619870e-03 8.91766790e-02] [ 3.52668342e-02 -1.64749995e-03 9.99376574e-01 -2.67760458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.953133365 meters Centerline goodness : 0.108218 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.09, Z:-0.27 [[ 9.99363533e-01 4.88967769e-03 -3.53358133e-02 -2.05125821e+00] [-4.82012262e-03 9.99986275e-01 2.05332222e-03 8.78311338e-02] [ 3.53453684e-02 -1.88169240e-03 9.99373386e-01 -2.67782986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98313336499996 meters Centerline goodness : 0.095791 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.09, Z:-0.27 [[ 0.99936311 0.00496435 -0.03533724 -2.05107923] [-0.0048874 0.99998549 0.00226347 0.08672006] [ 0.03534797 -0.00208932 0.99937288 -0.26802438] [ 0. 0. 0. 1. ]] SLAMing on 293.013133365 meters Centerline goodness : 0.152941 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.09, Z:-0.27 [[ 0.99936204 0.00503954 -0.03535684 -2.05095182] [-0.00495414 0.9999846 0.00250244 0.0854054 ] [ 0.03536891 -0.00232568 0.99937162 -0.26812134] [ 0. 0. 0. 1. ]] SLAMing on 293.04313336499996 meters SLAMing on 293.073133365 meters Centerline goodness : 0.129616 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.09, Z:-0.27 [[ 0.99934713 -0.00284985 -0.03601651 -2.03051471] [ 0.00299177 0.99998797 0.00388735 0.08571905] [ 0.03600499 -0.00399257 0.99934363 -0.26681162] [ 0. 0. 0. 1. ]] SLAMing on 293.10313336499996 meters Centerline goodness : 0.096471 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.08, Z:-0.27 [[ 0.99934185 -0.0027075 -0.0361736 -2.03002433] [ 0.0028626 0.99998693 0.00423664 0.08397562] [ 0.03616166 -0.0043374 0.99933654 -0.26696978] [ 0. 0. 0. 1. ]] SLAMing on 293.133133365 meters Centerline goodness : 0.097093 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.08, Z:-0.27 [[ 0.99935137 0.00471288 -0.0357019 -2.04829975] [-0.0046019 0.99998432 0.00319018 0.07545261] [ 0.03571637 -0.00302381 0.99935739 -0.2693181 ] [ 0. 0. 0. 1. ]] SLAMing on 293.16313336499996 meters Centerline goodness : 0.133745 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.07, Z:-0.27 [[ 9.99394351e-01 2.88073273e-03 -3.46789983e-02 -2.05200195e+00] [-2.82055757e-03 9.99994431e-01 1.78400159e-03 7.18029365e-02] [ 3.46839444e-02 -1.68510700e-03 9.99396910e-01 -2.67944979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.193133365 meters Centerline goodness : 0.095787 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.07, Z:-0.27 [[ 9.99410750e-01 -7.08261218e-04 -3.43169312e-02 -2.05305418e+00] [ 6.76290698e-04 9.99999326e-01 -9.43223849e-04 6.64316410e-02] [ 3.43175761e-02 9.19459833e-04 9.99410556e-01 -2.67547992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22313336499997 meters Centerline goodness : 0.090486 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.06, Z:-0.27 [[ 9.99401253e-01 -6.29284858e-04 -3.45939264e-02 -2.05216117e+00] [ 6.15522390e-04 9.99999727e-01 -4.08477451e-04 6.29965876e-02] [ 3.45941740e-02 3.86939540e-04 9.99401368e-01 -2.67827917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.253133365 meters Centerline goodness : 0.189062 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.06, Z:-0.27 [[ 9.99387837e-01 -5.09347275e-04 -3.49812958e-02 -2.05086416e+00] [ 5.15088860e-04 9.99999855e-01 1.55121199e-04 5.95194707e-02] [ 3.49812117e-02 -1.73044715e-04 9.99387955e-01 -2.68355196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28313336499997 meters Centerline goodness : 0.094816 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.06, Z:-0.27 [[ 9.99380170e-01 -3.56096419e-04 -3.52015555e-02 -2.05002339e+00] [ 3.82100149e-04 9.99999659e-01 7.31985094e-04 5.60129439e-02] [ 3.52012829e-02 -7.44981907e-04 9.99379965e-01 -2.68764546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.313133365 meters Centerline goodness : 0.091606 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.05, Z:-0.27 [[ 9.99374936e-01 -1.31943986e-04 -3.53513756e-02 -2.04965208e+00] [ 1.81322075e-04 9.99999013e-01 1.39357750e-03 5.23301565e-02] [ 3.53511568e-02 -1.39911641e-03 9.99373973e-01 -2.68746074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34313336499997 meters Centerline goodness : 0.125059 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.04, Z:-0.27 [[ 9.99414728e-01 -1.18671975e-03 -3.41876110e-02 -2.05371265e+00] [ 1.23084952e-03 9.99998436e-01 1.26979466e-03 4.39633938e-02] [ 3.41860506e-02 -1.31113129e-03 9.99414626e-01 -2.66933399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.373133365 meters Centerline goodness : 0.172544 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.04, Z:-0.27 [[ 9.99414337e-01 -9.70399146e-04 -3.42058612e-02 -2.05377581e+00] [ 1.03542767e-03 9.99997690e-01 1.88343012e-03 4.04739795e-02] [ 3.42039545e-02 -1.91774476e-03 9.99413034e-01 -2.66718264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.403133365 meters Centerline goodness : 0.099136 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.03, Z:-0.27 [[ 9.99399197e-01 5.02923982e-03 -3.42921395e-02 -2.07471373e+00] [-5.05216479e-03 9.99987068e-01 -5.81901668e-04 3.30039118e-02] [ 3.42887696e-02 7.54801600e-04 9.99411682e-01 -2.68055669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.433133365 meters Centerline goodness : 0.063578 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.03, Z:-0.27 [[ 9.99393949e-01 5.25052336e-03 -3.44117370e-02 -2.07420768e+00] [-5.25389922e-03 9.99986198e-01 -7.67733286e-06 2.99534690e-02] [ 3.44112217e-02 1.88468478e-04 9.99407741e-01 -2.68381100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.463133365 meters Centerline goodness : 0.106016 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.03, Z:-0.27 [[ 9.99426608e-01 -2.38140855e-03 -3.37755067e-02 -2.05472420e+00] [ 2.43010104e-03 9.99996066e-01 1.40067357e-03 3.09314208e-02] [ 3.37720382e-02 -1.48194833e-03 9.99428463e-01 -2.67107621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.493133365 meters Centerline goodness : 0.151952 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.03, Z:-0.27 [[ 9.99432772e-01 -2.12802601e-03 -3.36096016e-02 -2.05517969e+00] [ 2.19437046e-03 9.99995716e-01 1.93720994e-03 2.85177373e-02] [ 3.36053352e-02 -2.00986301e-03 9.99433160e-01 -2.66934624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.523133365 meters Centerline goodness : 0.104520 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99454474e-01 6.02161088e-03 -3.24729693e-02 -2.03703080e+00] [-5.99706144e-03 9.99981653e-01 8.53340951e-04 2.02159054e-02] [ 3.24775120e-02 -6.58133040e-04 9.99472250e-01 -2.64355349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.553133365 meters Centerline goodness : 0.105794 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99454354e-01 6.12074198e-03 -3.24581441e-02 -2.03728878e+00] [-6.08931311e-03 9.99980891e-01 1.06705173e-03 1.89697568e-02] [ 3.24640550e-02 -8.68821699e-04 9.99472526e-01 -2.64015704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.583133365 meters Centerline goodness : 0.107077 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99452533e-01 6.27945081e-03 -3.24838809e-02 -2.03729720e+00] [-6.24096478e-03 9.99979698e-01 1.28603090e-03 1.80786346e-02] [ 3.24912970e-02 -1.08259608e-03 9.99471432e-01 -2.63965224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.613133365 meters Centerline goodness : 0.105475 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99447033e-01 6.43288252e-03 -3.26227976e-02 -2.03685339e+00] [-6.38896269e-03 9.99978539e-01 1.45035576e-03 1.76176204e-02] [ 3.26314274e-02 -1.24112792e-03 9.99466683e-01 -2.64175371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.643133365 meters Centerline goodness : 0.110109 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99445095e-01 6.58661397e-03 -3.26514627e-02 -2.03652655e+00] [-6.53703524e-03 9.99977313e-01 1.62494224e-03 1.71303011e-02] [ 3.26614248e-02 -1.41059679e-03 9.99465478e-01 -2.64589504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.673133365 meters Centerline goodness : 0.105796 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99442806e-01 6.68468326e-03 -3.27015799e-02 -2.03623977e+00] [-6.63156231e-03 9.99976510e-01 1.73260734e-03 1.67429847e-02] [ 3.27123936e-02 -1.51477938e-03 9.99463659e-01 -2.64867834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.703133365 meters Centerline goodness : 0.121347 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.27 [[ 9.99444335e-01 6.89568936e-03 -3.26109015e-02 -2.03639060e+00] [-6.84084525e-03 9.99974994e-01 1.79304728e-03 1.66145028e-02] [ 3.26224503e-02 -1.56896481e-03 9.99466515e-01 -2.65019849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73313336499996 meters Centerline goodness : 0.086825 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99448591e-01 6.89988242e-03 -3.24793077e-02 -2.03680568e+00] [-6.84921750e-03 9.99975148e-01 1.67091488e-03 1.72318686e-02] [ 3.24900297e-02 -1.44753568e-03 9.99471011e-01 -2.64916354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.763133365 meters Centerline goodness : 0.123548 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99453887e-01 6.93023724e-03 -3.23094257e-02 -2.03731273e+00] [-6.88492447e-03 9.99975153e-01 1.51350638e-03 1.83874963e-02] [ 3.23191119e-02 -1.29023187e-03 9.99476768e-01 -2.64813054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79313336499996 meters Centerline goodness : 0.135966 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.03, Z:-0.26 [[ 9.99454244e-01 5.22598535e-04 -3.30293977e-02 -2.02110483e+00] [-4.32746546e-04 9.99996187e-01 2.72745422e-03 2.53279327e-02] [ 3.30306971e-02 -2.71167234e-03 9.99450659e-01 -2.62084957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.823133365 meters Centerline goodness : 0.119957 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99401845e-01 9.09034962e-03 -3.33664128e-02 -2.04196851e+00] [-9.02875694e-03 9.99957248e-01 1.99615831e-03 2.34627674e-02] [ 3.33831321e-02 -1.69370707e-03 9.99441193e-01 -2.63684613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85313336499996 meters Centerline goodness : 0.123719 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.03, Z:-0.26 [[ 9.99404192e-01 9.00712770e-03 -3.33186557e-02 -2.04187545e+00] [-8.95636626e-03 9.99958492e-01 1.67245174e-03 2.52798860e-02] [ 3.33323367e-02 -1.37304119e-03 9.99443380e-01 -2.64080545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.883133365 meters Centerline goodness : 0.124150 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.03, Z:-0.26 [[ 9.99425608e-01 1.97702168e-03 -3.38311454e-02 -2.02375926e+00] [-1.89727447e-03 9.99995346e-01 2.38915339e-03 3.33128819e-02] [ 3.38357114e-02 -2.32359411e-03 9.99424707e-01 -2.62420001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91313336499996 meters Centerline goodness : 0.122007 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.04, Z:-0.26 [[ 9.99427169e-01 1.86784184e-03 -3.37911836e-02 -2.02376489e+00] [-1.80335512e-03 9.99996495e-01 1.93876577e-03 3.59000915e-02] [ 3.37946864e-02 -1.87671768e-03 9.99427034e-01 -2.62706842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.943133365 meters Centerline goodness : 0.122293 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.04, Z:-0.26 [[ 9.99422455e-01 1.75046894e-03 -3.39365897e-02 -2.02341906e+00] [-1.70221870e-03 9.99997499e-01 1.45061609e-03 3.87213398e-02] [ 3.39390441e-02 -1.39201079e-03 9.99422935e-01 -2.62851109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97313336499997 meters Centerline goodness : 0.122400 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.04, Z:-0.26 [[ 9.99405751e-01 1.54203402e-03 -3.44349720e-02 -2.02239817e+00] [-1.52521839e-03 9.99998704e-01 5.14592809e-04 4.43447151e-02] [ 3.44357209e-02 -4.61766160e-04 9.99406808e-01 -2.62953202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.003133365 meters Centerline goodness : 0.117079 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.05, Z:-0.26 [[ 9.99405282e-01 1.39576430e-03 -3.44548256e-02 -2.02218401e+00] [-1.39765633e-03 9.99999023e-01 -3.08283349e-05 4.75791143e-02] [ 3.44547489e-02 7.89660059e-05 9.99406256e-01 -2.63310536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03313336499997 meters Centerline goodness : 0.114792 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.05, Z:-0.26 [[ 9.99409504e-01 1.23648064e-03 -3.43382322e-02 -2.02240559e+00] [-1.25478615e-03 9.99999082e-01 -5.11549430e-04 5.03104048e-02] [ 3.43375682e-02 5.54334500e-04 9.99410138e-01 -2.63480945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.063133365 meters Centerline goodness : 0.107407 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.05, Z:-0.26 [[ 9.99420945e-01 1.07371969e-03 -3.40091357e-02 -2.02326213e+00] [-1.10636350e-03 9.99998945e-01 -9.41049856e-04 5.26891456e-02] [ 3.40080895e-02 9.78131402e-04 9.99421079e-01 -2.63417754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09313336499997 meters Centerline goodness : 0.097130 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.05, Z:-0.26 [[ 9.99434929e-01 9.18173212e-04 -3.36002940e-02 -2.02471454e+00] [-9.60869327e-04 9.99998751e-01 -1.25458132e-03 5.41378196e-02] [ 3.35991002e-02 1.28615789e-03 9.99434563e-01 -2.62730214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.123133365 meters Centerline goodness : 0.103200 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.06, Z:-0.26 [[ 9.99444972e-01 7.45138014e-04 -3.33045428e-02 -2.02599126e+00] [-7.96665948e-04 9.99998506e-01 -1.53393113e-03 5.52877606e-02] [ 3.33033501e-02 1.55961235e-03 9.99444073e-01 -2.61879112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.153133365 meters Centerline goodness : 0.102452 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.06, Z:-0.26 [[ 9.99433228e-01 4.20700883e-04 -3.36607598e-02 -2.02548664e+00] [-4.86798380e-04 9.99997970e-01 -1.95546527e-03 5.69112774e-02] [ 3.36598688e-02 1.97074297e-03 9.99431403e-01 -2.61409894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.183133365 meters Centerline goodness : 0.059295 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99326452e-01 -6.78592238e-04 -3.66903486e-02 -2.06771552e+00] [ 5.95292206e-04 9.99997221e-01 -2.28122946e-03 5.43692352e-02] [ 3.66917947e-02 2.25785147e-03 9.99324079e-01 -2.63097088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.213133365 meters Centerline goodness : 0.104367 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99308505e-01 -8.43109235e-04 -3.71725891e-02 -2.06639079e+00] [ 7.53804081e-04 9.99996796e-01 -2.41639626e-03 5.45165679e-02] [ 3.71745073e-02 2.38670448e-03 9.99305939e-01 -2.63371502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.243133365 meters Centerline goodness : 0.106004 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99302729e-01 -9.30511966e-04 -3.73254511e-02 -2.06611742e+00] [ 8.40836631e-04 9.99996723e-01 -2.41815098e-03 5.40567829e-02] [ 3.73275789e-02 2.38508027e-03 9.99300237e-01 -2.63206045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.273133365 meters Centerline goodness : 0.105136 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99303317e-01 -9.64690903e-04 -3.73088501e-02 -2.06644139e+00] [ 8.80767578e-04 9.99997045e-01 -2.26579190e-03 5.29521126e-02] [ 3.73109256e-02 2.23135294e-03 9.99301214e-01 -2.62708633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.303133365 meters Centerline goodness : 0.129550 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99312222e-01 -9.93488238e-04 -3.70687887e-02 -2.06735000e+00] [ 9.17578429e-04 9.99997447e-01 -2.06476567e-03 5.16897166e-02] [ 3.70707454e-02 2.02933205e-03 9.99310583e-01 -2.62115605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.333133365 meters Centerline goodness : 0.099423 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.05, Z:-0.26 [[ 9.99292381e-01 -9.94262045e-03 -3.62750745e-02 -2.04723545e+00] [ 9.89019859e-03 9.99949772e-01 -1.62428199e-03 5.35434538e-02] [ 3.62894021e-02 1.26436493e-03 9.99340523e-01 -2.60293133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.363133365 meters SLAMing on 294.393133365 meters Centerline goodness : 0.103128 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.05, Z:-0.26 [[ 0.99928801 -0.00319612 -0.03759333 -2.06276131] [ 0.00306751 0.99998925 -0.00347824 0.04598813] [ 0.03760405 0.00336044 0.99928707 -0.26304428] [ 0. 0. 0. 1. ]] SLAMing on 294.423133365 meters Centerline goodness : 0.102400 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.05, Z:-0.26 [[ 0.99928247 -0.00319144 -0.03774081 -2.06225219] [ 0.00306289 0.99998931 -0.00346364 0.0458659 ] [ 0.03775146 0.00334556 0.99928156 -0.26327057] [ 0. 0. 0. 1. ]] SLAMing on 294.453133365 meters Centerline goodness : 0.132953 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.04, Z:-0.26 [[ 0.99920183 -0.00297075 -0.03983553 -2.10746577] [ 0.00286067 0.99999193 -0.00282006 0.043501 ] [ 0.03984358 0.00270385 0.99920227 -0.26405817] [ 0. 0. 0. 1. ]] SLAMing on 294.48313336499996 meters Centerline goodness : 0.104815 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.04, Z:-0.26 [[ 0.99926353 0.00545674 -0.03798179 -2.08773717] [-0.00561018 0.99997652 -0.00393445 0.04452656] [ 0.03795943 0.00414464 0.99927069 -0.26262108] [ 0. 0. 0. 1. ]] SLAMing on 294.513133365 meters Centerline goodness : 0.104815 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.04, Z:-0.26 [[ 0.99926353 0.00545674 -0.03798179 -2.08773717] [-0.00561018 0.99997652 -0.00393445 0.04452656] [ 0.03795943 0.00414464 0.99927069 -0.26262108] [ 0. 0. 0. 1. ]] SLAMing on 294.54313336499996 meters Centerline goodness : 0.183749 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.05, Z:-0.26 [[ 0.99927097 0.00532163 -0.03780486 -2.08837821] [-0.00548618 0.99997592 -0.00425045 0.04584803] [ 0.03778133 0.00445475 0.9992761 -0.26232743] [ 0. 0. 0. 1. ]] SLAMing on 294.573133365 meters Centerline goodness : 0.120684 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.05, Z:-0.26 [[ 0.99927406 0.00522154 -0.0377371 -2.08875977] [-0.00539638 0.99997517 -0.00453295 0.04722796] [ 0.0377125 0.0047333 0.99927742 -0.26204694] [ 0. 0. 0. 1. ]] SLAMing on 294.60313336499996 meters Centerline goodness : 0.104587 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.05, Z:-0.26 [[ 0.99927294 0.00515689 -0.0377756 -2.08864951] [-0.00534085 0.99997436 -0.00477044 0.04857257] [ 0.03775003 0.00496872 0.99927486 -0.26211935] [ 0. 0. 0. 1. ]] SLAMing on 294.633133365 meters Centerline goodness : 0.132289 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.05, Z:-0.26 [[ 0.999275 0.00510101 -0.03772877 -2.08877344] [-0.00529373 0.99997344 -0.00500973 0.05001126] [ 0.03770221 0.00520582 0.99927546 -0.26216646] [ 0. 0. 0. 1. ]] SLAMing on 294.66313336499996 meters Centerline goodness : 0.196694 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.06, Z:-0.26 [[ 0.99930962 -0.00224064 -0.03708459 -2.07067074] [ 0.00209792 0.99999024 -0.00388713 0.05652298] [ 0.03709294 0.00380665 0.99930457 -0.26043999] [ 0. 0. 0. 1. ]] SLAMing on 294.693133365 meters Centerline goodness : 0.182263 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.06, Z:-0.26 [[ 0.99933268 -0.00228631 -0.0364551 -2.07270776] [ 0.00214103 0.99998961 -0.0040237 0.05726425] [ 0.03646392 0.00394296 0.99932719 -0.25966011] [ 0. 0. 0. 1. ]] SLAMing on 294.72313336499997 meters Centerline goodness : 0.122700 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.06, Z:-0.26 [[ 0.99933864 -0.00221531 -0.03629573 -2.07345517] [ 0.00207645 0.99999038 -0.00386296 0.05668255] [ 0.03630394 0.00378503 0.99933363 -0.25911857] [ 0. 0. 0. 1. ]] SLAMing on 294.753133365 meters Centerline goodness : 0.098642 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.06, Z:-0.26 [[ 9.99339617e-01 -2.10346069e-03 -3.62753965e-02 -2.07367484e+00] [ 1.97457039e-03 9.99991612e-01 -3.58856525e-03 5.55147958e-02] [ 3.62826406e-02 3.51456710e-03 9.99335388e-01 -2.58849618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78313336499997 meters Centerline goodness : 0.168732 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99336391e-01 -2.01683588e-03 -3.63690680e-02 -2.07350508e+00] [ 1.90020214e-03 9.99992942e-01 -3.24122938e-03 5.36695387e-02] [ 3.63753483e-02 3.16996990e-03 9.99333170e-01 -2.58706250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.813133365 meters Centerline goodness : 0.130449 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99330160e-01 -1.95157506e-03 -3.65434283e-02 -2.07309044e+00] [ 1.84811381e-03 9.99994189e-01 -2.86475173e-03 5.13051747e-02] [ 3.65488067e-02 2.79529639e-03 9.99327960e-01 -2.58639014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84313336499997 meters Centerline goodness : 0.148700 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99322978e-01 -1.90949492e-03 -3.67415270e-02 -2.07261504e+00] [ 1.81946112e-03 9.99995260e-01 -2.48374458e-03 4.86957595e-02] [ 3.67460955e-02 2.41521325e-03 9.99321716e-01 -2.58589635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.873133365 meters Centerline goodness : 0.098653 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.04, Z:-0.26 [[ 9.99307299e-01 -1.63008421e-03 -3.71788237e-02 -2.07157777e+00] [ 1.57168085e-03 9.99997485e-01 -1.60004958e-03 4.38669727e-02] [ 3.71813384e-02 1.54050798e-03 9.99307348e-01 -2.58532749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.903133365 meters Centerline goodness : 0.134290 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.04, Z:-0.26 [[ 9.99301922e-01 -1.43055620e-03 -3.73312561e-02 -2.07114584e+00] [ 1.38828719e-03 9.99998366e-01 -1.15816637e-03 4.18740997e-02] [ 3.73328519e-02 1.10553138e-03 9.99302275e-01 -2.58634682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.933133365 meters Centerline goodness : 0.097895 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.04, Z:-0.26 [[ 9.99292358e-01 -1.30034498e-03 -3.75911120e-02 -2.07028168e+00] [ 1.27092599e-03 9.99998867e-01 -8.06490413e-04 4.00277865e-02] [ 3.75921182e-02 7.58144185e-04 9.99292879e-01 -2.58993663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.963133365 meters Centerline goodness : 0.100545 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.04, Z:-0.26 [[ 9.99283645e-01 -1.18571489e-03 -3.78257869e-02 -2.06945670e+00] [ 1.16727824e-03 9.99999189e-01 -5.09490265e-04 3.83713321e-02] [ 3.78263603e-02 4.64972071e-04 9.99284219e-01 -2.59377572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.993133365 meters Centerline goodness : 0.099959 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.04, Z:-0.26 [[ 9.99278412e-01 -1.06486105e-03 -3.79673853e-02 -2.06897406e+00] [ 1.05756682e-03 9.99999418e-01 -2.12201754e-04 3.67620400e-02] [ 3.79675892e-02 1.71895585e-04 9.99278956e-01 -2.59589025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.023133365 meters Centerline goodness : 0.129520 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.03, Z:-0.26 [[ 9.99278174e-01 -8.49513926e-04 -3.79790524e-02 -2.06905127e+00] [ 8.64956979e-04 9.99999550e-01 3.90191066e-04 3.32843272e-02] [ 3.79787038e-02 -4.22759662e-04 9.99278459e-01 -2.59421661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.053133365 meters Centerline goodness : 0.094363 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.03, Z:-0.26 [[ 9.99279144e-01 -7.22809507e-04 -3.79561488e-02 -2.06927513e+00] [ 7.53564684e-04 9.99999399e-01 7.95981694e-04 3.09329976e-02] [ 3.79555506e-02 -8.24010320e-04 9.99279089e-01 -2.59092226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.083133365 meters Centerline goodness : 0.103570 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.03, Z:-0.26 [[ 9.99280804e-01 -6.02366509e-04 -3.79145395e-02 -2.06939452e+00] [ 6.48795945e-04 9.99999055e-01 1.21228939e-03 2.83184145e-02] [ 3.79137734e-02 -1.23601631e-03 9.99280250e-01 -2.59043437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.113133365 meters Centerline goodness : 0.133245 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.03, Z:-0.26 [[ 9.99279307e-01 -4.28533886e-04 -3.79563309e-02 -2.06929950e+00] [ 4.92709860e-04 9.99998465e-01 1.68144649e-03 2.57716245e-02] [ 3.79555521e-02 -1.69893614e-03 9.99277984e-01 -2.59010911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.143133365 meters Centerline goodness : 0.155197 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.02, Z:-0.26 [[ 9.99276578e-01 -7.22324557e-05 -3.80304567e-02 -2.06887069e+00] [ 1.71445462e-04 9.99996591e-01 2.60552289e-03 2.07231760e-02] [ 3.80301389e-02 -2.61015815e-03 9.99273184e-01 -2.59250827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.173133365 meters Centerline goodness : 0.160727 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.02, Z:-0.26 [[ 9.99277894e-01 7.00543941e-05 -3.79958758e-02 -2.06886827e+00] [ 4.24450931e-05 9.99995618e-01 2.96001942e-03 1.88302518e-02] [ 3.79959167e-02 -2.95949471e-03 9.99273512e-01 -2.59370257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.203133365 meters Centerline goodness : 0.086758 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.02, Z:-0.26 [[ 9.99278606e-01 1.70280991e-04 -3.79768103e-02 -2.06890765e+00] [-4.76469262e-05 9.99994782e-01 3.23006454e-03 1.72772570e-02] [ 3.79771622e-02 -3.22592492e-03 9.99273400e-01 -2.59355231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23313336499996 meters Centerline goodness : 0.125081 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.02, Z:-0.26 [[ 9.99280149e-01 2.63652150e-04 -3.79356725e-02 -2.06905801e+00] [-1.32501144e-04 9.99994007e-01 3.45966735e-03 1.59874910e-02] [ 3.79363573e-02 -3.45215038e-03 9.99274194e-01 -2.59287052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.263133365 meters Centerline goodness : 0.126375 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.01, Z:-0.26 [[ 9.99282561e-01 3.71015817e-04 -3.78711604e-02 -2.06915100e+00] [-2.30594158e-04 9.99993083e-01 3.71217909e-03 1.47157994e-02] [ 3.78722757e-02 -3.70078296e-03 9.99275735e-01 -2.59362801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29313336499996 meters Centerline goodness : 0.104177 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.01, Z:-0.26 [[ 9.99282810e-01 4.96875853e-04 -3.78631690e-02 -2.06913112e+00] [-3.45857604e-04 9.99991960e-01 3.99497202e-03 1.33670862e-02] [ 3.78648496e-02 -3.97901159e-03 9.99274947e-01 -2.59393843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.323133365 meters Centerline goodness : 0.123166 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.01, Z:-0.26 [[ 9.99280335e-01 7.10057101e-04 -3.79250431e-02 -2.06916453e+00] [-5.37713424e-04 9.99989484e-01 4.55433059e-03 1.05743216e-02] [ 3.79278782e-02 -4.53066019e-03 9.99270208e-01 -2.59090648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35313336499996 meters Centerline goodness : 0.126830 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.01, Z:-0.26 [[ 9.99279783e-01 7.81514464e-04 -3.79381776e-02 -2.06917942e+00] [-5.98887644e-04 9.99988181e-01 4.82492636e-03 9.05404917e-03] [ 3.79414999e-02 -4.79873066e-03 9.99268440e-01 -2.59004556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.383133365 meters Centerline goodness : 0.125915 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.01, Z:-0.26 [[ 9.99278799e-01 8.44461286e-04 -3.79627314e-02 -2.06920314e+00] [-6.50066999e-04 9.99986616e-01 5.13271322e-03 7.28486378e-03] [ 3.79665577e-02 -5.10433319e-03 9.99265974e-01 -2.58835307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41313336499996 meters Centerline goodness : 0.112626 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.01, Z:-0.26 [[ 9.99288106e-01 9.01512531e-04 -3.77156152e-02 -2.06986987e+00] [-6.96348776e-04 9.99984892e-01 5.45253897e-03 5.39259075e-03] [ 3.77199609e-02 -5.42239412e-03 9.99273637e-01 -2.58653583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.443133365 meters Centerline goodness : 0.124221 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.00, Z:-0.26 [[ 9.99293778e-01 9.55265043e-04 -3.75637269e-02 -2.07036622e+00] [-7.40166406e-04 9.99983254e-01 5.73972232e-03 3.66067559e-03] [ 3.75685808e-02 -5.70786539e-03 9.99277750e-01 -2.58357654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47313336499997 meters Centerline goodness : 0.127736 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.00, Z:-0.26 [[ 9.99289657e-01 9.99362812e-04 -3.76720445e-02 -2.07027983e+00] [-7.73032814e-04 9.99981569e-01 6.02199056e-03 1.94965575e-03] [ 3.76773684e-02 -5.98859116e-03 9.99272011e-01 -2.58105464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.503133365 meters Centerline goodness : 0.085558 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.00, Z:-0.26 [[ 9.99235627e-01 8.53388462e-04 -3.90823997e-02 -2.06672547e+00] [-6.06304101e-04 9.99979759e-01 6.33355505e-03 -7.72694222e-04] [ 3.90870137e-02 -6.30501803e-03 9.99215919e-01 -2.58432092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53313336499997 meters Centerline goodness : 0.138816 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.01, Z:-0.26 [[ 0.99917705 0.00817342 -0.03972933 -2.08390467] [-0.00797673 0.99995514 0.00510686 -0.00800859] [ 0.03976929 -0.00478574 0.99919743 -0.26104613] [ 0. 0. 0. 1. ]] SLAMing on 295.563133365 meters Centerline goodness : 0.083042 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.01, Z:-0.26 [[ 0.99917136 0.0082375 -0.03985887 -2.08354211] [-0.0080297 0.99995334 0.00537063 -0.00963103] [ 0.03990125 -0.00504613 0.99919089 -0.26111083] [ 0. 0. 0. 1. ]] SLAMing on 295.59313336499997 meters Centerline goodness : 0.124185 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.01, Z:-0.26 [[ 0.99921642 0.00534128 -0.03921758 -2.08533344] [-0.00524319 0.99998286 0.00260379 -0.01062005] [ 0.03923082 -0.00239613 0.9992273 -0.26082862] [ 0. 0. 0. 1. ]] SLAMing on 295.623133365 meters Centerline goodness : 0.098958 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.01, Z:-0.26 [[ 0.99922574 0.00543457 -0.03896653 -2.08624587] [-0.00532505 0.99998158 0.00291383 -0.01242576] [ 0.03898165 -0.00270408 0.99923627 -0.26034516] [ 0. 0. 0. 1. ]] SLAMing on 295.653133365 meters Centerline goodness : 0.121868 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.01, Z:-0.26 [[ 0.99923371 0.00553835 -0.03874679 -2.08706096] [-0.00541866 0.99998022 0.00319331 -0.01391888] [ 0.03876371 -0.00298091 0.99924396 -0.25989468] [ 0. 0. 0. 1. ]] SLAMing on 295.683133365 meters Centerline goodness : 0.120818 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.99924132 0.00574086 -0.0385205 -2.0878858 ] [-0.00560407 0.99997761 0.00365813 -0.01614047] [ 0.03854064 -0.00343949 0.99925111 -0.25941701] [ 0. 0. 0. 1. ]] SLAMing on 295.713133365 meters Centerline goodness : 0.109449 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.99924266 0.0057588 -0.03848304 -2.08799168] [-0.00561801 0.99997713 0.00376576 -0.01700312] [ 0.03850385 -0.00354671 0.99925216 -0.25937581] [ 0. 0. 0. 1. ]] SLAMing on 295.743133365 meters Centerline goodness : 0.109891 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.9992438 0.00578918 -0.03844878 -2.0880836 ] [-0.00564524 0.99997665 0.00385134 -0.01756635] [ 0.03847018 -0.00363137 0.99925315 -0.25935862] [ 0. 0. 0. 1. ]] SLAMing on 295.773133365 meters Centerline goodness : 0.113185 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.99924744 0.00591959 -0.03833431 -2.08807822] [-0.00577329 0.99997563 0.00392615 -0.01752602] [ 0.03835662 -0.00370188 0.99925726 -0.25979503] [ 0. 0. 0. 1. ]] SLAMing on 295.803133365 meters Centerline goodness : 0.053137 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.9992456 0.00597029 -0.03837434 -2.08778191] [-0.00582196 0.99997515 0.00397587 -0.01759093] [ 0.03839713 -0.00374945 0.99925552 -0.26009635] [ 0. 0. 0. 1. ]] SLAMing on 295.833133365 meters Centerline goodness : 0.128273 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.99924431 0.00599029 -0.03840488 -2.08747588] [-0.00584128 0.99997498 0.00399108 -0.01768789] [ 0.03842782 -0.00376373 0.99925429 -0.26049461] [ 0. 0. 0. 1. ]] SLAMing on 295.863133365 meters Centerline goodness : 0.122258 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.99923758 0.00598859 -0.03857972 -2.08675526] [-0.00583703 0.9999748 0.00403992 -0.01817274] [ 0.03860294 -0.00381165 0.99924736 -0.26095215] [ 0. 0. 0. 1. ]] SLAMing on 295.893133365 meters Centerline goodness : 0.129779 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.99923425 0.00604518 -0.03865712 -2.08636591] [-0.00588736 0.99997387 0.00419524 -0.01910548] [ 0.03868147 -0.00396444 0.99924373 -0.26127424] [ 0. 0. 0. 1. ]] SLAMing on 295.923133365 meters Centerline goodness : 0.092568 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.99923004 0.0061098 -0.03875572 -2.08600956] [-0.00594481 0.99997278 0.00437116 -0.02006209] [ 0.03878137 -0.0041374 0.99923915 -0.26141969] [ 0. 0. 0. 1. ]] SLAMing on 295.953133365 meters Centerline goodness : 0.132770 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99255513e-01 3.43444384e-03 -3.84268822e-02 -2.08709977e+00] [-3.37207223e-03 9.99992890e-01 1.68781991e-03 -2.07709506e-02] [ 3.84324057e-02 -1.55698512e-03 9.99259989e-01 -2.61167139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98313336499996 meters Centerline goodness : 0.136193 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99254468e-01 3.41959650e-03 -3.84553531e-02 -2.08705241e+00] [-3.35824378e-03 9.99992983e-01 1.65990954e-03 -2.08087569e-02] [ 3.84607595e-02 -1.52952957e-03 9.99258941e-01 -2.61160705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.013133365 meters Centerline goodness : 0.085834 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99254725e-01 3.46073082e-03 -3.84449950e-02 -2.08681160e+00] [-3.39976199e-03 9.99992858e-01 1.65113490e-03 -2.04972058e-02] [ 3.84504346e-02 -1.51920052e-03 9.99259354e-01 -2.61547175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04313336499996 meters Centerline goodness : 0.124538 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99256611e-01 3.56180255e-03 -3.83867122e-02 -2.08667535e+00] [-3.50047946e-03 9.99992488e-01 1.66460091e-03 -1.99564495e-02] [ 3.83923528e-02 -1.52899157e-03 9.99261572e-01 -2.62002012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.073133365 meters Centerline goodness : 0.114699 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99261140e-01 3.61056956e-03 -3.82640623e-02 -2.08668399e+00] [-3.55251870e-03 9.99992434e-01 1.58499538e-03 -1.90601838e-02] [ 3.82694955e-02 -1.44789049e-03 9.99266406e-01 -2.62485211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10313336499996 meters Centerline goodness : 0.122446 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99263047e-01 3.61068265e-03 -3.82142089e-02 -2.08661382e+00] [-3.55777462e-03 9.99992616e-01 1.45242531e-03 -1.81996371e-02] [ 3.82191709e-02 -1.31539740e-03 9.99268515e-01 -2.62829452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.133133365 meters Centerline goodness : 0.126533 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99258168e-01 3.45172325e-03 -3.83562181e-02 -2.08625334e+00] [-3.41212932e-03 9.99993576e-01 1.09768342e-03 -1.68514454e-02] [ 3.83597606e-02 -9.65992748e-04 9.99263527e-01 -2.62940872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16313336499996 meters Centerline goodness : 0.127724 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99261017e-01 3.41057529e-03 -3.82856127e-02 -2.08639228e+00] [-3.37589168e-03 9.99993831e-01 9.70529018e-04 -1.61354586e-02] [ 3.82886866e-02 -8.40563732e-04 9.99266366e-01 -2.63022285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.193133365 meters Centerline goodness : 0.139175 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99268305e-01 3.35691280e-03 -3.80996758e-02 -2.08696337e+00] [-3.32839915e-03 9.99994131e-01 8.11800334e-04 -1.51776569e-02] [ 3.81021774e-02 -6.84395416e-04 9.99273614e-01 -2.62871738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22313336499997 meters Centerline goodness : 0.127317 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.01, Z:-0.26 [[ 9.99277120e-01 3.32205039e-03 -3.78708514e-02 -2.08758733e+00] [-3.29860470e-03 9.99994327e-01 6.81561967e-04 -1.42354632e-02] [ 3.78729008e-02 -5.56148311e-04 9.99282410e-01 -2.62758975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.253133365 meters Centerline goodness : 0.129668 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.01, Z:-0.26 [[ 0.9992912 -0.00318779 -0.03750913 -2.11042266] [ 0.00331081 0.99998934 0.00321813 -0.00931528] [ 0.03749847 -0.00334004 0.9992911 -0.2639397 ] [ 0. 0. 0. 1. ]] SLAMing on 296.28313336499997 meters Centerline goodness : 0.155457 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.01, Z:-0.26 [[ 0.99929212 -0.00328706 -0.03747605 -2.11040825] [ 0.00339453 0.99999031 0.00280465 -0.0068471 ] [ 0.03746646 -0.00292988 0.99929359 -0.26413487] [ 0. 0. 0. 1. ]] SLAMing on 296.313133365 meters Centerline goodness : 0.120989 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.00, Z:-0.26 [[ 0.99929568 -0.00337811 -0.03737296 -2.11071728] [ 0.00346868 0.9999912 0.0023589 -0.00413741] [ 0.03736466 -0.00248687 0.9992986 -0.26416479] [ 0. 0. 0. 1. ]] SLAMing on 296.34313336499997 meters Centerline goodness : 0.119515 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.00, Z:-0.26 [[ 9.99301011e-01 -3.52502994e-03 -3.72164426e-02 -2.11125409e+00] [ 3.59510139e-03 9.99991889e-01 1.81605497e-03 -1.07026058e-03] [ 3.72097391e-02 -1.94858245e-03 9.99305578e-01 -2.64049805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.373133365 meters Centerline goodness : 0.131994 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.00, Z:-0.27 [[ 9.99298362e-01 4.41832622e-03 -3.71922241e-02 -2.13185893e+00] [-4.39805838e-03 9.99990132e-01 6.26746166e-04 -2.67616065e-03] [ 3.71946263e-02 -4.62732844e-04 9.99307933e-01 -2.65637103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.403133365 meters Centerline goodness : 0.131994 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.00, Z:-0.27 [[ 9.99298362e-01 4.41832622e-03 -3.71922241e-02 -2.13185893e+00] [-4.39805838e-03 9.99990132e-01 6.26746166e-04 -2.67616065e-03] [ 3.71946263e-02 -4.62732844e-04 9.99307933e-01 -2.65637103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.433133365 meters Centerline goodness : 0.122666 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.00, Z:-0.27 [[ 9.99297340e-01 4.28261334e-03 -3.72355447e-02 -2.13146372e+00] [-4.29648204e-03 9.99990727e-01 -2.92447531e-04 4.76999818e-03] [ 3.72339470e-02 4.52223888e-04 9.99306474e-01 -2.66275858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.463133365 meters Centerline goodness : 0.093323 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.01, Z:-0.27 [[ 9.99301632e-01 4.08976631e-03 -3.71419072e-02 -2.13158353e+00] [-4.12587688e-03 9.99991087e-01 -8.95636245e-04 8.00882681e-03] [ 3.71379132e-02 1.04825370e-03 9.99309600e-01 -2.66539419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.493133365 meters Centerline goodness : 0.141119 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.01, Z:-0.27 [[ 9.99305518e-01 3.91751071e-03 -3.70558356e-02 -2.13184811e+00] [-3.97414174e-03 9.99991045e-01 -1.45472751e-03 1.12249087e-02] [ 3.70498048e-02 1.60098237e-03 9.99312138e-01 -2.66591153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.523133365 meters Centerline goodness : 0.094396 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.01, Z:-0.27 [[ 9.99305872e-01 3.76029019e-03 -3.70625646e-02 -2.13198838e+00] [-3.83614567e-03 9.99990690e-01 -1.97578639e-03 1.43207123e-02] [ 3.70547900e-02 2.11659234e-03 9.99310994e-01 -2.66444495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.553133365 meters Centerline goodness : 0.142795 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.02, Z:-0.27 [[ 0.99931024 0.0035302 -0.03696728 -2.132317 ] [-0.00362692 0.99999017 -0.00254975 0.01725006] [ 0.03695792 0.00268207 0.99931322 -0.26636898] [ 0. 0. 0. 1. ]] SLAMing on 296.583133365 meters Centerline goodness : 0.097465 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.02, Z:-0.27 [[ 0.99931428 0.00327218 -0.03688173 -2.1325794 ] [-0.00339047 0.99998931 -0.00314514 0.02009787] [ 0.03687104 0.00326803 0.99931469 -0.26636803] [ 0. 0. 0. 1. ]] SLAMing on 296.613133365 meters Centerline goodness : 0.114762 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.03, Z:-0.27 [[ 0.99932239 0.00283236 -0.0366978 -2.13341309] [-0.00298863 0.9999867 -0.00420413 0.02572969] [ 0.03668541 0.00431096 0.99931757 -0.26596523] [ 0. 0. 0. 1. ]] SLAMing on 296.643133365 meters Centerline goodness : 0.121209 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.03, Z:-0.27 [[ 0.99932423 0.00266965 -0.03665993 -2.13367704] [-0.00284291 0.99998503 -0.00467464 0.02839946] [ 0.0366469 0.0047757 0.99931687 -0.26579885] [ 0. 0. 0. 1. ]] SLAMing on 296.673133365 meters Centerline goodness : 0.117204 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.03, Z:-0.27 [[ 0.99932858 0.00251168 -0.03655238 -2.13402183] [-0.00270156 0.99998311 -0.00514607 0.03123604] [ 0.03653883 0.00524136 0.99931849 -0.26574969] [ 0. 0. 0. 1. ]] SLAMing on 296.703133365 meters Centerline goodness : 0.108443 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.04, Z:-0.27 [[ 0.99940309 -0.00543809 -0.03411576 -2.1550531 ] [ 0.00527184 0.9999738 -0.00496112 0.0397194 ] [ 0.03414185 0.00477831 0.99940557 -0.26795777] [ 0. 0. 0. 1. ]] SLAMing on 296.73313336499996 meters Centerline goodness : 0.125649 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.04, Z:-0.27 [[ 0.99940123 -0.0055817 -0.03414709 -2.15515378] [ 0.00540713 0.99997185 -0.00520246 0.04073325] [ 0.03417517 0.00501471 0.99940328 -0.26774353] [ 0. 0. 0. 1. ]] SLAMing on 296.763133365 meters Centerline goodness : 0.102944 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.04, Z:-0.27 [[ 0.9993947 -0.00561522 -0.03433224 -2.15474551] [ 0.00544015 0.99997173 -0.0051906 0.04078305] [ 0.03436041 0.00500069 0.999397 -0.26772735] [ 0. 0. 0. 1. ]] SLAMing on 296.79313336499996 meters Centerline goodness : 0.074549 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.04, Z:-0.27 [[ 0.99938702 -0.00561885 -0.03455458 -2.15408572] [ 0.00544758 0.99997242 -0.00504841 0.04007916] [ 0.03458199 0.00485707 0.99939006 -0.26792869] [ 0. 0. 0. 1. ]] SLAMing on 296.823133365 meters Centerline goodness : 0.133903 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.04, Z:-0.27 [[ 0.99937587 -0.00575045 -0.03485411 -2.15315511] [ 0.00558271 0.99997237 -0.00490802 0.03871591] [ 0.03488137 0.00471038 0.99938036 -0.2681727 ] [ 0. 0. 0. 1. ]] SLAMing on 296.85313336499996 meters Centerline goodness : 0.103428 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.04, Z:-0.27 [[ 0.99936944 -0.00597281 -0.03500078 -2.15267483] [ 0.00580844 0.99997163 -0.0047962 0.03698709] [ 0.03502843 0.00458987 0.99937578 -0.26825498] [ 0. 0. 0. 1. ]] SLAMing on 296.883133365 meters Centerline goodness : 0.100129 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.03, Z:-0.27 [[ 0.99936742 -0.00617187 -0.03502393 -2.1524677 ] [ 0.00601463 0.99997136 -0.00459336 0.03472489] [ 0.03505127 0.00437979 0.99937592 -0.26834598] [ 0. 0. 0. 1. ]] SLAMing on 296.91313336499996 meters Centerline goodness : 0.118802 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.03, Z:-0.27 [[ 0.99937793 -0.00660513 -0.03464276 -2.15337853] [ 0.00646291 0.99997023 -0.00421565 0.02949746] [ 0.03466958 0.00398913 0.99939087 -0.26810656] [ 0. 0. 0. 1. ]] SLAMing on 296.943133365 meters Centerline goodness : 0.104674 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.03, Z:-0.27 [[ 0.99938509 -0.00643635 -0.03446762 -2.15373023] [ 0.00631215 0.99997319 -0.00371092 0.02707851] [ 0.03449058 0.00349108 0.99939893 -0.26811652] [ 0. 0. 0. 1. ]] SLAMing on 296.97313336499997 meters Centerline goodness : 0.106883 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.03, Z:-0.27 [[ 0.99938674 -0.00630267 -0.03444436 -2.15364731] [ 0.00619179 0.9999753 -0.0033249 0.02511165] [ 0.03446446 0.00310959 0.99940109 -0.26825325] [ 0. 0. 0. 1. ]] SLAMing on 297.003133365 meters Centerline goodness : 0.112228 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99409801e-01 1.01956057e-03 -3.43367221e-02 -2.17128553e+00] [-1.18044386e-03 9.99988420e-01 -4.66551228e-03 1.79726278e-02] [ 3.43315677e-02 4.70329128e-03 9.99399431e-01 -2.71281176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03313336499997 meters Centerline goodness : 0.112559 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99399927e-01 1.02502113e-03 -3.46227504e-02 -2.17023617e+00] [-1.18437066e-03 9.99988800e-01 -4.58225585e-03 1.71075463e-02] [ 3.46176657e-02 4.62051233e-03 9.99389948e-01 -2.71856701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.063133365 meters Centerline goodness : 0.106193 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99374214e-01 1.30112265e-03 -3.53481038e-02 -2.16784691e+00] [-1.45231590e-03 9.99989906e-01 -4.25192669e-03 1.58651441e-02] [ 3.53422147e-02 4.30060250e-03 9.99366015e-01 -2.72931398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09313336499997 meters Centerline goodness : 0.117943 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99371938e-01 1.39057748e-03 -3.54089755e-02 -2.16751961e+00] [-1.53758902e-03 9.99990310e-01 -4.12492366e-03 1.52682909e-02] [ 3.54028964e-02 4.17677740e-03 9.99364393e-01 -2.73251296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.123133365 meters Centerline goodness : 0.119445 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99374532e-01 1.47080275e-03 -3.53324375e-02 -2.16771821e+00] [-1.61151091e-03 9.99990883e-01 -3.95425942e-03 1.42679403e-02] [ 3.53262994e-02 4.00872476e-03 9.99367792e-01 -2.73236628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.153133365 meters Centerline goodness : 0.124598 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99381911e-01 1.53890783e-03 -3.51201948e-02 -2.16840608e+00] [-1.67135346e-03 9.99991601e-01 -3.74216339e-03 1.29566969e-02] [ 3.51141410e-02 3.79854865e-03 9.99376089e-01 -2.72981199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.183133365 meters Centerline goodness : 0.109559 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99391171e-01 1.60201038e-03 -3.48528592e-02 -2.16916383e+00] [-1.72630636e-03 9.99992256e-01 -3.53650626e-03 1.16964911e-02] [ 3.48469238e-02 3.59451985e-03 9.99386197e-01 -2.72807632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.213133365 meters Centerline goodness : 0.127278 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99401625e-01 1.71993697e-03 -3.45461231e-02 -2.17015269e+00] [-1.83428641e-03 9.99992943e-01 -3.27863079e-03 1.03815662e-02] [ 3.45402402e-02 3.34003642e-03 9.99397727e-01 -2.72435299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.243133365 meters Centerline goodness : 0.126844 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99415978e-01 1.77853051e-03 -3.41253447e-02 -2.17151441e+00] [-1.88865644e-03 9.99993112e-01 -3.19513747e-03 9.67978698e-03] [ 3.41194270e-02 3.25772249e-03 9.99412453e-01 -2.71906992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.273133365 meters Centerline goodness : 0.130590 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99412657e-01 1.71932937e-03 -3.42254974e-02 -2.17112700e+00] [-1.83800250e-03 9.99992407e-01 -3.43622899e-03 1.08611457e-02] [ 3.42193296e-02 3.49711729e-03 9.99408229e-01 -2.72189759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.303133365 meters Centerline goodness : 0.106727 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99404222e-01 1.76848753e-03 -3.44684342e-02 -2.17029300e+00] [-1.89700972e-03 9.99991369e-01 -3.69634600e-03 1.28381775e-02] [ 3.44615997e-02 3.75953076e-03 9.99398951e-01 -2.72692185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.333133365 meters Centerline goodness : 0.111876 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99399568e-01 1.94196301e-03 -3.45938110e-02 -2.16964081e+00] [-2.07767847e-03 9.99990285e-01 -3.88759791e-03 1.50731212e-02] [ 3.45859253e-02 3.95713849e-03 9.99393894e-01 -2.73356068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.363133365 meters Centerline goodness : 0.116405 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99394151e-01 2.09734358e-03 -3.47409153e-02 -2.16908958e+00] [-2.24291692e-03 9.99988866e-01 -4.15181392e-03 1.77378709e-02] [ 3.47318208e-02 4.22721954e-03 9.99387728e-01 -2.73811726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.393133365 meters Centerline goodness : 0.123370 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99412952e-01 2.11557181e-03 -3.41946763e-02 -2.17052295e+00] [-2.27974816e-03 9.99986058e-01 -4.76294955e-03 2.20482279e-02] [ 3.41841232e-02 4.83810872e-03 9.99403842e-01 -2.73791862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.423133365 meters Centerline goodness : 0.112222 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99415699e-01 2.03728270e-03 -3.41190492e-02 -2.17084609e+00] [-2.20947198e-03 9.99985010e-01 -5.00977684e-03 2.34243818e-02] [ 3.41083315e-02 5.08223471e-03 9.99405219e-01 -2.73665193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.453133365 meters Centerline goodness : 0.130754 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.03, Z:-0.27 [[ 0.99940949 -0.00518101 -0.03396811 -2.15272013] [ 0.00506027 0.99998057 -0.0036394 0.02963461] [ 0.0339863 0.00346536 0.99941629 -0.27119316] [ 0. 0. 0. 1. ]] SLAMing on 297.48313336499996 meters Centerline goodness : 0.126880 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.03, Z:-0.27 [[ 0.99941292 -0.00514879 -0.03387187 -2.15311585] [ 0.00503271 0.99998117 -0.00351147 0.02911468] [ 0.03388931 0.00333894 0.99942001 -0.27091273] [ 0. 0. 0. 1. ]] SLAMing on 297.513133365 meters Centerline goodness : 0.107937 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.03, Z:-0.27 [[ 0.99942345 -0.00516659 -0.03355695 -2.1539685 ] [ 0.00505868 0.99998176 -0.00329987 0.02773095] [ 0.03357339 0.00312821 0.99943136 -0.2706694 ] [ 0. 0. 0. 1. ]] SLAMing on 297.54313336499996 meters Centerline goodness : 0.111906 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.02, Z:-0.27 [[ 0.99946873 -0.00581804 -0.03206869 -2.15753261] [ 0.00571564 0.99997827 -0.00328359 0.024351 ] [ 0.0320871 0.00309855 0.99948027 -0.27013376] [ 0. 0. 0. 1. ]] SLAMing on 297.573133365 meters Centerline goodness : 0.110663 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.02, Z:-0.27 [[ 0.99946939 -0.00574062 -0.03206206 -2.15739539] [ 0.00564985 0.99997977 -0.00292088 0.02224542] [ 0.03207818 0.00273818 0.99948161 -0.27030084] [ 0. 0. 0. 1. ]] SLAMing on 297.60313336499996 meters Centerline goodness : 0.157085 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.02, Z:-0.27 [[ 0.99945873 -0.00565831 -0.03240732 -2.15616564] [ 0.00557699 0.99998107 -0.00259898 0.0203883 ] [ 0.03242141 0.00241683 0.99947137 -0.27090079] [ 0. 0. 0. 1. ]] SLAMing on 297.633133365 meters Centerline goodness : 0.112302 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99437078e-01 1.63636932e-03 -3.35089459e-02 -2.17256733e+00] [-1.77455757e-03 9.99990043e-01 -4.09459616e-03 1.32574142e-02] [ 3.35019120e-02 4.15175477e-03 9.99430030e-01 -2.74004366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66313336499996 meters Centerline goodness : 0.111357 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.28 [[ 9.99418583e-01 1.74099564e-03 -3.40509048e-02 -2.17061818e+00] [-1.86587127e-03 9.99991649e-01 -3.63588926e-03 1.01252220e-02] [ 3.40442904e-02 3.69730990e-03 9.99413486e-01 -2.75014291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.693133365 meters Centerline goodness : 0.143937 Centerline is valid? [False, False] Translation: X:-2.22, Y:0.01, Z:-0.28 [[ 9.99356990e-01 1.21471006e-03 -3.58347801e-02 -2.21606497e+00] [-1.33242575e-03 9.99993794e-01 -3.26125807e-03 5.55675934e-03] [ 3.58305962e-02 3.30690824e-03 9.99352407e-01 -2.75897134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72313336499997 meters Centerline goodness : 0.110750 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.01, Z:-0.27 [[ 9.99373207e-01 -6.19316001e-03 -3.48545168e-02 -2.19734672e+00] [ 6.12595166e-03 9.99979166e-01 -2.03471557e-03 9.35873299e-03] [ 3.48663920e-02 1.81992314e-03 9.99390325e-01 -2.74343120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.753133365 meters Centerline goodness : 0.110848 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.01, Z:-0.27 [[ 9.99374706e-01 -6.13899103e-03 -3.48211131e-02 -2.19747590e+00] [ 6.07612794e-03 9.99979714e-01 -1.91084996e-03 8.60276329e-03] [ 3.48321374e-02 1.69807757e-03 9.99391734e-01 -2.74282790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78313336499997 meters Centerline goodness : 0.122186 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.01, Z:-0.27 [[ 9.99374219e-01 -6.13223099e-03 -3.48362792e-02 -2.19733159e+00] [ 6.06881320e-03 9.99979730e-01 -1.92590118e-03 8.57573659e-03] [ 3.48473831e-02 1.71328112e-03 9.99391177e-01 -2.74477761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.813133365 meters Centerline goodness : 0.115465 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99937874 0.00323525 -0.0350952 -2.17560743] [-0.00332022 0.9999917 -0.00236316 0.00810397] [ 0.03508726 0.00247822 0.99938118 -0.27346215] [ 0. 0. 0. 1. ]] SLAMing on 297.84313336499997 meters Centerline goodness : 0.110808 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99938843 0.00329039 -0.03481289 -2.17613344] [-0.00337796 0.99999128 -0.00245677 0.00914433] [ 0.0348045 0.00257286 0.99939083 -0.27369372] [ 0. 0. 0. 1. ]] SLAMing on 297.873133365 meters Centerline goodness : 0.114000 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99939836 0.00328106 -0.03452753 -2.17683063] [-0.0033724 0.99999097 -0.00258744 0.00984088] [ 0.03451872 0.00270232 0.9994004 -0.27369369] [ 0. 0. 0. 1. ]] SLAMing on 297.903133365 meters Centerline goodness : 0.111871 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99940275 0.0032026 -0.03440774 -2.17721862] [-0.00329899 0.99999079 -0.00274497 0.01030793] [ 0.03439863 0.00285684 0.99940411 -0.27357306] [ 0. 0. 0. 1. ]] SLAMing on 297.933133365 meters Centerline goodness : 0.110653 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99940481 0.0031346 -0.03435399 -2.1773455 ] [-0.00323417 0.99999073 -0.00284318 0.01047871] [ 0.03434476 0.0029526 0.99940568 -0.2736138 ] [ 0. 0. 0. 1. ]] SLAMing on 297.963133365 meters Centerline goodness : 0.116425 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.9994028 0.00312947 -0.03441286 -2.17714235] [-0.00322919 0.99999075 -0.00284264 0.01043027] [ 0.03440365 0.00295207 0.99940366 -0.27377511] [ 0. 0. 0. 1. ]] SLAMing on 297.993133365 meters Centerline goodness : 0.110670 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99939355 0.00315305 -0.03467834 -2.17616992] [-0.00324728 0.99999119 -0.00266127 0.0093839 ] [ 0.03466964 0.00277226 0.99939498 -0.27430929] [ 0. 0. 0. 1. ]] SLAMing on 298.023133365 meters Centerline goodness : 0.106006 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99939014 0.00317117 -0.03477495 -2.17582966] [-0.00325863 0.99999167 -0.00245855 0.00801887] [ 0.03476687 0.00257036 0.99939214 -0.27445038] [ 0. 0. 0. 1. ]] SLAMing on 298.053133365 meters Centerline goodness : 0.116217 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99938888 0.00317052 -0.03481118 -2.17588821] [-0.00325023 0.99999222 -0.0022335 0.00636373] [ 0.03480382 0.00234528 0.99939141 -0.27415353] [ 0. 0. 0. 1. ]] SLAMing on 298.083133365 meters Centerline goodness : 0.114966 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.00, Z:-0.27 [[ 9.99387017e-01 3.21784631e-03 -3.48602206e-02 -2.17590516e+00] [-3.28945325e-03 9.99992596e-01 -1.99695784e-03 4.88820890e-03] [ 3.48535365e-02 2.11040480e-03 9.99390203e-01 -2.73944696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.113133365 meters Centerline goodness : 0.113928 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.00, Z:-0.27 [[ 9.99384930e-01 3.28909829e-03 -3.49133805e-02 -2.17572276e+00] [-3.35323965e-03 9.99992796e-01 -1.77876155e-03 3.74583581e-03] [ 3.49072784e-02 1.89474042e-03 9.99388759e-01 -2.74023688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.143133365 meters Centerline goodness : 0.127502 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.01, Z:-0.28 [[ 9.99339687e-01 -5.06819117e-03 -3.59792151e-02 -2.19438244e+00] [ 5.05621514e-03 9.99987127e-01 -4.23841145e-04 6.12458333e-03] [ 3.59809000e-02 2.41642625e-04 9.99352449e-01 -2.76476133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.173133365 meters Centerline goodness : 0.109883 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.01, Z:-0.28 [[ 9.99337433e-01 -5.05794755e-03 -3.60432066e-02 -2.19404705e+00] [ 5.04491977e-03 9.99987172e-01 -4.52387628e-04 6.48090416e-03] [ 3.60450324e-02 2.70252805e-04 9.99350130e-01 -2.76784067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.203133365 meters Centerline goodness : 0.108950 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.01, Z:-0.28 [[ 9.99336089e-01 -4.99635061e-03 -3.60890356e-02 -2.19384388e+00] [ 4.98290784e-03 9.99987478e-01 -4.62423433e-04 7.07107713e-03] [ 3.60908942e-02 2.82288087e-04 9.99348472e-01 -2.76962749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23313336499996 meters Centerline goodness : 0.115673 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.01, Z:-0.28 [[ 9.99331556e-01 -4.98417299e-03 -3.62160114e-02 -2.19351565e+00] [ 4.96878463e-03 9.99987523e-01 -5.14897453e-04 7.74187917e-03] [ 3.62181259e-02 3.34603712e-04 9.99343852e-01 -2.77031257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.263133365 meters Centerline goodness : 0.109578 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.01, Z:-0.28 [[ 9.99325739e-01 -5.03813045e-03 -3.63687382e-02 -2.19332278e+00] [ 5.02243053e-03 9.99987251e-01 -5.23034924e-04 7.35154695e-03] [ 3.63709097e-02 3.40022801e-04 9.99338302e-01 -2.76791848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29313336499996 meters Centerline goodness : 0.265090 Centerline is valid? [False, False] Translation: X:-2.22, Y:0.00, Z:-0.28 [[ 9.99332563e-01 6.18298044e-04 -3.65246072e-02 -2.21549939e+00] [-7.38241128e-04 9.99994379e-01 -3.27050278e-03 2.69629031e-03] [ 3.65223798e-02 3.29528389e-03 9.99327402e-01 -2.77404563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.323133365 meters Centerline goodness : 0.265090 Centerline is valid? [False, False] Translation: X:-2.22, Y:0.00, Z:-0.28 [[ 9.99332563e-01 6.18298044e-04 -3.65246072e-02 -2.21549939e+00] [-7.38241128e-04 9.99994379e-01 -3.27050278e-03 2.69629031e-03] [ 3.65223798e-02 3.29528389e-03 9.99327402e-01 -2.77404563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35313336499996 meters Centerline goodness : 0.109029 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.00, Z:-0.28 [[ 9.99402526e-01 6.80533702e-04 -3.45561486e-02 -2.17322218e+00] [-8.07602888e-04 9.99992964e-01 -3.66335537e-03 4.17860163e-03] [ 3.45534125e-02 3.68907425e-03 9.99396044e-01 -2.75509014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.383133365 meters Centerline goodness : 0.111426 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.00, Z:-0.28 [[ 9.99359735e-01 -7.70040635e-03 -3.49402753e-02 -2.19421935e+00] [ 7.62920726e-03 9.99968541e-01 -2.17060554e-03 4.76691219e-03] [ 3.49558907e-02 1.90264918e-03 9.99387045e-01 -2.76823498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41313336499996 meters Centerline goodness : 0.109617 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.00, Z:-0.28 [[ 9.99365343e-01 -7.52919337e-03 -3.48169831e-02 -2.19457346e+00] [ 7.47373683e-03 9.99970587e-01 -1.72267489e-03 2.69307442e-03] [ 3.48289294e-02 1.46136862e-03 9.99392220e-01 -2.76655922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.443133365 meters Centerline goodness : 0.109856 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.00, Z:-0.28 [[ 9.99369794e-01 -7.39646178e-03 -3.47175365e-02 -2.19468191e+00] [ 7.35737709e-03 9.99972149e-01 -1.25341120e-03 4.34943863e-05] [ 3.47258404e-02 9.97191282e-04 9.99396379e-01 -2.76730930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47313336499997 meters Centerline goodness : 0.106272 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.00, Z:-0.28 [[ 0.99933372 -0.01108339 -0.03477475 -2.19423238] [ 0.01094487 0.9999314 -0.00417122 -0.00494171] [ 0.03481859 0.00378784 0.99938647 -0.27694602] [ 0. 0. 0. 1. ]] SLAMing on 298.503133365 meters Centerline goodness : 0.106753 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.01, Z:-0.28 [[ 0.99932915 -0.01082202 -0.03498753 -2.19364203] [ 0.01070789 0.99993672 -0.00344785 -0.0087454 ] [ 0.03502263 0.00307089 0.9993818 -0.27701927] [ 0. 0. 0. 1. ]] SLAMing on 298.53313336499997 meters Centerline goodness : 0.146429 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.02, Z:-0.28 [[ 0.99939569 -0.00317488 -0.03461479 -2.21214327] [ 0.00305091 0.99998874 -0.00363368 -0.01891601] [ 0.03462594 0.00352588 0.99939412 -0.27902415] [ 0. 0. 0. 1. ]] SLAMing on 298.563133365 meters Centerline goodness : 0.106472 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.02, Z:-0.28 [[ 0.99939066 -0.00292644 -0.03478145 -2.21162684] [ 0.00282758 0.99999182 -0.00289109 -0.02313897] [ 0.03478962 0.00279098 0.99939076 -0.27913968] [ 0. 0. 0. 1. ]] SLAMing on 298.59313336499997 meters Centerline goodness : 0.106412 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.03, Z:-0.28 [[ 9.99387736e-01 -2.72248675e-03 -3.48818042e-02 -2.21112294e+00] [ 2.64599500e-03 9.99993993e-01 -2.23885913e-03 -2.73632850e-02] [ 3.48876899e-02 2.14519128e-03 9.99388937e-01 -2.79457816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.623133365 meters Centerline goodness : 0.122827 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.03, Z:-0.28 [[ 9.99387815e-01 -2.56070455e-03 -3.48918013e-02 -2.21090431e+00] [ 2.50260642e-03 9.99995409e-01 -1.70866574e-03 -3.07880340e-02] [ 3.48960165e-02 1.62029928e-03 9.99389635e-01 -2.79680115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.653133365 meters Centerline goodness : 0.125890 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.04, Z:-0.28 [[ 9.99416452e-01 4.89690708e-03 -3.38049580e-02 -2.22930849e+00] [-4.95711545e-03 9.99986273e-01 -1.69746914e-03 -4.29075122e-02] [ 3.37961816e-02 1.86405367e-03 9.99427008e-01 -2.82418833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.683133365 meters Centerline goodness : 0.130741 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.04, Z:-0.28 [[ 9.99415582e-01 5.14134696e-03 -3.37943969e-02 -2.22919562e+00] [-5.18707704e-03 9.99985746e-01 -1.26565177e-03 -4.47109037e-02] [ 3.37874081e-02 1.44020624e-03 9.99428005e-01 -2.82619886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.713133365 meters Centerline goodness : 0.123578 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.28 [[ 9.99414714e-01 5.27703727e-03 -3.37991494e-02 -2.22896726e+00] [-5.31237008e-03 9.99985433e-01 -9.55657876e-04 -4.63669537e-02] [ 3.37936140e-02 1.13465213e-03 9.99428189e-01 -2.82932250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.743133365 meters Centerline goodness : 0.114977 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.28 [[ 9.99411361e-01 5.35785011e-03 -3.38854543e-02 -2.22869330e+00] [-5.38510016e-03 9.99985246e-01 -7.12967221e-04 -4.80854215e-02] [ 3.38811344e-02 8.95024107e-04 9.99425469e-01 -2.83040360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.773133365 meters Centerline goodness : 0.125978 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.28 [[ 9.99398607e-01 5.52700238e-03 -3.42326945e-02 -2.22748870e+00] [-5.54294479e-03 9.99984569e-01 -3.70821116e-04 -5.01929999e-02] [ 3.42301167e-02 5.60348042e-04 9.99413821e-01 -2.83679740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.803133365 meters Centerline goodness : 0.124487 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.28 [[ 9.99396935e-01 5.61796297e-03 -3.42666626e-02 -2.22715079e+00] [-5.62921153e-03 9.99984129e-01 -2.31797994e-04 -5.08257457e-02] [ 3.42648165e-02 4.24552497e-04 9.99412699e-01 -2.84054915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.833133365 meters SLAMing on 298.863133365 meters Centerline goodness : 0.131028 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.28 [[ 9.99410455e-01 5.77286844e-03 -3.38440077e-02 -2.22795527e+00] [-5.77991644e-03 9.99983290e-01 -1.10416387e-04 -5.11813442e-02] [ 3.38428048e-02 3.05966828e-04 9.99427121e-01 -2.84374065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.893133365 meters Centerline goodness : 0.122630 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.28 [[ 9.99415138e-01 5.79780534e-03 -3.37011411e-02 -2.22834889e+00] [-5.80629816e-03 9.99983131e-01 -1.54141311e-04 -5.08238680e-02] [ 3.36996789e-02 3.49730033e-04 9.99431943e-01 -2.84325934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.923133365 meters Centerline goodness : 0.121972 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.28 [[ 9.99413815e-01 5.77714172e-03 -3.37439020e-02 -2.22825040e+00] [-5.79133196e-03 9.99983178e-01 -3.22803209e-04 -4.98478740e-02] [ 3.37414694e-02 5.18036125e-04 9.99430460e-01 -2.84352810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.953133365 meters Centerline goodness : 0.124039 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.29 [[ 9.99393894e-01 6.00498357e-03 -3.42897192e-02 -2.22664171e+00] [-6.02821850e-03 9.99981665e-01 -5.74262023e-04 -4.72220946e-02] [ 3.42856420e-02 7.80619878e-04 9.99411770e-01 -2.85077090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98313336499996 meters Centerline goodness : 0.128220 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.29 [[ 9.99395194e-01 5.94899081e-03 -3.42615652e-02 -2.22654379e+00] [-5.98233212e-03 9.99981727e-01 -8.70709371e-04 -4.54704018e-02] [ 3.42557593e-02 1.07514682e-03 9.99412521e-01 -2.85369109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.013133365 meters Centerline goodness : 0.123857 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.04, Z:-0.28 [[ 9.99431086e-01 6.19054238e-03 -3.31539187e-02 -2.22963815e+00] [-6.23080377e-03 9.99979971e-01 -1.11119866e-03 -4.24152526e-02] [ 3.31463758e-02 1.31714204e-03 9.99449640e-01 -2.84711041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04313336499996 meters Centerline goodness : 0.122596 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.04, Z:-0.28 [[ 9.99441365e-01 6.11825467e-03 -3.28561125e-02 -2.23055892e+00] [-6.16958957e-03 9.99979900e-01 -1.46126033e-03 -4.00735288e-02] [ 3.28465117e-02 1.66315274e-03 9.99459024e-01 -2.84460750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.073133365 meters Centerline goodness : 0.136644 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.04, Z:-0.29 [[ 9.99384231e-01 6.20989919e-03 -3.45339841e-02 -2.27635752e+00] [-6.23406767e-03 9.99980393e-01 -5.92213396e-04 -4.04739440e-02] [ 3.45296294e-02 8.07135923e-04 9.99403349e-01 -2.85043416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10313336499996 meters Centerline goodness : 0.123076 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.03, Z:-0.28 [[ 9.99390051e-01 -2.60987983e-04 -3.49207348e-02 -2.25836710e+00] [ 2.73452084e-04 9.99999901e-01 3.52149958e-04 -3.05590699e-02] [ 3.49206394e-02 -3.61484312e-04 9.99390023e-01 -2.83267116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.133133365 meters Centerline goodness : 0.128752 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.03, Z:-0.28 [[ 9.99392482e-01 -4.56690625e-04 -3.48490706e-02 -2.25833350e+00] [ 4.46130489e-04 9.99999852e-01 -3.10800267e-04 -2.68941150e-02] [ 3.48492074e-02 2.95064217e-04 9.99392538e-01 -2.83727483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16313336499996 meters Centerline goodness : 0.164563 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.02, Z:-0.28 [[ 9.99388541e-01 -6.93409080e-04 -3.49580294e-02 -2.25794842e+00] [ 6.59245836e-04 9.99999294e-01 -9.88781604e-04 -2.32036746e-02] [ 3.49586904e-02 9.65131069e-04 9.99388292e-01 -2.84039159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.193133365 meters Centerline goodness : 0.086201 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.02, Z:-0.29 [[ 9.99283628e-01 -9.49420709e-05 -3.78447021e-02 -2.30102124e+00] [ 9.49200888e-05 9.99999995e-01 -2.37760635e-06 -1.88200159e-02] [ 3.78447022e-02 -1.21631938e-06 9.99283633e-01 -2.85203077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22313336499997 meters Centerline goodness : 0.119134 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.02, Z:-0.29 [[ 9.99281392e-01 -2.94305436e-04 -3.79026789e-02 -2.30103801e+00] [ 2.72643120e-04 9.99999797e-01 -5.76692225e-04 -1.54449377e-02] [ 3.79028409e-02 5.65943905e-04 9.99281269e-01 -2.85096007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.253133365 meters Centerline goodness : 0.130879 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.01, Z:-0.29 [[ 9.99280300e-01 -5.57095431e-04 -3.79285088e-02 -2.30106233e+00] [ 5.12042603e-04 9.99999152e-01 -1.19753910e-03 -1.22636848e-02] [ 3.79291438e-02 1.17725621e-03 9.99279738e-01 -2.85015735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28313336499997 meters Centerline goodness : 0.122837 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.01, Z:-0.28 [[ 9.99276924e-01 -8.89890900e-04 -3.80110188e-02 -2.30102521e+00] [ 8.18844658e-04 9.99997889e-01 -1.88462325e-03 -9.10968291e-03] [ 3.80126156e-02 1.85213540e-03 9.99275543e-01 -2.84874998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.313133365 meters Centerline goodness : 0.122600 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.01, Z:-0.28 [[ 9.99273861e-01 -1.17399631e-03 -3.80837511e-02 -2.30096657e+00] [ 1.07802108e-03 9.99996192e-01 -2.54054689e-03 -5.81270671e-03] [ 3.80865887e-02 2.49764702e-03 9.99271321e-01 -2.84792055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34313336499997 meters Centerline goodness : 0.114998 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.00, Z:-0.29 [[ 9.99271510e-01 -1.56723084e-03 -3.81312677e-02 -2.30067321e+00] [ 1.43669781e-03 9.99993015e-01 -3.45041524e-03 1.45955573e-03] [ 3.81364090e-02 3.39311853e-03 9.99266782e-01 -2.85099648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.373133365 meters Centerline goodness : 0.127413 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.00, Z:-0.28 [[ 9.99272047e-01 -1.81053434e-03 -3.81063919e-02 -2.30087985e+00] [ 1.66308466e-03 9.99991009e-01 -3.90076421e-03 3.56287689e-03] [ 3.81131118e-02 3.83455048e-03 9.99266074e-01 -2.84888830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.403133365 meters Centerline goodness : 0.118631 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.00, Z:-0.28 [[ 9.99269979e-01 -2.07940985e-03 -3.81468850e-02 -2.30105716e+00] [ 1.91898312e-03 9.99989163e-01 -4.24163313e-03 4.63020620e-03] [ 3.81552916e-02 4.16533342e-03 9.99263140e-01 -2.84487374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.433133365 meters Centerline goodness : 0.106479 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.00, Z:-0.28 [[ 9.99253108e-01 -2.36980866e-03 -3.85695370e-02 -2.30019235e+00] [ 2.19956332e-03 9.99987654e-01 -4.45582020e-03 4.77164310e-03] [ 3.85796203e-02 4.36765605e-03 9.99245984e-01 -2.84272845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.463133365 meters Centerline goodness : 0.106363 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.00, Z:-0.28 [[ 0.99922482 -0.00330063 -0.03922828 -2.29839746] [ 0.00311334 0.99998347 -0.00483447 0.00333881] [ 0.03924359 0.00470859 0.99921858 -0.28443532] [ 0. 0. 0. 1. ]] SLAMing on 299.493133365 meters Centerline goodness : 0.105194 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.00, Z:-0.28 [[ 9.99228094e-01 -3.53379299e-03 -3.91245349e-02 -2.29870911e+00] [ 3.35318048e-03 9.99983422e-01 -4.68100816e-03 1.44360466e-03] [ 3.91404280e-02 4.54620323e-03 9.99223378e-01 -2.84207093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.523133365 meters Centerline goodness : 0.105898 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.00, Z:-0.28 [[ 9.99243424e-01 -3.88259251e-03 -3.86976201e-02 -2.29981575e+00] [ 3.70890864e-03 9.99982730e-01 -4.55901128e-03 -9.45376882e-04] [ 3.87146526e-02 4.41203610e-03 9.99240566e-01 -2.83841533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.553133365 meters Centerline goodness : 0.125693 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.00, Z:-0.28 [[ 0.99924734 -0.00417272 -0.03856617 -2.30029078] [ 0.00400725 0.99998244 -0.00436678 -0.00358361] [ 0.03858371 0.00420895 0.99924651 -0.28347431] [ 0. 0. 0. 1. ]] SLAMing on 299.583133365 meters Centerline goodness : 0.107407 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.01, Z:-0.28 [[ 0.99923922 -0.0043028 -0.03876163 -2.29979394] [ 0.00415102 0.9999834 -0.00399529 -0.00676551] [ 0.03877817 0.00383135 0.9992405 -0.28344188] [ 0. 0. 0. 1. ]] SLAMing on 299.613133365 meters Centerline goodness : 0.107857 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.01, Z:-0.28 [[ 0.99923566 -0.00425303 -0.03885883 -2.29948011] [ 0.00412183 0.99998553 -0.00345568 -0.010213 ] [ 0.03887297 0.00329287 0.99923873 -0.28348396] [ 0. 0. 0. 1. ]] SLAMing on 299.643133365 meters Centerline goodness : 0.109049 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.02, Z:-0.28 [[ 0.99925177 -0.00430724 -0.03843628 -2.30073796] [ 0.00420911 0.99998767 -0.00263352 -0.01775714] [ 0.03844715 0.00246977 0.99925758 -0.28292757] [ 0. 0. 0. 1. ]] SLAMing on 299.673133365 meters Centerline goodness : 0.096380 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.02, Z:-0.28 [[ 9.99258528e-01 -4.13273683e-03 -3.82794353e-02 -2.30138312e+00] [ 4.05844729e-03 9.99989728e-01 -2.01821987e-03 -2.12978475e-02] [ 3.82873829e-02 1.86136835e-03 9.99265036e-01 -2.82456009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.703133365 meters Centerline goodness : 0.107327 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.03, Z:-0.28 [[ 9.99257346e-01 -3.89499413e-03 -3.83351855e-02 -2.30138062e+00] [ 3.84687628e-03 9.99991718e-01 -1.32887033e-03 -2.52201992e-02] [ 3.83400440e-02 1.18041272e-03 9.99264053e-01 -2.82193314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73313336499996 meters Centerline goodness : 0.121265 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.03, Z:-0.28 [[ 9.99252192e-01 -3.69901160e-03 -3.84886280e-02 -2.30107480e+00] [ 3.67500233e-03 9.99993006e-01 -6.94532168e-04 -2.90147205e-02] [ 3.84909279e-02 5.52566993e-04 9.99258797e-01 -2.82073409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.763133365 meters Centerline goodness : 0.129255 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.04, Z:-0.28 [[ 9.99252668e-01 -3.71363594e-03 -3.84748650e-02 -2.30127673e+00] [ 3.71732466e-03 9.99993090e-01 2.43354232e-05 -3.82086032e-02] [ 3.84745088e-02 -1.67340801e-04 9.99259568e-01 -2.81760194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79313336499996 meters Centerline goodness : 0.132213 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.04, Z:-0.28 [[ 9.99259467e-01 -3.40286675e-03 -3.83267411e-02 -2.30170866e+00] [ 3.43436721e-03 9.99993817e-01 7.56083976e-04 -4.19964814e-02] [ 3.83239312e-02 -8.87152173e-04 9.99264974e-01 -2.81604780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.823133365 meters Centerline goodness : 0.128360 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.05, Z:-0.28 [[ 9.99263520e-01 -3.06708709e-03 -3.82493143e-02 -2.30200828e+00] [ 3.12616358e-03 9.99994011e-01 1.48479806e-03 -4.54620747e-02] [ 3.82445312e-02 -1.60327815e-03 9.99267124e-01 -2.81402752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85313336499996 meters Centerline goodness : 0.128177 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.05, Z:-0.28 [[ 9.99259314e-01 -2.77447667e-03 -3.83813204e-02 -2.30155410e+00] [ 2.85861652e-03 9.99993630e-01 2.13750290e-03 -4.87279215e-02] [ 3.83751455e-02 -2.24563715e-03 9.99260880e-01 -2.81559882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.883133365 meters Centerline goodness : 0.134746 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.05, Z:-0.28 [[ 0.99924453 -0.00258626 -0.03877737 -2.30039329] [ 0.00269016 0.99999293 0.00262761 -0.05156938] [ 0.0387703 -0.00272994 0.99924442 -0.28185509] [ 0. 0. 0. 1. ]] SLAMing on 299.91313336499996 meters SLAMing on 299.943133365 meters Centerline goodness : 0.103450 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.07, Z:-0.28 [[ 9.99171853e-01 4.96044652e-03 -4.03856625e-02 -2.31734199e+00] [-4.86721803e-03 9.99985259e-01 2.40645158e-03 -6.71049502e-02] [ 4.03970043e-02 -2.20789286e-03 9.99181268e-01 -2.84427810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97313336499997 meters Centerline goodness : 0.133119 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.07, Z:-0.28 [[ 0.99923606 -0.0026768 -0.03898874 -2.29816429] [ 0.00283354 0.99998812 0.00396534 -0.06650801] [ 0.03897766 -0.00407278 0.99923178 -0.2830456 ] [ 0. 0. 0. 1. ]] SLAMing on 300.003133365 meters Centerline goodness : 0.135639 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.07, Z:-0.28 [[ 0.99924762 -0.00239739 -0.03870988 -2.29905091] [ 0.00258368 0.99998532 0.00476329 -0.07085602] [ 0.03869789 -0.00485972 0.99923914 -0.28261836] [ 0. 0. 0. 1. ]] SLAMing on 300.03313336499997 meters Centerline goodness : 0.095928 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.08, Z:-0.28 [[ 9.99250766e-01 -2.22011571e-03 -3.86390702e-02 -2.29947857e+00] [ 2.43458615e-03 9.99981887e-01 5.50444356e-03 -7.55099993e-02] [ 3.86261498e-02 -5.59438959e-03 9.99238071e-01 -2.82170750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.063133365 meters Centerline goodness : 0.088657 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.08, Z:-0.28 [[ 9.99249008e-01 -2.16825132e-03 -3.86874374e-02 -2.29943854e+00] [ 2.40821413e-03 9.99978145e-01 6.15707981e-03 -8.03464924e-02] [ 3.86732418e-02 -6.24562352e-03 9.99232392e-01 -2.81964907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09313336499997 meters Centerline goodness : 0.106871 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.09, Z:-0.28 [[ 9.99237355e-01 -2.07739852e-03 -3.89922197e-02 -2.29867255e+00] [ 2.34586056e-03 9.99973852e-01 6.84052608e-03 -8.52247480e-02] [ 3.89769896e-02 -6.92677949e-03 9.99216100e-01 -2.81944649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.123133365 meters Centerline goodness : 0.100847 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.09, Z:-0.28 [[ 0.99923483 -0.0042008 -0.03888583 -2.29909362] [ 0.00444775 0.99997047 0.00626643 -0.09494299] [ 0.03885835 -0.00643459 0.99922401 -0.28219295] [ 0. 0. 0. 1. ]] SLAMing on 300.153133365 meters Centerline goodness : 0.117835 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.10, Z:-0.28 [[ 0.99925046 -0.00414928 -0.03848772 -2.30006718] [ 0.00441615 0.99996678 0.00685165 -0.09780509] [ 0.03845801 -0.00701648 0.99923558 -0.2822995 ] [ 0. 0. 0. 1. ]] SLAMing on 300.183133365 meters Centerline goodness : 0.133450 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99924621 0.00365997 -0.03864738 -2.28255162] [-0.00340222 0.99997155 0.00673299 -0.10597093] [ 0.03867092 -0.00659643 0.99923023 -0.28098871] [ 0. 0. 0. 1. ]] SLAMing on 300.213133365 meters Centerline goodness : 0.133450 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99924621 0.00365997 -0.03864738 -2.28255162] [-0.00340222 0.99997155 0.00673299 -0.10597093] [ 0.03867092 -0.00659643 0.99923023 -0.28098871] [ 0. 0. 0. 1. ]] SLAMing on 300.243133365 meters Centerline goodness : 0.095583 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99924091 0.00377455 -0.03877321 -2.28221874] [-0.00350477 0.99996919 0.00702363 -0.10762351] [ 0.03879853 -0.00688241 0.99922335 -0.28099926] [ 0. 0. 0. 1. ]] SLAMing on 300.273133365 meters Centerline goodness : 0.099195 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99923472 0.00383666 -0.03892617 -2.28169859] [-0.00355886 0.99996772 0.00720329 -0.10870887] [ 0.03895255 -0.00705925 0.99921613 -0.28123246] [ 0. 0. 0. 1. ]] SLAMing on 300.303133365 meters Centerline goodness : 0.095224 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99923376 0.00389104 -0.03894547 -2.28156109] [-0.00360784 0.99996656 0.00733919 -0.10958206] [ 0.03897273 -0.00719306 0.99921438 -0.28134466] [ 0. 0. 0. 1. ]] SLAMing on 300.333133365 meters Centerline goodness : 0.208954 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99924324 0.00392945 -0.03869776 -2.28234182] [-0.00364461 0.99996577 0.00742836 -0.11020785] [ 0.03872562 -0.0072817 0.99922335 -0.28101561] [ 0. 0. 0. 1. ]] SLAMing on 300.363133365 meters Centerline goodness : 0.128055 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99924171 0.00392313 -0.03873786 -2.2821627 ] [-0.00363663 0.99996553 0.00746356 -0.11049877] [ 0.0387658 -0.00731703 0.99922153 -0.28115896] [ 0. 0. 0. 1. ]] SLAMing on 300.393133365 meters Centerline goodness : 0.226951 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99923644 0.00392559 -0.03887331 -2.28159646] [-0.00363591 0.99996512 0.00751971 -0.11072869] [ 0.03890147 -0.00737263 0.99921585 -0.28156994] [ 0. 0. 0. 1. ]] SLAMing on 300.423133365 meters Centerline goodness : 0.131161 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99919427 0.00360834 -0.03997247 -2.27853764] [-0.0033138 0.99996689 0.00743224 -0.11141732] [ 0.03999796 -0.00729379 0.99917314 -0.28236122] [ 0. 0. 0. 1. ]] SLAMing on 300.453133365 meters Centerline goodness : 0.133297 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99918039 0.00351433 -0.04032616 -2.27769906] [-0.00321389 0.99996661 0.00751273 -0.11238471] [ 0.04035121 -0.00737697 0.99915833 -0.28240103] [ 0. 0. 0. 1. ]] SLAMing on 300.48313336499996 meters Centerline goodness : 0.098506 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99917261 0.00345219 -0.04052374 -2.27743565] [-0.00314385 0.99996564 0.00767026 -0.11365444] [ 0.04054882 -0.00753651 0.99914913 -0.28217343] [ 0. 0. 0. 1. ]] SLAMing on 300.513133365 meters Centerline goodness : 0.177575 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 0.99916561 0.00335938 -0.04070388 -2.27721178] [-0.0030418 0.99996447 0.00786161 -0.11519441] [ 0.04072884 -0.00773123 0.99914033 -0.28191583] [ 0. 0. 0. 1. ]] SLAMing on 300.54313336499996 meters Centerline goodness : 0.131134 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 0.99916072 0.00326722 -0.04083101 -2.27703697] [-0.00293967 0.99996304 0.00807947 -0.11686695] [ 0.0408559 -0.00795266 0.9991334 -0.28175996] [ 0. 0. 0. 1. ]] SLAMing on 300.573133365 meters Centerline goodness : 0.226942 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 0.99915196 0.00313865 -0.04105485 -2.27653147] [-0.00280115 0.99996183 0.00827562 -0.11857598] [ 0.04107926 -0.00815361 0.99912262 -0.28175056] [ 0. 0. 0. 1. ]] SLAMing on 300.60313336499996 meters Centerline goodness : 0.121654 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 9.99167237e-01 -6.23956573e-04 -4.07975872e-02 -2.27670312e+00] [ 8.32838958e-04 9.99986632e-01 5.10317357e-03 -1.21210210e-01] [ 4.07938576e-02 -5.13290166e-03 9.99154400e-01 -2.82236974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.633133365 meters Centerline goodness : 0.118794 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 9.99161444e-01 -6.74221401e-04 -4.09384103e-02 -2.27655889e+00] [ 8.93743823e-04 9.99985320e-01 5.34419543e-03 -1.23028933e-01] [ 4.09342062e-02 -5.37630248e-03 9.99147380e-01 -2.82035547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66313336499996 meters Centerline goodness : 0.132932 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 9.99164356e-01 -6.19000093e-04 -4.08681561e-02 -2.27693137e+00] [ 8.51080309e-04 9.99983611e-01 5.66160019e-03 -1.24740895e-01] [ 4.08639818e-02 -5.69165119e-03 9.99148508e-01 -2.81747455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.693133365 meters Centerline goodness : 0.150064 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.13, Z:-0.28 [[ 0.99918476 0.00571194 -0.03996475 -2.25513093] [-0.00558989 0.99997937 0.00316512 -0.12821523] [ 0.03998201 -0.00293915 0.99919608 -0.28160966] [ 0. 0. 0. 1. ]] SLAMing on 300.72313336499997 meters Centerline goodness : 0.083836 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.13, Z:-0.28 [[ 0.99914321 -0.00379831 -0.04121187 -2.27379016] [ 0.00397484 0.99998327 0.00420223 -0.12945263] [ 0.04119522 -0.00436244 0.99914159 -0.28381591] [ 0. 0. 0. 1. ]] SLAMing on 300.753133365 meters Centerline goodness : 0.101567 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.13, Z:-0.28 [[ 0.99913972 -0.00378488 -0.04129756 -2.27345081] [ 0.00397662 0.99998169 0.00456173 -0.13209298] [ 0.04127953 -0.00472203 0.99913648 -0.28401433] [ 0. 0. 0. 1. ]] SLAMing on 300.78313336499997 meters Centerline goodness : 0.107547 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.13, Z:-0.28 [[ 0.9991422 -0.00369832 -0.0412455 -2.27355069] [ 0.00390539 0.99998017 0.00494098 -0.13437076] [ 0.0412264 -0.00509782 0.99913683 -0.28404129] [ 0. 0. 0. 1. ]] SLAMing on 300.813133365 meters Centerline goodness : 0.159153 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.14, Z:-0.28 [[ 0.99915586 -0.00358757 -0.04092317 -2.27459928] [ 0.00380801 0.99997865 0.00530992 -0.13638284] [ 0.04090324 -0.00546127 0.99914819 -0.28361785] [ 0. 0. 0. 1. ]] SLAMing on 300.84313336499997 meters Centerline goodness : 0.098795 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.14, Z:-0.28 [[ 0.99920886 0.0044225 -0.03952344 -2.25628418] [-0.00426875 0.99998299 0.00397354 -0.14175157] [ 0.03954034 -0.00380169 0.99921074 -0.28180018] [ 0. 0. 0. 1. ]] SLAMing on 300.873133365 meters Centerline goodness : 0.062194 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.14, Z:-0.28 [[ 0.99920122 0.00445465 -0.03971252 -2.25577577] [-0.00429437 0.99998229 0.00412038 -0.14288614] [ 0.03973017 -0.00394655 0.99920265 -0.28182495] [ 0. 0. 0. 1. ]] SLAMing on 300.903133365 meters Centerline goodness : 0.131209 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.14, Z:-0.28 [[ 0.99919456 0.00445538 -0.03987946 -2.25517288] [-0.00429633 0.99998248 0.00407294 -0.14247246] [ 0.03989691 -0.00389832 0.9991962 -0.28211537] [ 0. 0. 0. 1. ]] SLAMing on 300.933133365 meters Centerline goodness : 0.131479 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.14, Z:-0.28 [[ 0.99919525 0.00448711 -0.03985881 -2.25499664] [-0.00433045 0.99998256 0.00401579 -0.14176508] [ 0.03987613 -0.00383996 0.99919725 -0.28242292] [ 0. 0. 0. 1. ]] SLAMing on 300.963133365 meters Centerline goodness : 0.095221 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.14, Z:-0.28 [[ 0.99919735 0.00449792 -0.03980491 -2.25501731] [-0.00434743 0.99998307 0.00386653 -0.14060632] [ 0.03982163 -0.00369038 0.99919999 -0.28254711] [ 0. 0. 0. 1. ]] SLAMing on 300.993133365 meters Centerline goodness : 0.104162 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.14, Z:-0.28 [[ 0.99920191 0.00439732 -0.03970158 -2.25527116] [-0.00426197 0.99998482 0.00349307 -0.13860121] [ 0.03971633 -0.00332108 0.99920548 -0.28250447] [ 0. 0. 0. 1. ]] SLAMing on 301.023133365 meters Centerline goodness : 0.088923 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.13, Z:-0.28 [[ 0.99918524 -0.00282927 -0.04025969 -2.23550654] [ 0.00300168 0.99998658 0.00422274 -0.1340635 ] [ 0.0402472 -0.00434014 0.99918033 -0.28043041] [ 0. 0. 0. 1. ]] SLAMing on 301.053133365 meters Centerline goodness : 0.108876 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.13, Z:-0.28 [[ 0.99918176 -0.00286913 -0.0403432 -2.23527415] [ 0.00303859 0.99998681 0.00413994 -0.13362545] [ 0.04033079 -0.00425914 0.9991773 -0.28054519] [ 0. 0. 0. 1. ]] SLAMing on 301.083133365 meters Centerline goodness : 0.132284 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.13, Z:-0.28 [[ 0.99918106 -0.00289897 -0.04035836 -2.23532774] [ 0.00306652 0.99998693 0.00409017 -0.13327329] [ 0.04034597 -0.00421058 0.9991769 -0.28045637] [ 0. 0. 0. 1. ]] SLAMing on 301.113133365 meters Centerline goodness : 0.083465 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.13, Z:-0.28 [[ 9.99228765e-01 3.74346023e-03 -3.90878839e-02 -2.21422771e+00] [-3.68818395e-03 9.99992094e-01 1.48616764e-03 -1.34655909e-01] [ 3.90931383e-02 -1.34085814e-03 9.99234671e-01 -2.80087915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.143133365 meters Centerline goodness : 0.108781 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.13, Z:-0.28 [[ 9.99234183e-01 3.68756210e-03 -3.89544449e-02 -2.21470716e+00] [-3.63147701e-03 9.99992265e-01 1.51042091e-03 -1.34974388e-01] [ 3.89597134e-02 -1.36780203e-03 9.99239846e-01 -2.79887438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.173133365 meters Centerline goodness : 0.101245 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.14, Z:-0.28 [[ 9.99235329e-01 3.09939287e-03 -3.89762955e-02 -2.21475146e+00] [-3.05237559e-03 9.99994540e-01 1.26575451e-03 -1.35275806e-01] [ 3.89800058e-02 -1.14581633e-03 9.99239334e-01 -2.79798276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.203133365 meters Centerline goodness : 0.116796 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.13, Z:-0.28 [[ 9.99201811e-01 -4.58008385e-03 -3.96832823e-02 -2.19392889e+00] [ 4.66585396e-03 9.99986974e-01 2.06902068e-03 -1.32283170e-01] [ 3.96732891e-02 -2.25252561e-03 9.99210166e-01 -2.77914228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23313336499996 meters Centerline goodness : 0.095933 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.14, Z:-0.28 [[ 9.99198514e-01 2.47603158e-03 -3.99524529e-02 -2.21251516e+00] [-2.43098050e-03 9.99996353e-01 1.17615927e-03 -1.36989360e-01] [ 3.99552194e-02 -1.07809296e-03 9.99200890e-01 -2.79957099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.263133365 meters Centerline goodness : 0.098170 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.14, Z:-0.28 [[ 9.99196847e-01 2.41207399e-03 -3.99980272e-02 -2.21243640e+00] [-2.36238156e-03 9.99996378e-01 1.28958961e-03 -1.37921871e-01] [ 4.00009929e-02 -1.19406327e-03 9.99198927e-01 -2.80020701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29313336499996 meters Centerline goodness : 0.112415 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.14, Z:-0.28 [[ 9.99197245e-01 2.30967431e-03 -3.99941267e-02 -2.21257613e+00] [-2.25621427e-03 9.99996500e-01 1.38178149e-03 -1.38642635e-01] [ 3.99971782e-02 -1.29043694e-03 9.99198959e-01 -2.79934949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.323133365 meters Centerline goodness : 0.096732 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.14, Z:-0.28 [[ 9.99200723e-01 2.29307339e-03 -3.99080952e-02 -2.21283072e+00] [-2.23521401e-03 9.99996385e-01 1.49437466e-03 -1.39373218e-01] [ 3.99113776e-02 -1.40397711e-03 9.99202237e-01 -2.79919216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35313336499996 meters Centerline goodness : 0.111226 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.14, Z:-0.28 [[ 0.99916705 -0.00650633 -0.04028492 -2.23231481] [ 0.00661558 0.99997479 0.0025792 -0.13542966] [ 0.04026712 -0.00284356 0.9991849 -0.28208627] [ 0. 0. 0. 1. ]] SLAMing on 301.383133365 meters Centerline goodness : 0.107307 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.14, Z:-0.28 [[ 9.99200385e-01 1.83672576e-03 -3.99401808e-02 -2.21278427e+00] [-1.77620709e-03 9.99997220e-01 1.55066524e-03 -1.39169722e-01] [ 3.99429179e-02 -1.47848327e-03 9.99200869e-01 -2.80820944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41313336499996 meters Centerline goodness : 0.094763 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.14, Z:-0.28 [[ 9.99114786e-01 1.40945623e-03 -4.20435173e-02 -2.25729358e+00] [-1.31930910e-03 9.99996771e-01 2.17180812e-03 -1.36999866e-01] [ 4.20464427e-02 -2.11441721e-03 9.99113420e-01 -2.81857605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.443133365 meters Centerline goodness : 0.108102 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.14, Z:-0.28 [[ 9.99113121e-01 1.35239022e-03 -4.20849378e-02 -2.25718821e+00] [-1.27115076e-03 9.99997277e-01 1.95706927e-03 -1.35364353e-01] [ 4.20874699e-02 -1.90183728e-03 9.99112120e-01 -2.81759227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47313336499997 meters Centerline goodness : 0.095075 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.13, Z:-0.28 [[ 0.99911622 -0.00434878 -0.04180743 -2.27852609] [ 0.00455854 0.99997749 0.00492334 -0.12756846] [ 0.04178508 -0.00510957 0.99911356 -0.28271178] [ 0. 0. 0. 1. ]] SLAMing on 301.503133365 meters Centerline goodness : 0.105248 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.13, Z:-0.28 [[ 0.99913052 0.00415143 -0.04148447 -2.25941645] [-0.00400566 0.99998551 0.00359657 -0.12913651] [ 0.0414988 -0.00342727 0.99913268 -0.28116434] [ 0. 0. 0. 1. ]] SLAMing on 301.53313336499997 meters Centerline goodness : 0.089800 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 0.99915196 -0.00228185 -0.04111144 -2.28062014] [ 0.00253913 0.99997751 0.00620678 -0.12275711] [ 0.04109635 -0.0063059 0.99913529 -0.28243409] [ 0. 0. 0. 1. ]] SLAMing on 301.563133365 meters Centerline goodness : 0.099856 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 0.99915276 -0.00236366 -0.04108741 -2.28064205] [ 0.00260482 0.99997969 0.00581701 -0.12026591] [ 0.04107283 -0.0059191 0.99913862 -0.28247945] [ 0. 0. 0. 1. ]] SLAMing on 301.59313336499997 meters Centerline goodness : 0.113245 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 0.99915023 -0.00243414 -0.04114483 -2.28048246] [ 0.00265947 0.99998176 0.00542255 -0.11755708] [ 0.04113088 -0.00552737 0.99913848 -0.28250282] [ 0. 0. 0. 1. ]] SLAMing on 301.623133365 meters Centerline goodness : 0.093773 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 9.99129255e-01 1.17173961e-03 -4.17056142e-02 -2.27886199e+00] [-8.26169277e-04 9.99965195e-01 8.30221389e-03 -1.12903465e-01] [ 4.17138907e-02 -8.26052888e-03 9.99095448e-01 -2.83009658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.653133365 meters Centerline goodness : 0.115328 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 9.99120236e-01 1.03916306e-03 -4.19246262e-02 -2.27799394e+00] [-7.13028318e-04 9.99969378e-01 7.79327677e-03 -1.09665910e-01] [ 4.19314409e-02 -7.75652708e-03 9.99090382e-01 -2.83515804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.683133365 meters Centerline goodness : 0.106213 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 9.99120110e-01 8.29301723e-04 -4.19323075e-02 -2.27788471e+00] [-5.26483047e-04 9.99973709e-01 7.23213526e-03 -1.06622248e-01] [ 4.19372027e-02 -7.20369512e-03 9.99094279e-01 -2.83653351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.713133365 meters Centerline goodness : 0.108176 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.10, Z:-0.28 [[ 9.99125059e-01 5.58967201e-04 -4.18186972e-02 -2.27834137e+00] [-2.82221513e-04 9.99978025e-01 6.62336109e-03 -1.03531599e-01] [ 4.18214805e-02 -6.60576391e-03 9.99103262e-01 -2.83418819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.743133365 meters Centerline goodness : 0.133973 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.09, Z:-0.28 [[ 0.99914357 -0.00670491 -0.04083097 -2.30202428] [ 0.00703431 0.99994382 0.00792899 -0.09335358] [ 0.04077552 -0.00820941 0.99913461 -0.28343508] [ 0. 0. 0. 1. ]] SLAMing on 301.773133365 meters Centerline goodness : 0.106262 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.09, Z:-0.28 [[ 0.99914309 -0.0069206 -0.04080664 -2.30208026] [ 0.00723165 0.99994588 0.00747981 -0.09084829] [ 0.04075267 -0.0077685 0.99913906 -0.28353877] [ 0. 0. 0. 1. ]] SLAMing on 301.803133365 meters Centerline goodness : 0.123086 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.09, Z:-0.28 [[ 0.99914387 -0.00708477 -0.04075954 -2.3020883 ] [ 0.00738183 0.99994725 0.0071421 -0.08895689] [ 0.04070679 -0.00743686 0.99914346 -0.28377217] [ 0. 0. 0. 1. ]] SLAMing on 301.833133365 meters Centerline goodness : 0.120240 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.09, Z:-0.28 [[ 0.9991412 -0.0072632 -0.04079347 -2.30185725] [ 0.00754779 0.99994821 0.00682679 -0.08738131] [ 0.04074177 -0.00712882 0.99914428 -0.28407298] [ 0. 0. 0. 1. ]] SLAMing on 301.863133365 meters Centerline goodness : 0.100460 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.09, Z:-0.28 [[ 0.99913527 -0.00746569 -0.04090199 -2.30144827] [ 0.0077392 0.99994871 0.00653259 -0.08609475] [ 0.04085113 -0.00684349 0.99914181 -0.28437676] [ 0. 0. 0. 1. ]] SLAMing on 301.893133365 meters Centerline goodness : 0.104995 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.08, Z:-0.29 [[ 0.99911855 -0.00788498 -0.04123035 -2.30030568] [ 0.00813857 0.99994896 0.00598623 -0.08378066] [ 0.04118104 -0.00631651 0.99913173 -0.28506565] [ 0. 0. 0. 1. ]] SLAMing on 301.923133365 meters Centerline goodness : 0.096574 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.09, Z:-0.28 [[ 9.99146636e-01 -1.13548301e-04 -4.13036017e-02 -2.28170853e+00] [ 3.06271252e-04 9.99989097e-01 4.65971055e-03 -8.70057880e-02] [ 4.13026223e-02 -4.66838423e-03 9.99135776e-01 -2.83538898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.953133365 meters Centerline goodness : 0.100494 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.08, Z:-0.29 [[ 0.99908629 -0.00840673 -0.04190366 -2.3006408 ] [ 0.00865409 0.99994616 0.00572516 -0.08001504] [ 0.04185327 -0.00608256 0.99910525 -0.28562104] [ 0. 0. 0. 1. ]] SLAMing on 301.98313336499996 meters Centerline goodness : 0.102585 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.08, Z:-0.29 [[ 0.99908597 -0.00854211 -0.04188395 -2.30058936] [ 0.00877335 0.99994725 0.00534016 -0.07785521] [ 0.04183612 -0.00570274 0.99910821 -0.28574135] [ 0. 0. 0. 1. ]] SLAMing on 302.013133365 meters Centerline goodness : 0.095205 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.07, Z:-0.29 [[ 0.99909398 -0.00863175 -0.04167393 -2.30109082] [ 0.008843 0.99994896 0.00488747 -0.07492546] [ 0.04162961 -0.00525156 0.99911931 -0.28570199] [ 0. 0. 0. 1. ]] SLAMing on 302.04313336499996 meters Centerline goodness : 0.106323 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.07, Z:-0.28 [[ 0.99914836 -0.00678888 -0.04069958 -2.3046844 ] [ 0.0070482 0.99995575 0.00623143 -0.0704431 ] [ 0.04065548 -0.00651298 0.999152 -0.28440743] [ 0. 0. 0. 1. ]] SLAMing on 302.073133365 meters Centerline goodness : 0.091105 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.06, Z:-0.29 [[ 0.99914503 -0.0042194 -0.04112674 -2.30174536] [ 0.00454927 0.99995821 0.00793037 -0.06408266] [ 0.04109156 -0.00811069 0.99912247 -0.2865673 ] [ 0. 0. 0. 1. ]] SLAMing on 302.10313336499996 meters Centerline goodness : 0.111754 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.06, Z:-0.29 [[ 0.99914123 -0.00438422 -0.04120167 -2.30127788] [ 0.00469224 0.99996174 0.00738226 -0.06104957] [ 0.04116773 -0.00756925 0.99912358 -0.28700436] [ 0. 0. 0. 1. ]] SLAMing on 302.133133365 meters Centerline goodness : 0.111754 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.06, Z:-0.29 [[ 0.99914123 -0.00438422 -0.04120167 -2.30127788] [ 0.00469224 0.99996174 0.00738226 -0.06104957] [ 0.04116773 -0.00756925 0.99912358 -0.28700436] [ 0. 0. 0. 1. ]] SLAMing on 302.16313336499996 meters Centerline goodness : 0.174533 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.06, Z:-0.29 [[ 0.99914443 -0.00456176 -0.0411047 -2.30148777] [ 0.00484888 0.99996452 0.00688789 -0.05839837] [ 0.04107182 -0.00708131 0.9991311 -0.28703402] [ 0. 0. 0. 1. ]] SLAMing on 302.193133365 meters Centerline goodness : 0.052006 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.06, Z:-0.29 [[ 0.99914716 -0.00470064 -0.04102274 -2.30177327] [ 0.00497114 0.99996656 0.00649429 -0.05604766] [ 0.04099084 -0.00669268 0.99913711 -0.28693733] [ 0. 0. 0. 1. ]] SLAMing on 302.22313336499997 meters Centerline goodness : 0.059677 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.05, Z:-0.29 [[ 0.99914268 -0.0049427 -0.04110329 -2.30155841] [ 0.00519228 0.99996871 0.00596751 -0.05319528] [ 0.04107251 -0.00617581 0.99913708 -0.28703143] [ 0. 0. 0. 1. ]] SLAMing on 302.253133365 meters Centerline goodness : 0.052961 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.05, Z:-0.29 [[ 0.99912888 -0.00509403 -0.04141896 -2.30061145] [ 0.00533502 0.99996947 0.00570991 -0.05196454] [ 0.04138861 -0.00592591 0.99912555 -0.28738697] [ 0. 0. 0. 1. ]] SLAMing on 302.28313336499997 meters SLAMing on 302.313133365 meters Centerline goodness : 0.053175 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.05, Z:-0.29 [[ 0.99910503 -0.00536568 -0.04195652 -2.29899187] [ 0.00559249 0.99997037 0.00529023 -0.04999772] [ 0.04192689 -0.00552014 0.99910543 -0.2880354 ] [ 0. 0. 0. 1. ]] SLAMing on 302.34313336499997 meters Centerline goodness : 0.089961 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99166970e-01 2.26121523e-03 -4.07461928e-02 -2.28049092e+00] [-2.10441026e-03 9.99990216e-01 3.89081468e-03 -5.32081835e-02] [ 4.07545921e-02 -3.80182681e-03 9.99161954e-01 -2.86717286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.373133365 meters Centerline goodness : 0.064596 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99186529e-01 2.12371867e-03 -4.02712110e-02 -2.28180940e+00] [-1.97876182e-03 9.99991421e-01 3.63903366e-03 -5.20457686e-02] [ 4.02785938e-02 -3.55638627e-03 9.99182159e-01 -2.86437145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.403133365 meters Centerline goodness : 0.049319 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99214631e-01 1.68506615e-03 -3.95888996e-02 -2.28389025e+00] [-1.57129252e-03 9.99994547e-01 2.90481651e-03 -4.91959400e-02] [ 3.95935785e-02 -2.84032942e-03 9.99211830e-01 -2.85727319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.433133365 meters Centerline goodness : 0.067332 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99214533e-01 1.55077826e-03 -3.95968828e-02 -2.28383883e+00] [-1.44687466e-03 9.99995435e-01 2.65255709e-03 -4.80224220e-02] [ 3.96008156e-02 -2.59318187e-03 9.99212215e-01 -2.85778241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.463133365 meters Centerline goodness : 0.203797 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99212681e-01 1.44780892e-03 -3.96474594e-02 -2.28355260e+00] [-1.35209935e-03 9.99996107e-01 2.44072315e-03 -4.69501258e-02] [ 3.96508387e-02 -2.38519422e-03 9.99210749e-01 -2.86063391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.493133365 meters Centerline goodness : 0.096596 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99211313e-01 1.31212040e-03 -3.96866478e-02 -2.28339774e+00] [-1.22289643e-03 9.99996670e-01 2.27240360e-03 -4.62968440e-02] [ 3.96894973e-02 -2.22207873e-03 9.99209591e-01 -2.86197056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.523133365 meters Centerline goodness : 0.170354 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99214491e-01 1.15607742e-03 -3.96114286e-02 -2.28346275e+00] [-1.07345133e-03 9.99997204e-01 2.10712068e-03 -4.58732108e-02] [ 3.96137539e-02 -2.06294458e-03 9.99212938e-01 -2.86421180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.553133365 meters Centerline goodness : 0.059952 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99224984e-01 8.47465341e-04 -3.93537041e-02 -2.28391502e+00] [-7.71333576e-04 9.99997802e-01 1.94969443e-03 -4.59663896e-02] [ 3.93552699e-02 -1.91782855e-03 9.99223441e-01 -2.86746375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.583133365 meters Centerline goodness : 0.094483 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99227408e-01 8.35980277e-04 -3.92923557e-02 -2.28376883e+00] [-7.56696274e-04 9.99997648e-01 2.03262575e-03 -4.64619469e-02] [ 3.92939626e-02 -2.00132298e-03 9.99225690e-01 -2.87236786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.613133365 meters Centerline goodness : 0.177044 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99228643e-01 8.20458121e-04 -3.92612579e-02 -2.28358924e+00] [-7.38722101e-04 9.99997530e-01 2.09631113e-03 -4.69475873e-02] [ 3.92628808e-02 -2.06569097e-03 9.99226781e-01 -2.87661590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.643133365 meters Centerline goodness : 0.100107 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99226008e-01 7.94904200e-04 -3.93287732e-02 -2.28333810e+00] [-7.13411102e-04 9.99997570e-01 2.08608948e-03 -4.69808390e-02] [ 3.93303359e-02 -2.05641728e-03 9.99224147e-01 -2.87823501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.673133365 meters Centerline goodness : 0.094381 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99205256e-01 8.46813844e-04 -3.98514559e-02 -2.28213191e+00] [-7.65340160e-04 9.99997586e-01 2.05964592e-03 -4.62388016e-02] [ 3.98531039e-02 -2.02750911e-03 9.99203492e-01 -2.87799982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.703133365 meters Centerline goodness : 0.093993 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99191288e-01 8.66254438e-04 -4.01997476e-02 -2.28117031e+00] [-7.87365028e-04 9.99997733e-01 1.97822630e-03 -4.54497452e-02] [ 4.02013702e-02 -1.94497461e-03 9.99189705e-01 -2.87976913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73313336499996 meters SLAMing on 302.763133365 meters Centerline goodness : 0.197221 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.04, Z:-0.29 [[ 9.99172601e-01 8.77629844e-04 -4.06613297e-02 -2.27977095e+00] [-8.09964281e-04 9.99998260e-01 1.68056970e-03 -4.34714549e-02] [ 4.06627339e-02 -1.64624498e-03 9.99171573e-01 -2.88351584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79313336499996 meters Centerline goodness : 0.098534 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.04, Z:-0.29 [[ 9.99170962e-01 8.46069429e-04 -4.07022525e-02 -2.27964124e+00] [-7.83953830e-04 9.99998504e-01 1.54203408e-03 -4.26632353e-02] [ 4.07034963e-02 -1.50884699e-03 9.99170130e-01 -2.88365740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.823133365 meters Centerline goodness : 0.110162 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.04, Z:-0.29 [[ 9.99173163e-01 8.18649969e-04 -4.06487299e-02 -2.27991072e+00] [-7.61401918e-04 9.99998696e-01 1.42382157e-03 -4.19562088e-02] [ 4.06498425e-02 -1.39169428e-03 9.99172484e-01 -2.88153679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85313336499996 meters Centerline goodness : 0.099291 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.04, Z:-0.29 [[ 9.99192900e-01 8.84620552e-04 -4.01592622e-02 -2.28158865e+00] [-8.37435962e-04 9.99998939e-01 1.19174365e-03 -4.01783845e-02] [ 4.01602738e-02 -1.15715099e-03 9.99192581e-01 -2.87251490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.883133365 meters Centerline goodness : 0.162678 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.04, Z:-0.29 [[ 9.99192218e-01 7.92639659e-04 -4.01781526e-02 -2.28185654e+00] [-7.58184600e-04 9.99999332e-01 8.72787214e-04 -3.85160819e-02] [ 4.01788175e-02 -8.41619735e-04 9.99192151e-01 -2.86706335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91313336499996 meters Centerline goodness : 0.095491 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.04, Z:-0.28 [[ 9.99253764e-01 1.33393093e-03 -3.86022787e-02 -2.23874931e+00] [-1.30405350e-03 9.99998830e-01 7.99149776e-04 -3.89553823e-02] [ 3.86032996e-02 -7.48213985e-04 9.99254335e-01 -2.84782445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.943133365 meters Centerline goodness : 0.124538 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.04, Z:-0.28 [[ 9.99247106e-01 1.23267561e-03 -3.87776034e-02 -2.23829699e+00] [-1.22006650e-03 9.99999195e-01 3.48827750e-04 -3.63193014e-02] [ 3.87780022e-02 -3.01253865e-04 9.99247805e-01 -2.84735216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97313336499997 meters Centerline goodness : 0.137446 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.03, Z:-0.28 [[ 9.99237927e-01 1.20190851e-03 -3.90143756e-02 -2.23754287e+00] [-1.20617583e-03 9.99999269e-01 -8.58402128e-05 -3.32272263e-02] [ 3.90142439e-02 1.32832993e-04 9.99238646e-01 -2.84912363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.003133365 meters Centerline goodness : 0.115486 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.03, Z:-0.29 [[ 9.99226990e-01 1.15521123e-03 -3.92948850e-02 -2.23664537e+00] [-1.17796284e-03 9.99999152e-01 -5.55848562e-04 -2.99557556e-02] [ 3.92942096e-02 6.01706799e-04 9.99227503e-01 -2.85136729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03313336499997 meters Centerline goodness : 0.092809 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.02, Z:-0.28 [[ 9.99216675e-01 2.03931582e-03 -3.95205856e-02 -2.23615280e+00] [-2.05850208e-03 9.99997782e-01 -4.44788621e-04 -2.22759615e-02] [ 3.95195909e-02 5.25793415e-04 9.99218657e-01 -2.84965265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.063133365 meters Centerline goodness : 0.099552 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.02, Z:-0.28 [[ 9.99218400e-01 1.88796767e-03 -3.94844771e-02 -2.23645255e+00] [-1.92426578e-03 9.99997760e-01 -8.81316623e-04 -1.98984751e-02] [ 3.94827248e-02 9.56606415e-04 9.99219795e-01 -2.84594503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09313336499997 meters Centerline goodness : 0.113998 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.02, Z:-0.28 [[ 9.99217164e-01 1.72570539e-03 -3.95231752e-02 -2.23656466e+00] [-1.77718256e-03 9.99997618e-01 -1.26735859e-03 -1.78791999e-02] [ 3.95208940e-02 1.33660635e-03 9.99217850e-01 -2.84272200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.123133365 meters SLAMing on 303.153133365 meters Centerline goodness : 0.094968 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.00, Z:-0.29 [[ 9.99254162e-01 -6.15054168e-03 -3.81220516e-02 -2.25497165e+00] [ 6.09651328e-03 9.99980241e-01 -1.53333525e-03 -3.45821240e-03] [ 3.81307291e-02 1.29978003e-03 9.99271914e-01 -2.86533899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.183133365 meters Centerline goodness : 0.104493 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.00, Z:-0.29 [[ 9.99254598e-01 -6.33679746e-03 -3.80800895e-02 -2.25499222e+00] [ 6.26539739e-03 9.99978384e-01 -1.99404294e-03 -9.92259536e-04] [ 3.80919023e-02 1.75396969e-03 9.99272701e-01 -2.86615084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.213133365 meters Centerline goodness : 0.104897 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.00, Z:-0.29 [[ 9.99251986e-01 -6.49660961e-03 -3.81216822e-02 -2.25480110e+00] [ 6.40906228e-03 9.99976538e-01 -2.41828180e-03 1.46142996e-03] [ 3.81364984e-02 2.17214866e-03 9.99270178e-01 -2.86728733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.243133365 meters Centerline goodness : 0.106134 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.00, Z:-0.29 [[ 0.99924637 -0.00663959 -0.03824406 -2.25448899] [ 0.00653542 0.99997459 -0.00284831 0.00421518] [ 0.038262 0.00259622 0.99926437 -0.28673459] [ 0. 0. 0. 1. ]] SLAMing on 303.273133365 meters Centerline goodness : 0.136600 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.01, Z:-0.29 [[ 9.99308557e-01 1.27782052e-03 -3.71587917e-02 -2.23516950e+00] [-1.43767571e-03 9.99989826e-01 -4.27554593e-03 6.68726346e-03] [ 3.71529502e-02 4.32601193e-03 9.99300227e-01 -2.85388839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.303133365 meters Centerline goodness : 0.106377 Centerline is valid? [False, False] Translation: X:-2.28, Y:0.01, Z:-0.29 [[ 9.99233546e-01 1.19705378e-03 -3.91265546e-02 -2.28041892e+00] [-1.39105466e-03 9.99986873e-01 -4.93144410e-03 1.37509571e-02] [ 3.91201378e-02 4.98209155e-03 9.99222094e-01 -2.85725577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.333133365 meters Centerline goodness : 0.095349 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.02, Z:-0.28 [[ 0.99921541 -0.0067149 -0.03903171 -2.26099014] [ 0.00655639 0.99996974 -0.00418761 0.02005675] [ 0.03905865 0.00392842 0.9992292 -0.28337856] [ 0. 0. 0. 1. ]] SLAMing on 303.363133365 meters Centerline goodness : 0.106033 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.02, Z:-0.28 [[ 0.99921235 -0.00690941 -0.03907598 -2.2610058 ] [ 0.00672905 0.9999661 -0.00474526 0.02331599] [ 0.03910744 0.00447858 0.99922497 -0.28313821] [ 0. 0. 0. 1. ]] SLAMing on 303.393133365 meters Centerline goodness : 0.103099 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.03, Z:-0.28 [[ 9.99236809e-01 -3.56950198e-03 -3.88980397e-02 -2.26146811e+00] [ 3.50573514e-03 9.99992397e-01 -1.70741888e-03 2.56844015e-02] [ 3.89038386e-02 1.56974957e-03 9.99241726e-01 -2.83144108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.423133365 meters Centerline goodness : 0.106281 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.03, Z:-0.28 [[ 0.99921582 -0.003991 -0.03939316 -2.26010971] [ 0.00388701 0.99998876 -0.00271591 0.03124895] [ 0.03940356 0.00256066 0.9992201 -0.28332458] [ 0. 0. 0. 1. ]] SLAMing on 303.453133365 meters Centerline goodness : 0.110154 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.03, Z:-0.28 [[ 0.9992075 -0.00418916 -0.03958308 -2.25961685] [ 0.00406883 0.99998686 -0.00311999 0.03299142] [ 0.03959563 0.00295647 0.99921141 -0.28338946] [ 0. 0. 0. 1. ]] SLAMing on 303.48313336499996 meters Centerline goodness : 0.112043 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.03, Z:-0.28 [[ 0.9992012 -0.00435018 -0.03972442 -2.25940538] [ 0.00421551 0.99998508 -0.00347314 0.03464139] [ 0.03973894 0.00330291 0.99920464 -0.28316437] [ 0. 0. 0. 1. ]] SLAMing on 303.513133365 meters Centerline goodness : 0.127153 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.04, Z:-0.28 [[ 0.99920386 -0.00443893 -0.03964761 -2.25985286] [ 0.00429395 0.99998378 -0.00374112 0.03625388] [ 0.03966357 0.0035679 0.99920672 -0.28273053] [ 0. 0. 0. 1. ]] SLAMing on 303.54313336499996 meters Centerline goodness : 0.126397 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.03, Z:-0.28 [[ 0.99925736 0.00355089 -0.0383682 -2.2414888 ] [-0.00373633 0.99998168 -0.00476278 0.03400186] [ 0.03835059 0.0049026 0.99925232 -0.28090205] [ 0. 0. 0. 1. ]] SLAMing on 303.573133365 meters Centerline goodness : 0.109384 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.04, Z:-0.28 [[ 0.99927272 0.00341576 -0.03797839 -2.24286852] [-0.00362316 0.99997889 -0.00539334 0.03777453] [ 0.03795916 0.00552701 0.99926401 -0.28003125] [ 0. 0. 0. 1. ]] SLAMing on 303.60313336499996 meters Centerline goodness : 0.127506 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.04, Z:-0.28 [[ 0.99927071 0.00327982 -0.03804334 -2.24265592] [-0.00349741 0.9999779 -0.0056544 0.03881253] [ 0.03802395 0.00578333 0.99926009 -0.28010408] [ 0. 0. 0. 1. ]] SLAMing on 303.633133365 meters Centerline goodness : 0.126136 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.04, Z:-0.28 [[ 0.99926203 0.00321494 -0.03827601 -2.24189225] [-0.00343867 0.99997738 -0.00578085 0.03938054] [ 0.03825656 0.0059082 0.99925048 -0.28039721] [ 0. 0. 0. 1. ]] SLAMing on 303.66313336499996 meters Centerline goodness : 0.128798 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.05, Z:-0.28 [[ 0.99919945 -0.00459427 -0.03974105 -2.25970335] [ 0.00442084 0.99998032 -0.00445078 0.04514565] [ 0.03976071 0.00427153 0.9992001 -0.28244628] [ 0. 0. 0. 1. ]] SLAMing on 303.693133365 meters Centerline goodness : 0.124810 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.04, Z:-0.28 [[ 0.99918833 -0.00453764 -0.04002611 -2.25877658] [ 0.00436672 0.99998098 -0.00435666 0.04496421] [ 0.04004512 0.00417834 0.99918914 -0.28285983] [ 0. 0. 0. 1. ]] SLAMing on 303.72313336499997 meters Centerline goodness : 0.085927 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.04, Z:-0.28 [[ 0.999182 -0.00454534 -0.04018303 -2.25840635] [ 0.00437527 0.9999811 -0.00431938 0.04469882] [ 0.0402019 0.00414004 0.999183 -0.28288555] [ 0. 0. 0. 1. ]] SLAMing on 303.753133365 meters Centerline goodness : 0.142514 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.04, Z:-0.28 [[ 0.99918087 -0.0045827 -0.04020691 -2.25865403] [ 0.00441248 0.99998093 -0.00432139 0.04438102] [ 0.04022594 0.00414044 0.99918203 -0.28243171] [ 0. 0. 0. 1. ]] SLAMing on 303.78313336499997 meters Centerline goodness : 0.127352 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.05, Z:-0.28 [[ 0.99918196 -0.00457759 -0.04018033 -2.25893898] [ 0.00440422 0.99998061 -0.0044024 0.04505461] [ 0.0401997 0.00422184 0.99918275 -0.28206555] [ 0. 0. 0. 1. ]] SLAMing on 303.813133365 meters Centerline goodness : 0.099485 Centerline is valid? [False, False] Translation: X:-2.28, Y:0.04, Z:-0.28 [[ 0.99921108 0.00407674 -0.03950436 -2.27985195] [-0.00428397 0.9999775 -0.0051625 0.04341336] [ 0.03948243 0.00532766 0.99920606 -0.28386886] [ 0. 0. 0. 1. ]] SLAMing on 303.84313336499997 meters Centerline goodness : 0.163202 Centerline is valid? [False, False] Translation: X:-2.28, Y:0.05, Z:-0.28 [[ 0.99921231 0.00402657 -0.03947833 -2.27997432] [-0.00424432 0.99997623 -0.00543342 0.04501152] [ 0.03945551 0.0055967 0.99920565 -0.28368553] [ 0. 0. 0. 1. ]] SLAMing on 303.873133365 meters Centerline goodness : 0.118767 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.05, Z:-0.28 [[ 0.99918552 -0.00329463 -0.04021733 -2.26177745] [ 0.0031251 0.99998597 -0.00427746 0.05025794] [ 0.04023086 0.00414829 0.9991818 -0.28099678] [ 0. 0. 0. 1. ]] SLAMing on 303.903133365 meters Centerline goodness : 0.141118 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.05, Z:-0.28 [[ 0.99918913 -0.00324842 -0.04013132 -2.26217468] [ 0.00305328 0.99998322 -0.00492298 0.05467685] [ 0.04014664 0.00479645 0.99918229 -0.28056318] [ 0. 0. 0. 1. ]] SLAMing on 303.933133365 meters Centerline goodness : 0.100168 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.06, Z:-0.28 [[ 9.99226574e-01 -1.14176378e-03 -3.93058468e-02 -2.26564760e+00] [ 1.01491039e-03 9.99994213e-01 -3.24714382e-03 5.82008436e-02] [ 3.93093268e-02 3.20474048e-03 9.99221951e-01 -2.79017971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.963133365 meters Centerline goodness : 0.099978 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.06, Z:-0.28 [[ 9.99222011e-01 -1.20835055e-03 -3.94197026e-02 -2.26539616e+00] [ 1.06568754e-03 9.99992808e-01 -3.63989066e-03 6.07490603e-02] [ 3.94238174e-02 3.59504978e-03 9.99216112e-01 -2.78937780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.993133365 meters Centerline goodness : 0.128163 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.06, Z:-0.28 [[ 9.99214676e-01 -1.30245064e-03 -3.96022192e-02 -2.26477170e+00] [ 1.14200532e-03 9.99991050e-01 -4.07377447e-03 6.34307620e-02] [ 3.96071707e-02 4.02534929e-03 9.99207220e-01 -2.79173679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.023133365 meters Centerline goodness : 0.128163 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.06, Z:-0.28 [[ 9.99214676e-01 -1.30245064e-03 -3.96022192e-02 -2.26477170e+00] [ 1.14200532e-03 9.99991050e-01 -4.07377447e-03 6.34307620e-02] [ 3.96071707e-02 4.02534929e-03 9.99207220e-01 -2.79173679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.053133365 meters Centerline goodness : 0.126613 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.07, Z:-0.28 [[ 9.99204322e-01 -1.46977997e-03 -3.98567865e-02 -2.26373457e+00] [ 1.28863971e-03 9.99988727e-01 -4.57008850e-03 6.60789723e-02] [ 3.98630542e-02 4.51509114e-03 9.99194951e-01 -2.79778967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.083133365 meters Centerline goodness : 0.120632 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.07, Z:-0.28 [[ 9.99195463e-01 -1.63290520e-03 -4.00719500e-02 -2.26292512e+00] [ 1.43311295e-03 9.99986403e-01 -5.01405678e-03 6.82595862e-02] [ 4.00795926e-02 4.95259516e-03 9.99184216e-01 -2.80202646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.113133365 meters Centerline goodness : 0.124913 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.07, Z:-0.28 [[ 9.99183596e-01 -1.93218862e-03 -4.03535412e-02 -2.26236681e+00] [ 1.70080301e-03 9.99981921e-01 -5.76750430e-03 7.21488947e-02] [ 4.03639556e-02 5.69416226e-03 9.99168818e-01 -2.79991668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.143133365 meters Centerline goodness : 0.129067 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.07, Z:-0.28 [[ 9.99183819e-01 -2.02219347e-03 -4.03435952e-02 -2.26246533e+00] [ 1.78002836e-03 9.99980189e-01 -6.03758464e-03 7.37152572e-02] [ 4.03550051e-02 5.96084414e-03 9.99167625e-01 -2.79876749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.173133365 meters Centerline goodness : 0.124409 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.07, Z:-0.28 [[ 9.99188152e-01 -2.14432911e-03 -4.02298295e-02 -2.26280141e+00] [ 1.89305025e-03 9.99978469e-01 -6.28313787e-03 7.48635761e-02] [ 4.02424364e-02 6.20187982e-03 9.99170698e-01 -2.79776696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.203133365 meters Centerline goodness : 0.128520 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99195124e-01 -2.29580734e-03 -4.00478870e-02 -2.26327656e+00] [ 2.03528492e-03 9.99976511e-01 -6.54483073e-03 7.59138025e-02] [ 4.00619720e-02 6.45805410e-03 9.99176327e-01 -2.79708615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23313336499996 meters Centerline goodness : 0.180744 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.08, Z:-0.28 [[ 0.99916171 -0.01089883 -0.03946008 -2.24350921] [ 0.01067672 0.99992598 -0.0058351 0.08089944] [ 0.03952075 0.00540891 0.99920411 -0.2777178 ] [ 0. 0. 0. 1. ]] SLAMing on 304.263133365 meters Centerline goodness : 0.124165 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99224053e-01 -2.15017401e-03 -3.93277200e-02 -2.26389087e+00] [ 1.89623134e-03 9.99977121e-01 -6.49325331e-03 7.91856121e-02] [ 3.93407818e-02 6.41364043e-03 9.99205268e-01 -2.79547235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29313336499996 meters Centerline goodness : 0.125156 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99221062e-01 -2.16528804e-03 -3.94027980e-02 -2.26350907e+00] [ 1.90851268e-03 9.99976707e-01 -6.55312694e-03 7.98145751e-02] [ 3.94160696e-02 6.47282173e-03 9.99201920e-01 -2.79871781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.323133365 meters Centerline goodness : 0.131391 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99212388e-01 -2.20382715e-03 -3.96200244e-02 -2.26271233e+00] [ 1.94336294e-03 9.99976256e-01 -6.61136656e-03 8.01861396e-02] [ 3.96336540e-02 6.52916328e-03 9.99192946e-01 -2.80319153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35313336499996 meters Centerline goodness : 0.125497 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99205502e-01 -2.25440524e-03 -3.97904883e-02 -2.26195966e+00] [ 1.99147116e-03 9.99975930e-01 -6.64636319e-03 8.02063668e-02] [ 3.98045141e-02 6.56184105e-03 9.99185940e-01 -2.80882455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.383133365 meters Centerline goodness : 0.123090 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.08, Z:-0.28 [[ 0.99914524 -0.01068227 -0.03993331 -2.24139327] [ 0.01046159 0.99992885 -0.00573098 0.08275227] [ 0.03999169 0.00530831 0.99918591 -0.27931121] [ 0. 0. 0. 1. ]] SLAMing on 304.41313336499996 meters Centerline goodness : 0.126290 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99277221e-01 -2.03640458e-03 -3.79590292e-02 -2.26366746e+00] [ 1.81382079e-03 9.99980966e-01 -5.89730616e-03 7.95373047e-02] [ 3.79703159e-02 5.82419284e-03 9.99261895e-01 -2.80789087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.443133365 meters Centerline goodness : 0.121685 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99282890e-01 -2.04715359e-03 -3.78089297e-02 -2.26424444e+00] [ 1.82648804e-03 9.99981104e-01 -5.86995347e-03 7.93453472e-02] [ 3.78202319e-02 5.79668650e-03 9.99267746e-01 -2.80481660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47313336499997 meters Centerline goodness : 0.093632 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99286716e-01 -2.10712638e-03 -3.77043770e-02 -2.26451644e+00] [ 1.88903017e-03 9.99981285e-01 -5.81906427e-03 7.85954600e-02] [ 3.77159329e-02 5.74368892e-03 9.99271994e-01 -2.80496348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.503133365 meters Centerline goodness : 0.126960 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99286936e-01 -2.12546561e-03 -3.76974957e-02 -2.26441755e+00] [ 1.91217227e-03 9.99981966e-01 -5.69317676e-03 7.75199400e-02] [ 3.77089165e-02 5.61703305e-03 9.99272979e-01 -2.80745717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53313336499997 meters Centerline goodness : 0.073942 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99294780e-01 -1.98592465e-03 -3.74966579e-02 -2.26486178e+00] [ 1.78975280e-03 9.99984540e-01 -5.26455770e-03 7.53164875e-02] [ 3.75065333e-02 5.19373528e-03 9.99282885e-01 -2.80884634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.563133365 meters Centerline goodness : 0.138660 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.07, Z:-0.28 [[ 9.99303638e-01 -1.91936202e-03 -3.72633187e-02 -2.26552964e+00] [ 1.73059407e-03 9.99985511e-01 -5.09737905e-03 7.44496857e-02] [ 3.72725625e-02 5.02934175e-03 9.99292481e-01 -2.80731928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59313336499997 meters Centerline goodness : 0.073741 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.07, Z:-0.28 [[ 9.99309942e-01 -1.85204271e-03 -3.70972948e-02 -2.26610167e+00] [ 1.66792333e-03 9.99986141e-01 -4.99348206e-03 7.40479752e-02] [ 3.71060288e-02 4.92816083e-03 9.99299182e-01 -2.80458537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.623133365 meters Centerline goodness : 0.128445 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.08, Z:-0.28 [[ 9.99245706e-01 -4.33969750e-04 -3.88307862e-02 -2.31210157e+00] [ 2.56048078e-04 9.99989448e-01 -4.58683034e-03 7.80656495e-02] [ 3.88323670e-02 4.57342798e-03 9.99235273e-01 -2.81086012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.653133365 meters Centerline goodness : 0.100309 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.08, Z:-0.28 [[ 9.99235558e-01 -3.79511497e-04 -3.90916433e-02 -2.31158627e+00] [ 1.97326678e-04 9.99989103e-01 -4.66420730e-03 7.88669551e-02] [ 3.90929874e-02 4.65292796e-03 9.99224744e-01 -2.80917841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.683133365 meters Centerline goodness : 0.124562 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.08, Z:-0.28 [[ 9.99210835e-01 -1.14226944e-04 -3.97202015e-02 -2.31011105e+00] [-7.87658359e-05 9.99988201e-01 -4.85720780e-03 8.14890954e-02] [ 3.97202877e-02 4.85650325e-03 9.99199036e-01 -2.80845577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.713133365 meters Centerline goodness : 0.127588 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.08, Z:-0.28 [[ 9.99206586e-01 -1.72313573e-04 -3.98267350e-02 -2.30988876e+00] [-3.23033488e-05 9.99986805e-01 -5.13697691e-03 8.31445151e-02] [ 3.98270946e-02 5.13418770e-03 9.99193396e-01 -2.80792106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.743133365 meters Centerline goodness : 0.128337 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.08, Z:-0.28 [[ 9.99208949e-01 -2.47832210e-04 -3.97669980e-02 -2.30998678e+00] [ 3.42951980e-05 9.99985579e-01 -5.37029642e-03 8.43804490e-02] [ 3.97677554e-02 5.36468443e-03 9.99194549e-01 -2.80858472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.773133365 meters Centerline goodness : 0.132239 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.09, Z:-0.28 [[ 9.99211342e-01 -3.15452040e-04 -3.97063524e-02 -2.31003266e+00] [ 9.55555786e-05 9.99984650e-01 -5.53984355e-03 8.52568634e-02] [ 3.97074905e-02 5.53168034e-03 9.99196035e-01 -2.81021729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.803133365 meters Centerline goodness : 0.128279 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.09, Z:-0.28 [[ 9.99212598e-01 -2.90910370e-04 -3.96749095e-02 -2.31005404e+00] [ 7.12006668e-05 9.99984657e-01 -5.53904991e-03 8.55221403e-02] [ 3.96759121e-02 5.53186357e-03 9.99197288e-01 -2.81137924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.833133365 meters Centerline goodness : 0.129998 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.09, Z:-0.28 [[ 9.99210375e-01 -2.90471269e-04 -3.97308812e-02 -2.30968210e+00] [ 6.88034907e-05 9.99984427e-01 -5.58048492e-03 8.60138201e-02] [ 3.97318835e-02 5.57334480e-03 9.99194833e-01 -2.81500624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.863133365 meters Centerline goodness : 0.142467 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.09, Z:-0.28 [[ 0.99911188 -0.00836092 -0.04129826 -2.28854469] [ 0.00815215 0.99995314 -0.00522123 0.09169099] [ 0.04133997 0.00487992 0.99913322 -0.27967708] [ 0. 0. 0. 1. ]] SLAMing on 304.893133365 meters Centerline goodness : 0.111640 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.09, Z:-0.28 [[ 9.99145970e-01 2.72498032e-04 -4.13189542e-02 -2.30903595e+00] [-5.41952390e-04 9.99978661e-01 -6.51026473e-03 9.12498172e-02] [ 4.13162984e-02 6.52709767e-03 9.99124797e-01 -2.81497730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.923133365 meters Centerline goodness : 0.118018 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.09, Z:-0.28 [[ 9.99144051e-01 1.70602177e-04 -4.13658783e-02 -2.30917423e+00] [-4.59189535e-04 9.99975624e-01 -6.96705800e-03 9.37294469e-02] [ 4.13636814e-02 6.98008934e-03 9.99119775e-01 -2.81077946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.953133365 meters Centerline goodness : 0.130432 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.10, Z:-0.28 [[ 9.99146926e-01 2.37535245e-04 -4.12960412e-02 -2.30954972e+00] [-5.39735109e-04 9.99973159e-01 -7.30689426e-03 9.63671978e-02] [ 4.12931971e-02 7.32294986e-03 9.99120236e-01 -2.80632843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98313336499996 meters Centerline goodness : 0.126525 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.10, Z:-0.28 [[ 0.99914685 0.00400553 -0.04110393 -2.3100832 ] [-0.00418615 0.99998195 -0.00430919 0.10087545] [ 0.04108593 0.00447759 0.99914558 -0.28036932] [ 0. 0. 0. 1. ]] SLAMing on 305.013133365 meters Centerline goodness : 0.129023 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.10, Z:-0.28 [[ 0.99914584 0.00382185 -0.04114587 -2.31001946] [-0.00402513 0.99998009 -0.00485888 0.10366586] [ 0.04112648 0.00502034 0.99914134 -0.28028913] [ 0. 0. 0. 1. ]] SLAMing on 305.04313336499996 meters Centerline goodness : 0.135961 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.11, Z:-0.28 [[ 0.99914793 0.00361051 -0.04111423 -2.31011539] [-0.00383651 0.99997796 -0.00541925 0.10628623] [ 0.04109376 0.00557237 0.99913976 -0.28021158] [ 0. 0. 0. 1. ]] SLAMing on 305.073133365 meters Centerline goodness : 0.128019 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.11, Z:-0.28 [[ 0.99915071 0.00338199 -0.04106602 -2.31022437] [-0.00363006 0.9999756 -0.00596785 0.10897031] [ 0.04104483 0.00611186 0.99913861 -0.28019176] [ 0. 0. 0. 1. ]] SLAMing on 305.10313336499996 meters Centerline goodness : 0.134361 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.11, Z:-0.28 [[ 0.99914837 0.00322669 -0.04113554 -2.31017145] [-0.00349322 0.99997336 -0.00640909 0.11150305] [ 0.04111376 0.00654733 0.99913302 -0.27999792] [ 0. 0. 0. 1. ]] SLAMing on 305.133133365 meters Centerline goodness : 0.081745 Centerline is valid? [False, False] Translation: X:-2.33, Y:0.12, Z:-0.28 [[ 0.99914343 -0.00357423 -0.04122649 -2.32736858] [ 0.00337622 0.99998243 -0.00487152 0.1205224 ] [ 0.04124317 0.00472815 0.99913795 -0.28280063] [ 0. 0. 0. 1. ]] SLAMing on 305.16313336499996 meters Centerline goodness : 0.119685 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.13, Z:-0.28 [[ 9.99115591e-01 -1.64871386e-03 -4.20156937e-02 -2.32386478e+00] [ 1.51173514e-03 9.99993440e-01 -3.29174391e-03 1.25518791e-01] [ 4.20208452e-02 3.22531606e-03 9.99111528e-01 -2.84528981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.193133365 meters Centerline goodness : 0.112466 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.13, Z:-0.28 [[ 9.99119163e-01 -1.81919422e-03 -4.19236098e-02 -2.32398294e+00] [ 1.67037776e-03 9.99992181e-01 -3.58446146e-03 1.26841287e-01] [ 4.19298028e-02 3.51127587e-03 9.99114389e-01 -2.84697625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22313336499997 meters Centerline goodness : 0.145661 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.29 [[ 9.99032064e-01 -2.28546786e-03 -4.39284883e-02 -2.36944263e+00] [ 2.06620429e-03 9.99985184e-01 -5.03613172e-03 1.31789093e-01] [ 4.39393474e-02 4.94049183e-03 9.99021984e-01 -2.85629992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.253133365 meters Centerline goodness : 0.133908 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.29 [[ 9.99038576e-01 -2.46640928e-03 -4.37703150e-02 -2.36971438e+00] [ 2.24089908e-03 9.99983967e-01 -5.20044475e-03 1.32132931e-01] [ 4.37824397e-02 5.09736006e-03 9.99028085e-01 -2.85792237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28313336499997 meters Centerline goodness : 0.124868 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.29 [[ 0.99903802 -0.00266063 -0.04377158 -2.3695643 ] [ 0.00243216 0.99998314 -0.00527213 0.13185235] [ 0.04378487 0.0051606 0.99902765 -0.28605945] [ 0. 0. 0. 1. ]] SLAMing on 305.313133365 meters Centerline goodness : 0.127385 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.29 [[ 0.99904732 -0.00338376 -0.04350866 -2.37005304] [ 0.00314356 0.99997945 -0.00558804 0.13114663] [ 0.04352667 0.00544594 0.99903742 -0.28638381] [ 0. 0. 0. 1. ]] SLAMing on 305.34313336499997 meters Centerline goodness : 0.127933 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.13, Z:-0.28 [[ 0.99901831 -0.01242752 -0.04252037 -2.34971401] [ 0.01223521 0.99991372 -0.00478025 0.13160532] [ 0.04257611 0.00425531 0.99908416 -0.28467317] [ 0. 0. 0. 1. ]] SLAMing on 305.373133365 meters Centerline goodness : 0.126714 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.13, Z:-0.28 [[ 0.99903299 -0.01244722 -0.04216813 -2.3507898 ] [ 0.01226276 0.99991409 -0.0046302 0.13060309] [ 0.04222214 0.00410862 0.9990998 -0.28436044] [ 0. 0. 0. 1. ]] SLAMing on 305.403133365 meters Centerline goodness : 0.131156 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.29 [[ 0.99913865 -0.00375141 -0.04132651 -2.37115931] [ 0.00353761 0.99997999 -0.00524542 0.12678699] [ 0.04134536 0.0050947 0.99913193 -0.2865394 ] [ 0. 0. 0. 1. ]] SLAMing on 305.433133365 meters Centerline goodness : 0.132321 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.29 [[ 0.9991398 -0.00365596 -0.04130742 -2.37101862] [ 0.0034551 0.99998186 -0.00493275 0.12524769] [ 0.0413247 0.00478579 0.99913431 -0.28689912] [ 0. 0. 0. 1. ]] SLAMing on 305.463133365 meters Centerline goodness : 0.130010 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 0.99913525 -0.00361636 -0.0414207 -2.37064869] [ 0.00342193 0.9999828 -0.00476382 0.12417067] [ 0.04143721 0.00461796 0.99913044 -0.28708536] [ 0. 0. 0. 1. ]] SLAMing on 305.493133365 meters Centerline goodness : 0.132897 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 0.9991341 -0.00358039 -0.04145165 -2.37052276] [ 0.00339263 0.99998367 -0.00459915 0.12305572] [ 0.04146744 0.00445454 0.99912993 -0.28722855] [ 0. 0. 0. 1. ]] SLAMing on 305.523133365 meters Centerline goodness : 0.129894 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 0.9991331 -0.00351691 -0.04148097 -2.37054726] [ 0.00333559 0.99998458 -0.00443962 0.1221213 ] [ 0.04149595 0.0042974 0.99912943 -0.28713184] [ 0. 0. 0. 1. ]] SLAMing on 305.553133365 meters Centerline goodness : 0.127574 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.12, Z:-0.29 [[ 0.9991191 0.00529241 -0.04162956 -2.39149061] [-0.00551558 0.99997102 -0.00524787 0.11887214] [ 0.04160058 0.00547286 0.99911933 -0.28872211] [ 0. 0. 0. 1. ]] SLAMing on 305.583133365 meters Centerline goodness : 0.126522 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 0.99914997 -0.00285619 -0.04112404 -2.37262076] [ 0.00270323 0.99998922 -0.00377454 0.11985217] [ 0.04113438 0.00366017 0.99914692 -0.28661911] [ 0. 0. 0. 1. ]] SLAMing on 305.613133365 meters Centerline goodness : 0.125075 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 0.99914169 -0.00268793 -0.0413359 -2.37208968] [ 0.0025477 0.99999082 -0.00344466 0.11820981] [ 0.04134477 0.00333639 0.99913937 -0.28671411] [ 0. 0. 0. 1. ]] SLAMing on 305.643133365 meters Centerline goodness : 0.133394 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 0.99913324 -0.00260842 -0.04154469 -2.37152272] [ 0.00247323 0.99999148 -0.00330505 0.11752894] [ 0.04155295 0.00319944 0.99913118 -0.286845 ] [ 0. 0. 0. 1. ]] SLAMing on 305.673133365 meters Centerline goodness : 0.132779 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 9.99123721e-01 -2.49920944e-03 -4.17796978e-02 -2.37100445e+00] [ 2.36997765e-03 9.99992254e-01 -3.14241601e-03 1.16938313e-01] [ 4.17872278e-02 3.04064543e-03 9.99121906e-01 -2.86852738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.703133365 meters Centerline goodness : 0.115964 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 9.99115146e-01 -2.35875566e-03 -4.19923882e-02 -2.37058279e+00] [ 2.23641458e-03 9.99993118e-01 -2.96014928e-03 1.16376329e-01] [ 4.19990815e-02 2.86361759e-03 9.99113546e-01 -2.86758634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73313336499996 meters Centerline goodness : 0.123160 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 9.99113767e-01 -2.25885383e-03 -4.20306828e-02 -2.37063749e+00] [ 2.14318787e-03 9.99993792e-01 -2.79679724e-03 1.15733214e-01] [ 4.20367395e-02 2.70423898e-03 9.99112406e-01 -2.86567093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.763133365 meters Centerline goodness : 0.122274 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 9.99116916e-01 -2.16833803e-03 -4.19605258e-02 -2.37074631e+00] [ 2.05974549e-03 9.99994418e-01 -2.63102907e-03 1.15016104e-01] [ 4.19659965e-02 2.54227765e-03 9.99115805e-01 -2.86676843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79313336499996 meters Centerline goodness : 0.131078 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.11, Z:-0.29 [[ 0.99911472 0.00524466 -0.04174058 -2.35177749] [-0.00539805 0.99997908 -0.00356305 0.10695763] [ 0.04172102 0.00378522 0.99912213 -0.28507416] [ 0. 0. 0. 1. ]] SLAMing on 305.823133365 meters Centerline goodness : 0.101842 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.11, Z:-0.28 [[ 0.99911838 0.00530454 -0.04164527 -2.35219388] [-0.00545414 0.99997907 -0.0034795 0.10646777] [ 0.04162595 0.00370357 0.9991264 -0.28482687] [ 0. 0. 0. 1. ]] SLAMing on 305.85313336499996 meters Centerline goodness : 0.125019 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.11, Z:-0.28 [[ 0.99912351 0.00536882 -0.04151378 -2.35284052] [-0.00551453 0.99997903 -0.0033961 0.10602284] [ 0.04149468 0.00362205 0.99913216 -0.28434172] [ 0. 0. 0. 1. ]] SLAMing on 305.883133365 meters Centerline goodness : 0.084956 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.11, Z:-0.28 [[ 0.99905543 0.00664332 -0.0429431 -2.39944189] [-0.00679147 0.99997148 -0.00330499 0.10902805] [ 0.04291992 0.00359351 0.99907205 -0.28443625] [ 0. 0. 0. 1. ]] SLAMing on 305.91313336499996 meters Centerline goodness : 0.117877 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99166899e-01 1.14102642e-03 -4.07946754e-02 -2.37837855e+00] [-1.14192569e-03 9.99999348e-01 1.25822600e-06 1.06611576e-01] [ 4.07946503e-02 4.53273099e-05 9.99167551e-01 -2.83958763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.943133365 meters Centerline goodness : 0.117877 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99166899e-01 1.14102642e-03 -4.07946754e-02 -2.37837855e+00] [-1.14192569e-03 9.99999348e-01 1.25822601e-06 1.06611576e-01] [ 4.07946503e-02 4.53273099e-05 9.99167551e-01 -2.83958763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97313336499997 meters Centerline goodness : 0.133513 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99168026e-01 1.22560216e-03 -4.07646165e-02 -2.37835821e+00] [-1.22255351e-03 9.99999248e-01 9.97152884e-05 1.06208200e-01] [ 4.07647081e-02 -4.97954028e-05 9.99168773e-01 -2.84103281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.003133365 meters Centerline goodness : 0.132101 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99166311e-01 1.30838369e-03 -4.08040452e-02 -2.37816769e+00] [-1.30225068e-03 9.99999136e-01 1.76883350e-04 1.05913281e-01] [ 4.08042414e-02 -1.23598789e-04 9.99167152e-01 -2.84269039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03313336499997 meters Centerline goodness : 0.142891 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99160678e-01 1.45126555e-03 -4.09369336e-02 -2.37787915e+00] [-1.44300790e-03 9.99998932e-01 2.31264448e-04 1.06151538e-01] [ 4.09372256e-02 -1.71998025e-04 9.99161706e-01 -2.84244142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.063133365 meters Centerline goodness : 0.126720 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99162331e-01 1.63647732e-03 -4.08895936e-02 -2.37800162e+00] [-1.62694266e-03 9.99998641e-01 2.66456129e-04 1.06689312e-01] [ 4.08899741e-02 -1.99707902e-04 9.99163635e-01 -2.84184121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09313336499997 meters Centerline goodness : 0.126913 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99187302e-01 2.22384429e-03 -4.02466138e-02 -2.37978119e+00] [-2.20677434e-03 9.99997455e-01 4.68554427e-04 1.07426073e-01] [ 4.02475534e-02 -3.79358439e-04 9.99189667e-01 -2.83697194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.123133365 meters Centerline goodness : 0.098159 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99192663e-01 2.25249739e-03 -4.01117000e-02 -2.38020281e+00] [-2.23952845e-03 9.99997424e-01 3.68251685e-04 1.08086107e-01] [ 4.01124262e-02 -2.78123088e-04 9.99195134e-01 -2.83575354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.153133365 meters Centerline goodness : 0.123691 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99192416e-01 2.30408344e-03 -4.01149192e-02 -2.38019854e+00] [-2.29199454e-03 9.99997313e-01 3.47344493e-04 1.08500479e-01] [ 4.01156117e-02 -2.55120807e-04 9.99195012e-01 -2.83617138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.183133365 meters Centerline goodness : 0.129012 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99186750e-01 2.38224956e-03 -4.02512426e-02 -2.37985675e+00] [-2.36813325e-03 9.99997117e-01 3.98380802e-04 1.08573994e-01] [ 4.02520756e-02 -3.02736513e-04 9.99189511e-01 -2.83700533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.213133365 meters Centerline goodness : 0.128081 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99178788e-01 2.44449914e-03 -4.04447097e-02 -2.37930690e+00] [-2.42676001e-03 9.99996936e-01 4.87691280e-04 1.08245610e-01] [ 4.04457779e-02 -3.89141178e-04 9.99181659e-01 -2.83885431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.243133365 meters Centerline goodness : 0.128793 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99175220e-01 2.46282995e-03 -4.05316341e-02 -2.37887405e+00] [-2.44187139e-03 9.99996858e-01 5.66590079e-04 1.07623380e-01] [ 4.05329021e-02 -4.67149729e-04 9.99178095e-01 -2.84276040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.273133365 meters Centerline goodness : 0.177694 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99167231e-01 2.59761035e-03 -4.07197463e-02 -2.37819312e+00] [-2.56432055e-03 9.99996334e-01 8.69744170e-04 1.06126464e-01] [ 4.07218563e-02 -7.64601391e-04 9.99170229e-01 -2.84682869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.303133365 meters Centerline goodness : 0.125411 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99165501e-01 2.75313276e-03 -4.07519635e-02 -2.37811242e+00] [-2.71459260e-03 9.99995814e-01 1.00103054e-03 1.06161350e-01] [ 4.07545489e-02 -8.89570202e-04 9.99168792e-01 -2.84716733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.333133365 meters Centerline goodness : 0.128385 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99165561e-01 2.88689519e-03 -4.07412387e-02 -2.37816185e+00] [-2.84823802e-03 9.99995437e-01 1.00685882e-03 1.06875055e-01] [ 4.07439595e-02 -8.89977910e-04 9.99169224e-01 -2.84655514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.363133365 meters Centerline goodness : 0.130101 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99157748e-01 3.39485908e-03 -4.08933835e-02 -2.37773521e+00] [-3.35912255e-03 9.99993914e-01 9.42575336e-04 1.09134011e-01] [ 4.08963346e-02 -8.04415563e-04 9.99163071e-01 -2.84746456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.393133365 meters Centerline goodness : 0.130021 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99149395e-01 3.52821716e-03 -4.10857481e-02 -2.37721449e+00] [-3.50109762e-03 9.99993603e-01 7.32006261e-04 1.10979883e-01] [ 4.10880679e-02 -5.87538398e-04 9.99155356e-01 -2.84886950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.423133365 meters Centerline goodness : 0.118391 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.29 [[ 9.99133517e-01 3.89237644e-03 -4.14374826e-02 -2.37632310e+00] [-3.86613808e-03 9.99992272e-01 7.13320890e-04 1.12997729e-01] [ 4.14399389e-02 -5.52499780e-04 9.99140844e-01 -2.85011568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.453133365 meters Centerline goodness : 0.126287 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.29 [[ 0.99911312 0.00766112 -0.04140381 -2.37614606] [-0.0075004 0.99996373 0.00403568 0.11487222] [ 0.04143323 -0.00372155 0.99913434 -0.2854051 ] [ 0. 0. 0. 1. ]] SLAMing on 306.48313336499996 meters Centerline goodness : 0.103803 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.12, Z:-0.29 [[ 9.99221907e-01 1.61397984e-03 -3.94078125e-02 -2.39265980e+00] [-1.40235039e-03 9.99984451e-01 5.39729319e-03 1.24097957e-01] [ 3.94159109e-02 -5.33783003e-03 9.99208634e-01 -2.88428473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.513133365 meters Centerline goodness : 0.106831 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 0.99920313 0.0093641 -0.03879961 -2.37284403] [-0.00921829 0.99994977 0.0039352 0.12256232] [ 0.03883451 -0.00357439 0.99923926 -0.28658098] [ 0. 0. 0. 1. ]] SLAMing on 306.54313336499996 meters Centerline goodness : 0.113931 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.29 [[ 0.99922538 0.00930011 -0.03823796 -2.37459833] [-0.00918162 0.99995249 0.00327319 0.12585854] [ 0.03826659 -0.00291957 0.9992633 -0.28626421] [ 0. 0. 0. 1. ]] SLAMing on 306.573133365 meters Centerline goodness : 0.110772 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 0.99923263 0.00945617 -0.03800972 -2.37543054] [-0.00933877 0.99995106 0.00326496 0.12693715] [ 0.03803873 -0.00290749 0.99927204 -0.28589637] [ 0. 0. 0. 1. ]] SLAMing on 306.60313336499996 meters Centerline goodness : 0.112735 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 0.9992437 0.00957311 -0.03768798 -2.37638435] [-0.00945863 0.9999501 0.00321464 0.12792904] [ 0.03771687 -0.00285573 0.99928439 -0.2856634 ] [ 0. 0. 0. 1. ]] SLAMing on 306.633133365 meters Centerline goodness : 0.117985 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 0.99924862 0.00950476 -0.03757465 -2.37657816] [-0.00940152 0.99995153 0.00292341 0.12926095] [ 0.03760061 -0.00256796 0.99928955 -0.28586865] [ 0. 0. 0. 1. ]] SLAMing on 306.66313336499996 meters Centerline goodness : 0.098882 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 9.99248518e-01 9.22431743e-03 -3.76471851e-02 -2.37605891e+00] [-9.14148308e-03 9.99955403e-01 2.37182747e-03 1.31027797e-01] [ 3.76673846e-02 -2.02589398e-03 9.99288279e-01 -2.86501672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.693133365 meters Centerline goodness : 0.107028 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 9.99243884e-01 9.03678014e-03 -3.78152965e-02 -2.37573190e+00] [-8.97030104e-03 9.99957909e-01 1.92729710e-03 1.32540993e-01] [ 3.78311214e-02 -1.58662525e-03 9.99282887e-01 -2.86648899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72313336499997 meters Centerline goodness : 0.101381 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 9.99252518e-01 9.20864704e-03 -3.75447308e-02 -2.37650252e+00] [-9.13681186e-03 9.99956086e-01 2.08445754e-03 1.32441210e-01] [ 3.75622770e-02 -1.73986030e-03 9.99292774e-01 -2.86499078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.753133365 meters Centerline goodness : 0.102915 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.28 [[ 9.99294974e-01 1.41885170e-03 -3.75172164e-02 -2.35940321e+00] [-1.32102781e-03 9.99995663e-01 2.63210089e-03 1.37301798e-01] [ 3.75207883e-02 -2.58068391e-03 9.99292515e-01 -2.84849531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78313336499997 meters Centerline goodness : 0.104629 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.28 [[ 9.99298728e-01 1.39608315e-03 -3.74179581e-02 -2.35962692e+00] [-1.29796061e-03 9.99995656e-01 2.64650181e-03 1.36767430e-01] [ 3.74214903e-02 -2.59607886e-03 9.99296199e-01 -2.84888228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.813133365 meters Centerline goodness : 0.118188 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.29 [[ 9.99294498e-01 1.39201293e-03 -3.75308975e-02 -2.35930156e+00] [-1.29304529e-03 9.99995623e-01 2.66110847e-03 1.36298722e-01] [ 3.75344375e-02 -2.61070191e-03 9.99291924e-01 -2.85017712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84313336499997 meters Centerline goodness : 0.102022 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.29 [[ 9.99274146e-01 1.78886524e-03 -3.80523459e-02 -2.35785842e+00] [-1.67653304e-03 9.99994143e-01 2.98374868e-03 1.35832717e-01] [ 3.80574606e-02 -2.91778690e-03 9.99271293e-01 -2.85441985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.873133365 meters Centerline goodness : 0.102374 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.29 [[ 9.99279425e-01 1.89464749e-03 -3.79083332e-02 -2.35826353e+00] [-1.78020005e-03 9.99993756e-01 3.05258434e-03 1.35818532e-01] [ 3.79138801e-02 -2.98290031e-03 9.99276558e-01 -2.85406858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.903133365 meters Centerline goodness : 0.102741 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.29 [[ 9.99293940e-01 1.87706406e-03 -3.75246433e-02 -2.35938220e+00] [-1.76661232e-03 9.99994010e-01 2.97638616e-03 1.35982345e-01] [ 3.75300054e-02 -2.90799316e-03 9.99291270e-01 -2.85115363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.933133365 meters Centerline goodness : 0.102713 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.28 [[ 9.99307057e-01 1.85142696e-03 -3.71749712e-02 -2.36046672e+00] [-1.74533199e-03 9.99994312e-01 2.88618516e-03 1.36267797e-01] [ 3.71801033e-02 -2.81930253e-03 9.99304604e-01 -2.84786427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.963133365 meters Centerline goodness : 0.105102 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.28 [[ 9.99309715e-01 1.92283734e-03 -3.70998251e-02 -2.36070954e+00] [-1.81676610e-03 9.99994166e-01 2.89257724e-03 1.36444926e-01] [ 3.71051706e-02 -2.82317883e-03 9.99307378e-01 -2.84766384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.993133365 meters Centerline goodness : 0.135621 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.29 [[ 9.99299287e-01 2.07661986e-03 -3.73714077e-02 -2.35991165e+00] [-1.96757127e-03 9.99993700e-01 2.95451020e-03 1.36741761e-01] [ 3.73773077e-02 -2.87890903e-03 9.99297077e-01 -2.85095280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.023133365 meters Centerline goodness : 0.110286 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.29 [[ 0.99925602 0.00254591 -0.03848273 -2.35680423] [-0.00242852 0.99999226 0.00309691 0.13753423] [ 0.03849032 -0.00300115 0.99925447 -0.28606008] [ 0. 0. 0. 1. ]] SLAMing on 307.053133365 meters Centerline goodness : 0.132462 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 9.99179618e-01 1.07696498e-02 -3.90397902e-02 -2.37572742e+00] [-1.07090093e-02 9.99941104e-01 1.76209131e-03 1.33233212e-01] [ 3.90564681e-02 -1.34256824e-03 9.99236103e-01 -2.88353798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.083133365 meters Centerline goodness : 0.108042 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.29 [[ 0.99923148 0.00306451 -0.03907749 -2.35663462] [-0.0029563 0.99999164 0.00282668 0.13772206] [ 0.03908582 -0.00270899 0.99923219 -0.28686524] [ 0. 0. 0. 1. ]] SLAMing on 307.113133365 meters Centerline goodness : 0.086421 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.14, Z:-0.29 [[ 0.99920471 -0.00467564 -0.03959918 -2.37647502] [ 0.00484534 0.99997948 0.0041907 0.1397321 ] [ 0.03957877 -0.00437923 0.99920686 -0.28895376] [ 0. 0. 0. 1. ]] SLAMing on 307.143133365 meters Centerline goodness : 0.106908 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.14, Z:-0.29 [[ 0.99920123 -0.00458575 -0.03969722 -2.37633798] [ 0.00476622 0.99997873 0.0044527 0.13817808] [ 0.03967596 -0.00463835 0.99920183 -0.28880033] [ 0. 0. 0. 1. ]] SLAMing on 307.173133365 meters Centerline goodness : 0.104455 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.14, Z:-0.29 [[ 0.99919645 -0.00450373 -0.03982678 -2.37615449] [ 0.00469682 0.99997766 0.00475601 0.13634135] [ 0.03980447 -0.00493925 0.99919528 -0.28859339] [ 0. 0. 0. 1. ]] SLAMing on 307.203133365 meters Centerline goodness : 0.148891 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 0.9991905 -0.00440344 -0.03998686 -2.37574373] [ 0.00461147 0.9999763 0.00511154 0.13425213] [ 0.0399634 -0.0052918 0.99918713 -0.28859758] [ 0. 0. 0. 1. ]] SLAMing on 307.23313336499996 meters Centerline goodness : 0.144838 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 0.99918811 -0.0042798 -0.04005997 -2.37551307] [ 0.00450363 0.99997474 0.00549872 0.13212261] [ 0.04003543 -0.00567467 0.99918215 -0.28864411] [ 0. 0. 0. 1. ]] SLAMing on 307.263133365 meters Centerline goodness : 0.092979 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 0.99919028 -0.00411557 -0.04002315 -2.37548874] [ 0.00435602 0.99997298 0.00592235 0.13000903] [ 0.0399977 -0.00609189 0.9991812 -0.28878673] [ 0. 0. 0. 1. ]] SLAMing on 307.29313336499996 meters Centerline goodness : 0.091637 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 0.99919239 -0.00383134 -0.03999855 -2.37531538] [ 0.00410404 0.99996888 0.00673784 0.12549711] [ 0.03997149 -0.00689655 0.99917702 -0.289016 ] [ 0. 0. 0. 1. ]] SLAMing on 307.323133365 meters Centerline goodness : 0.097116 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.12, Z:-0.29 [[ 0.99919329 -0.00366441 -0.03999189 -2.37546978] [ 0.00395512 0.99996631 0.00719259 0.1231041 ] [ 0.03996419 -0.00734496 0.99917412 -0.28877026] [ 0. 0. 0. 1. ]] SLAMing on 307.35313336499996 meters Centerline goodness : 0.091810 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.12, Z:-0.29 [[ 0.99919165 -0.00348277 -0.04004899 -2.37537935] [ 0.00379363 0.99996325 0.00768868 0.1203449 ] [ 0.04002074 -0.0078344 0.99916814 -0.28866333] [ 0. 0. 0. 1. ]] SLAMing on 307.383133365 meters Centerline goodness : 0.088427 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.29 [[ 0.99905651 0.00278886 -0.04333961 -2.35566976] [-0.00247961 0.99997109 0.0071877 0.10888437] [ 0.0433584 -0.00707346 0.99903454 -0.28605055] [ 0. 0. 0. 1. ]] SLAMing on 307.41313336499996 meters Centerline goodness : 0.138828 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.29 [[ 0.99904972 0.00297755 -0.04348313 -2.35502047] [-0.00264744 0.99996726 0.00764716 0.10637284] [ 0.04350448 -0.00752477 0.99902489 -0.28647302] [ 0. 0. 0. 1. ]] SLAMing on 307.443133365 meters Centerline goodness : 0.071506 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.10, Z:-0.29 [[ 0.99905125 0.00322759 -0.04343017 -2.35510123] [-0.00287578 0.99996257 0.00816045 0.10384687] [ 0.04345488 -0.00802781 0.99902314 -0.28653843] [ 0. 0. 0. 1. ]] SLAMing on 307.47313336499997 meters Centerline goodness : 0.073249 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.10, Z:-0.29 [[ 0.99906065 0.00345811 -0.04319559 -2.35585276] [-0.00308571 0.99995752 0.00868506 0.10121662] [ 0.04322378 -0.00854362 0.99902888 -0.28623039] [ 0. 0. 0. 1. ]] SLAMing on 307.503133365 meters Centerline goodness : 0.095116 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.10, Z:-0.29 [[ 0.99906844 0.00365364 -0.04299881 -2.35656507] [-0.00326316 0.99995283 0.00914781 0.09871495] [ 0.0430302 -0.00899897 0.99903324 -0.28587287] [ 0. 0. 0. 1. ]] SLAMing on 307.53313336499997 meters Centerline goodness : 0.051773 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.10, Z:-0.29 [[ 0.99907452 0.00383609 -0.04284138 -2.35719154] [-0.00342801 0.99994809 0.00959496 0.09618088] [ 0.04287597 -0.00943922 0.99903581 -0.28549224] [ 0. 0. 0. 1. ]] SLAMing on 307.563133365 meters Centerline goodness : 0.096212 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.09, Z:-0.29 [[ 0.99908366 0.00425322 -0.04258824 -2.35785488] [-0.00381054 0.99993792 0.01047039 0.09164461] [ 0.04263013 -0.01029851 0.99903784 -0.28534428] [ 0. 0. 0. 1. ]] SLAMing on 307.59313336499997 meters Centerline goodness : 0.067351 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.09, Z:-0.29 [[ 0.99908063 0.00446378 -0.0426376 -2.35757803] [-0.00400066 0.99993214 0.01094093 0.08934288] [ 0.04268354 -0.0107603 0.9990307 -0.28558883] [ 0. 0. 0. 1. ]] SLAMing on 307.623133365 meters Centerline goodness : 0.102755 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.09, Z:-0.29 [[ 0.999077 0.00466473 -0.04270111 -2.35716433] [-0.00418073 0.99992609 0.01141685 0.08686321] [ 0.04275121 -0.01122779 0.99902266 -0.28596312] [ 0. 0. 0. 1. ]] SLAMing on 307.653133365 meters Centerline goodness : 0.088190 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.08, Z:-0.29 [[ 0.99907478 0.00513411 -0.04269927 -2.35715939] [-0.00460387 0.99991118 0.01250716 0.08058616] [ 0.04275969 -0.012299 0.99900968 -0.28588881] [ 0. 0. 0. 1. ]] SLAMing on 307.683133365 meters Centerline goodness : 0.089248 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.08, Z:-0.29 [[ 0.99907757 0.00540273 -0.04260075 -2.35749749] [-0.00484622 0.99990172 0.01315569 0.0773133 ] [ 0.04266764 -0.0129371 0.99900556 -0.28563729] [ 0. 0. 0. 1. ]] SLAMing on 307.713133365 meters Centerline goodness : 0.153055 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.07, Z:-0.29 [[ 0.99908215 0.00562837 -0.04246397 -2.35793752] [-0.0050479 0.99989252 0.01376445 0.07410846] [ 0.04253688 -0.01353746 0.99900318 -0.28538178] [ 0. 0. 0. 1. ]] SLAMing on 307.743133365 meters Centerline goodness : 0.105388 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.07, Z:-0.29 [[ 0.99908169 0.00585122 -0.0424446 -2.35803686] [-0.00524567 0.99988307 0.01436432 0.07085657] [ 0.04252368 -0.01412848 0.99899556 -0.28524873] [ 0. 0. 0. 1. ]] SLAMing on 307.773133365 meters Centerline goodness : 0.128492 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.07, Z:-0.29 [[ 0.9991149 0.00291708 -0.04196313 -2.35930511] [-0.00242505 0.99992777 0.01177145 0.06817856] [ 0.04199444 -0.01165927 0.99904981 -0.28509348] [ 0. 0. 0. 1. ]] SLAMing on 307.803133365 meters Centerline goodness : 0.099805 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.07, Z:-0.29 [[ 0.99910988 0.00314079 -0.04206639 -2.35902682] [-0.00262429 0.99992057 0.01232774 0.06515021] [ 0.04210176 -0.01220637 0.99903876 -0.28509471] [ 0. 0. 0. 1. ]] SLAMing on 307.833133365 meters Centerline goodness : 0.099805 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.07, Z:-0.29 [[ 0.99910988 0.00314079 -0.04206639 -2.35902682] [-0.00262429 0.99992057 0.01232774 0.06515021] [ 0.04210176 -0.01220637 0.99903876 -0.28509471] [ 0. 0. 0. 1. ]] SLAMing on 307.863133365 meters Centerline goodness : 0.109324 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.06, Z:-0.29 [[ 0.99909712 0.00360817 -0.04233108 -2.35792246] [-0.00304358 0.99990566 0.01339442 0.05898498] [ 0.04237542 -0.01325349 0.99901385 -0.28562148] [ 0. 0. 0. 1. ]] SLAMing on 307.893133365 meters Centerline goodness : 0.115843 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.06, Z:-0.29 [[ 0.99909342 0.00384709 -0.04239738 -2.35769361] [-0.00325739 0.99989712 0.01396919 0.0559126 ] [ 0.04244676 -0.01381842 0.99900317 -0.2856524 ] [ 0. 0. 0. 1. ]] SLAMing on 307.923133365 meters Centerline goodness : 0.176091 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.05, Z:-0.29 [[ 0.99909467 0.00407068 -0.04234701 -2.35795641] [-0.00345869 0.99988867 0.01451503 0.05293202] [ 0.04240139 -0.01435542 0.99899752 -0.28539344] [ 0. 0. 0. 1. ]] SLAMing on 307.953133365 meters Centerline goodness : 0.109830 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.05, Z:-0.29 [[ 0.99909073 0.00428971 -0.04241841 -2.35788369] [-0.00365353 0.99987986 0.01506394 0.05000096] [ 0.04247793 -0.01489527 0.99898636 -0.28519872] [ 0. 0. 0. 1. ]] SLAMing on 307.98313336499996 meters Centerline goodness : 0.136392 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.04, Z:-0.28 [[ 0.9989625 0.0121473 -0.04389029 -2.33776172] [-0.01151026 0.99982514 0.01473804 0.04027464] [ 0.04406164 -0.01421756 0.99892764 -0.28280884] [ 0. 0. 0. 1. ]] SLAMing on 308.013133365 meters Centerline goodness : 0.201416 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.04, Z:-0.28 [[ 0.99899653 0.0038222 -0.04462419 -2.35767119] [-0.00311366 0.99986816 0.01593659 0.04106388] [ 0.04467922 -0.01578165 0.99887672 -0.2846447 ] [ 0. 0. 0. 1. ]] SLAMing on 308.04313336499996 meters Centerline goodness : 0.092585 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.04, Z:-0.28 [[ 0.99899688 0.004014 -0.04459948 -2.35759686] [-0.00329027 0.99986191 0.0162888 0.039485 ] [ 0.0446587 -0.01612572 0.99887214 -0.28482514] [ 0. 0. 0. 1. ]] SLAMing on 308.073133365 meters Centerline goodness : 0.113706 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.04, Z:-0.28 [[ 0.99899384 0.00416156 -0.04465402 -2.35735812] [-0.00342351 0.99985648 0.01659198 0.03797411] [ 0.04471666 -0.01642241 0.99886472 -0.28497546] [ 0. 0. 0. 1. ]] SLAMing on 308.10313336499996 meters Centerline goodness : 0.091418 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.04, Z:-0.29 [[ 0.99899046 0.00427769 -0.04471876 -2.3571067 ] [-0.00352721 0.99985185 0.01684767 0.03654051] [ 0.0447842 -0.01667292 0.99885754 -0.28512651] [ 0. 0. 0. 1. ]] SLAMing on 308.133133365 meters Centerline goodness : 0.124659 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.04, Z:-0.29 [[ 0.99898236 0.00435573 -0.04489177 -2.35662335] [-0.00359368 0.99984832 0.01704204 0.03526373] [ 0.04495919 -0.01686337 0.99884648 -0.28524341] [ 0. 0. 0. 1. ]] SLAMing on 308.16313336499996 meters Centerline goodness : 0.112243 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.03, Z:-0.29 [[ 0.99896621 0.00464163 -0.04522124 -2.35584013] [-0.0038461 0.9998366 0.01766302 0.03199123] [ 0.04529583 -0.01747083 0.99882083 -0.28520553] [ 0. 0. 0. 1. ]] SLAMing on 308.193133365 meters Centerline goodness : 0.104515 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.03, Z:-0.29 [[ 0.99896924 0.00485158 -0.04513216 -2.35606589] [-0.0040378 0.99982794 0.01810477 0.02996026] [ 0.04521224 -0.01790388 0.99881695 -0.28514701] [ 0. 0. 0. 1. ]] SLAMing on 308.22313336499997 meters Centerline goodness : 0.103315 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.03, Z:-0.29 [[ 9.99007701e-01 1.86824385e-03 -4.44985727e-02 -2.35755600e+00] [-1.18522452e-03 9.99881162e-01 1.53706819e-02 2.83408291e-02] [ 4.45220007e-02 -1.53026888e-02 9.98891195e-01 -2.85125111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.253133365 meters Centerline goodness : 0.097416 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.02, Z:-0.28 [[ 9.99049913e-01 -9.06293925e-05 -4.35805411e-02 -2.36105137e+00] [ 6.92322415e-04 9.99904652e-01 1.37915657e-02 2.49739112e-02] [ 4.35751358e-02 -1.38086343e-02 9.98954718e-01 -2.83772021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28313336499997 meters Centerline goodness : 0.090733 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.02, Z:-0.28 [[ 9.99055969e-01 5.42685211e-05 -4.34415339e-02 -2.36142002e+00] [ 5.66592261e-04 9.99897883e-01 1.42794304e-02 2.22327085e-02] [ 4.34378727e-02 -1.42905638e-02 9.98953918e-01 -2.83590025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.313133365 meters Centerline goodness : 0.117350 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.02, Z:-0.28 [[ 0.99900343 0.00757705 -0.04398562 -2.34320435] [-0.00700624 0.99988942 0.01311701 0.01561797] [ 0.04408015 -0.01279577 0.99894605 -0.2806658 ] [ 0. 0. 0. 1. ]] SLAMing on 308.34313336499997 meters Centerline goodness : 0.124751 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.01, Z:-0.28 [[ 9.98956855e-01 -1.65988028e-03 -4.56338263e-02 -2.36442604e+00] [ 2.30084294e-03 9.99899392e-01 1.39968441e-02 1.11293731e-02] [ 4.56060021e-02 -1.40872396e-02 9.98860172e-01 -2.81712324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.373133365 meters Centerline goodness : 0.099136 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.01, Z:-0.28 [[ 9.98947815e-01 -1.53311296e-03 -4.58357074e-02 -2.36377778e+00] [ 2.19576074e-03 9.99893757e-01 1.44101695e-02 8.71218252e-03] [ 4.58087453e-02 -1.44956516e-02 9.98845051e-01 -2.81894424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.403133365 meters Centerline goodness : 0.106960 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.01, Z:-0.28 [[ 9.98941094e-01 -1.42119005e-03 -4.59855575e-02 -2.36320427e+00] [ 2.10331628e-03 9.99888432e-01 1.47885034e-02 6.39559127e-03] [ 4.59594097e-02 -1.48695660e-02 9.98832633e-01 -2.82125455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.433133365 meters Centerline goodness : 0.123574 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98933859e-01 -1.20905948e-03 -4.61484888e-02 -2.36251541e+00] [ 1.92356881e-03 9.99878922e-01 1.54415658e-02 2.53163494e-03] [ 4.61242314e-02 -1.55138727e-02 9.98815236e-01 -2.82452911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.463133365 meters Centerline goodness : 0.100633 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98931147e-01 -1.13723788e-03 -4.62089754e-02 -2.36223119e+00] [ 1.86279317e-03 9.99875615e-01 1.56615830e-02 1.24296689e-03] [ 4.61854167e-02 -1.57309208e-02 9.98809013e-01 -2.82620508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.493133365 meters Centerline goodness : 0.126571 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98921101e-01 -1.06192509e-03 -4.64274202e-02 -2.36147560e+00] [ 1.79857119e-03 9.99873116e-01 1.58277234e-02 3.44547594e-04] [ 4.64047214e-02 -1.58941499e-02 9.98796264e-01 -2.82951891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.523133365 meters Centerline goodness : 0.127286 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98911895e-01 -1.05363635e-03 -4.66252693e-02 -2.36069544e+00] [ 1.79445287e-03 9.99872775e-01 1.58497319e-02 6.57354763e-05] [ 4.66026375e-02 -1.59161526e-02 9.98786699e-01 -2.83430576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.553133365 meters Centerline goodness : 0.128203 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98907535e-01 -1.05963262e-03 -4.67184479e-02 -2.36023407e+00] [ 1.79862437e-03 9.99873889e-01 1.57787872e-02 4.27050709e-04] [ 4.66958365e-02 -1.58455784e-02 9.98783468e-01 -2.83822319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.583133365 meters Centerline goodness : 0.130334 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98915775e-01 -1.04170136e-03 -4.65423288e-02 -2.36071018e+00] [ 1.77431137e-03 9.99875139e-01 1.57021863e-02 1.10883597e-03] [ 4.65201605e-02 -1.57677422e-02 9.98792898e-01 -2.83781648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.613133365 meters Centerline goodness : 0.110644 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98955965e-01 -9.27853412e-04 -4.56740612e-02 -2.36324072e+00] [ 1.64025069e-03 9.99877553e-01 1.55624088e-02 2.61534956e-03] [ 4.56540289e-02 -1.56210781e-02 9.98835167e-01 -2.83089284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.643133365 meters Centerline goodness : 0.120218 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98963261e-01 -1.01621468e-03 -4.55123198e-02 -2.36386530e+00] [ 1.71708265e-03 9.99880507e-01 1.53630760e-02 3.41501988e-03] [ 4.54912692e-02 -1.54252969e-02 9.98845636e-01 -2.82766120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.673133365 meters Centerline goodness : 0.086019 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98961688e-01 -1.13503087e-03 -4.55440270e-02 -2.36399712e+00] [ 1.82582671e-03 9.99883884e-01 1.51289182e-02 4.30747887e-03] [ 4.55215668e-02 -1.51963651e-02 9.98847765e-01 -2.82540770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.703133365 meters Centerline goodness : 0.126436 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.01, Z:-0.28 [[ 9.98943480e-01 -1.21273262e-03 -4.59396761e-02 -2.36287020e+00] [ 1.90112547e-03 9.99886525e-01 1.49439862e-02 5.26428603e-03] [ 4.59163400e-02 -1.50155347e-02 9.98832430e-01 -2.82927366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73313336499996 meters Centerline goodness : 0.127295 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98931722e-01 -1.21259516e-03 -4.61946272e-02 -2.36223013e+00] [ 1.90944477e-03 9.99885010e-01 1.50439407e-02 4.62731141e-03] [ 4.61710731e-02 -1.51160757e-02 9.98819171e-01 -2.82945960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.763133365 meters Centerline goodness : 0.123600 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98925915e-01 -1.19082036e-03 -4.63205973e-02 -2.36210817e+00] [ 1.89864250e-03 9.99882063e-01 1.52399435e-02 3.41393025e-03] [ 4.62969863e-02 -1.53115208e-02 9.98810366e-01 -2.82644438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79313336499996 meters Centerline goodness : 0.121784 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98926983e-01 -1.21511122e-03 -4.62969327e-02 -2.36249173e+00] [ 1.93525944e-03 9.99877788e-01 1.55133419e-02 1.50425891e-03] [ 4.62724243e-02 -1.55862924e-02 9.98807254e-01 -2.82041665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.823133365 meters Centerline goodness : 0.130644 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.00, Z:-0.28 [[ 9.98971336e-01 -3.14714670e-03 -4.52367675e-02 -2.36658120e+00] [ 3.78425476e-03 9.99894762e-01 1.40051239e-02 -8.62578829e-04] [ 4.51879307e-02 -1.41619048e-02 9.98878116e-01 -2.80248367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85313336499996 meters Centerline goodness : 0.120191 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.00, Z:-0.28 [[ 9.99032939e-01 2.29361807e-03 -4.39081584e-02 -2.34500170e+00] [-1.81536756e-03 9.99938631e-01 1.09288420e-02 -3.88605418e-03] [ 4.39305304e-02 -1.08385637e-02 9.98975793e-01 -2.79420120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.883133365 meters Centerline goodness : 0.249611 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.01, Z:-0.28 [[ 9.98977817e-01 5.92747864e-04 -4.51992124e-02 -2.39166699e+00] [-9.91623533e-05 9.99940352e-01 1.09216840e-02 -1.02473279e-02] [ 4.52029902e-02 -1.09060380e-02 9.98918289e-01 -2.79693789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91313336499996 meters Centerline goodness : 0.132632 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.02, Z:-0.28 [[ 9.99020249e-01 -1.61891919e-03 -4.42257973e-02 -2.39527424e+00] [ 2.04158072e-03 9.99952662e-01 9.51340517e-03 -1.59982618e-02] [ 4.42083024e-02 -9.59437494e-03 9.98976263e-01 -2.78073801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.943133365 meters Centerline goodness : 0.158601 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99903092 0.00488362 -0.04374202 -2.37336411] [-0.00458092 0.99996488 0.00701777 -0.01924746] [ 0.04377476 -0.00681059 0.99901821 -0.27748471] [ 0. 0. 0. 1. ]] SLAMing on 308.97313336499997 meters Centerline goodness : 0.127848 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99902169 0.00500744 -0.04393857 -2.37277893] [-0.00468932 0.99996207 0.0073401 -0.02113341] [ 0.04397366 -0.00712687 0.99900727 -0.27763824] [ 0. 0. 0. 1. ]] SLAMing on 309.003133365 meters Centerline goodness : 0.127557 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99901206 0.00530117 -0.04412267 -2.37227626] [-0.00496007 0.99995699 0.00783658 -0.02346308] [ 0.04416232 -0.00760999 0.99899538 -0.27771771] [ 0. 0. 0. 1. ]] SLAMing on 309.03313336499997 meters Centerline goodness : 0.167449 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.9990152 0.00541817 -0.0440372 -2.37252677] [-0.00507176 0.99995534 0.00797424 -0.02388873] [ 0.04407844 -0.00774304 0.99899807 -0.27766024] [ 0. 0. 0. 1. ]] SLAMing on 309.063133365 meters Centerline goodness : 0.277519 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99901739 0.00546587 -0.04398164 -2.37255406] [-0.00511652 0.99995449 0.0080518 -0.02437336] [ 0.04402365 -0.00781886 0.99899989 -0.27782156] [ 0. 0. 0. 1. ]] SLAMing on 309.09313336499997 meters Centerline goodness : 0.129358 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99901737 0.00545775 -0.04398309 -2.37232172] [-0.00510711 0.99995431 0.00808062 -0.02495305] [ 0.04402518 -0.00784805 0.9989996 -0.27814772] [ 0. 0. 0. 1. ]] SLAMing on 309.123133365 meters Centerline goodness : 0.119850 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.03, Z:-0.28 [[ 0.99901282 0.00545678 -0.04408638 -2.37188952] [-0.00510439 0.99995415 0.00810174 -0.02545449] [ 0.04412856 -0.00786871 0.99899487 -0.27842941] [ 0. 0. 0. 1. ]] SLAMing on 309.153133365 meters Centerline goodness : 0.179965 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.03, Z:-0.28 [[ 0.99901226 0.00545829 -0.04409888 -2.3717989 ] [-0.00510694 0.99995435 0.00807606 -0.02532907] [ 0.04414095 -0.00784287 0.99899453 -0.27857898] [ 0. 0. 0. 1. ]] SLAMing on 309.183133365 meters Centerline goodness : 0.125567 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99903987 0.0057936 -0.04342543 -2.37365546] [-0.00543916 0.99995096 0.00827595 -0.02494204] [ 0.04347125 -0.0080318 0.99902239 -0.27827065] [ 0. 0. 0. 1. ]] SLAMing on 309.213133365 meters Centerline goodness : 0.109739 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.02, Z:-0.28 [[ 0.99904939 -0.00271985 -0.04350774 -2.39398227] [ 0.00313196 0.99995085 0.00940672 -0.02232458] [ 0.04348002 -0.00953404 0.9990088 -0.28008879] [ 0. 0. 0. 1. ]] SLAMing on 309.243133365 meters Centerline goodness : 0.127008 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99906498 0.00517152 -0.0429234 -2.37470364] [-0.00484145 0.99995794 0.00779013 -0.0247238 ] [ 0.04296188 -0.00757504 0.99904799 -0.27835505] [ 0. 0. 0. 1. ]] SLAMing on 309.273133365 meters Centerline goodness : 0.164718 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.9990613 0.00509659 -0.04301795 -2.37426383] [-0.00476954 0.99995896 0.00770197 -0.02462769] [ 0.04305543 -0.00748956 0.99904461 -0.27868637] [ 0. 0. 0. 1. ]] SLAMing on 309.303133365 meters Centerline goodness : 0.127784 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99905771 0.00507989 -0.04310321 -2.37404866] [-0.0047529 0.99995917 0.00768537 -0.02459173] [ 0.04314049 -0.00747326 0.99904106 -0.27874912] [ 0. 0. 0. 1. ]] SLAMing on 309.333133365 meters Centerline goodness : 0.131626 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99906049 0.00510792 -0.04303549 -2.37434576] [-0.00477868 0.99995855 0.00774974 -0.02477572] [ 0.04307329 -0.00753681 0.99904349 -0.27858064] [ 0. 0. 0. 1. ]] SLAMing on 309.363133365 meters Centerline goodness : 0.126728 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.03, Z:-0.28 [[ 0.9990614 0.00503495 -0.04302278 -2.37467039] [-0.0047057 0.99995889 0.00775075 -0.02507378] [ 0.04306004 -0.00754102 0.99904403 -0.27812248] [ 0. 0. 0. 1. ]] SLAMing on 309.393133365 meters Centerline goodness : 0.131783 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.9990576 0.00497554 -0.04311787 -2.37435422] [-0.00464864 0.99995971 0.00767851 -0.02498801] [ 0.04315434 -0.00747084 0.99904048 -0.27825696] [ 0. 0. 0. 1. ]] SLAMing on 309.423133365 meters Centerline goodness : 0.129002 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99905066 0.00492439 -0.04328439 -2.37380673] [-0.00460058 0.99996071 0.00757741 -0.02447963] [ 0.04332001 -0.00737108 0.99903406 -0.27851224] [ 0. 0. 0. 1. ]] SLAMing on 309.453133365 meters Centerline goodness : 0.125664 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99904264 0.00488801 -0.04347315 -2.37309131] [-0.00456865 0.99996187 0.0074426 -0.02362393] [ 0.04350787 -0.00723686 0.99902687 -0.27894839] [ 0. 0. 0. 1. ]] SLAMing on 309.48313336499996 meters Centerline goodness : 0.111981 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99903888 0.00484003 -0.0435647 -2.37271512] [-0.00452544 0.99996299 0.00731701 -0.02292426] [ 0.0435985 -0.00711283 0.99902381 -0.27920847] [ 0. 0. 0. 1. ]] SLAMing on 309.513133365 meters Centerline goodness : 0.109821 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 0.99894857 0.00346043 -0.04571409 -2.41792633] [-0.00315094 0.99997164 0.00684059 -0.02439434] [ 0.04573647 -0.00668935 0.99893114 -0.2801377 ] [ 0. 0. 0. 1. ]] SLAMing on 309.54313336499996 meters Centerline goodness : 0.137072 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 0.99895478 0.00321383 -0.0455962 -2.41872026] [-0.00293021 0.99997595 0.00628556 -0.02183818] [ 0.04561531 -0.00614539 0.99894018 -0.27944717] [ 0. 0. 0. 1. ]] SLAMing on 309.573133365 meters Centerline goodness : 0.119411 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 0.99896073 0.00312789 -0.0454717 -2.4191721 ] [-0.0028567 0.99997775 0.00602762 -0.02036622] [ 0.04548954 -0.00589146 0.99894744 -0.27924495] [ 0. 0. 0. 1. ]] SLAMing on 309.60313336499996 meters Centerline goodness : 0.126685 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.02, Z:-0.28 [[ 0.99896485 0.01119437 -0.04408994 -2.39986854] [-0.01100351 0.99992902 0.00456918 -0.02078325] [ 0.04413796 -0.00407931 0.99901712 -0.27770484] [ 0. 0. 0. 1. ]] SLAMing on 309.633133365 meters Centerline goodness : 0.127942 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 0.99905929 0.00270896 -0.04328045 -2.41956223] [-0.00248103 0.99998278 0.00531917 -0.01572453] [ 0.04329412 -0.00520679 0.9990488 -0.2801896 ] [ 0. 0. 0. 1. ]] SLAMing on 309.66313336499996 meters Centerline goodness : 0.128798 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.01, Z:-0.28 [[ 9.99060511e-01 2.55215654e-03 -4.32617725e-02 -2.41964398e+00] [-2.33788581e-03 9.99984753e-01 5.00275948e-03 -1.43426880e-02] [ 4.32738807e-02 -4.89691836e-03 9.99051246e-01 -2.80162665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.693133365 meters SLAMing on 309.72313336499997 meters Centerline goodness : 0.128300 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.01, Z:-0.28 [[ 9.99075987e-01 2.45495207e-03 -4.29085662e-02 -2.42108393e+00] [-2.25345996e-03 9.99986210e-01 4.74358640e-03 -1.25876848e-02] [ 4.29196197e-02 -4.64251053e-03 9.99067742e-01 -2.79341374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.753133365 meters Centerline goodness : 0.128300 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.01, Z:-0.28 [[ 9.99075987e-01 2.45495207e-03 -4.29085662e-02 -2.42108393e+00] [-2.25345996e-03 9.99986210e-01 4.74358640e-03 -1.25876848e-02] [ 4.29196197e-02 -4.64251053e-03 9.99067742e-01 -2.79341374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78313336499997 meters Centerline goodness : 0.127630 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.01, Z:-0.28 [[ 9.99081459e-01 2.47198374e-03 -4.27799856e-02 -2.42155255e+00] [-2.26871767e-03 9.99985910e-01 4.79932724e-03 -1.28409872e-02] [ 4.27912467e-02 -4.69786315e-03 9.99072990e-01 -2.79068871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.813133365 meters Centerline goodness : 0.124951 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.01, Z:-0.28 [[ 9.99085805e-01 2.46197374e-03 -4.26789522e-02 -2.42190336e+00] [-2.25707660e-03 9.99985699e-01 4.84841655e-03 -1.32782119e-02] [ 4.26902785e-02 -4.74765448e-03 9.99077074e-01 -2.78870937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84313336499997 meters Centerline goodness : 0.130982 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.01, Z:-0.28 [[ 9.99086741e-01 2.47525765e-03 -4.26562588e-02 -2.42196990e+00] [-2.26635941e-03 9.99985206e-01 4.94491076e-03 -1.39289303e-02] [ 4.26678676e-02 -4.84372037e-03 9.99077570e-01 -2.78830519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.873133365 meters Centerline goodness : 0.127263 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.01, Z:-0.28 [[ 9.99085268e-01 2.51743616e-03 -4.26882972e-02 -2.42180127e+00] [-2.30317712e-03 9.99984507e-01 5.06759095e-03 -1.46291964e-02] [ 4.27003932e-02 -4.96463675e-03 9.99075587e-01 -2.78978847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.903133365 meters Centerline goodness : 0.127365 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 9.99062096e-01 2.65015535e-03 -4.32192753e-02 -2.42023283e+00] [-2.41898195e-03 9.99982493e-01 5.40027056e-03 -1.63578152e-02] [ 4.32328302e-02 -5.29065898e-03 9.99051015e-01 -2.79433240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.933133365 meters Centerline goodness : 0.127025 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 9.99050057e-01 2.62637130e-03 -4.34981129e-02 -2.41937137e+00] [-2.39244678e-03 9.99982401e-01 5.42899373e-03 -1.69549879e-02] [ 4.35116060e-02 -5.31976958e-03 9.99038758e-01 -2.79732818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.963133365 meters Centerline goodness : 0.139352 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 9.99042251e-01 2.60654514e-03 -4.36782178e-02 -2.41888926e+00] [-2.37033160e-03 9.99982290e-01 5.45895809e-03 -1.75218837e-02] [ 4.36916733e-02 -5.35019792e-03 9.99030737e-01 -2.79831350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.993133365 meters Centerline goodness : 0.127938 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 9.99040225e-01 2.59922989e-03 -4.37249765e-02 -2.41894656e+00] [-2.36324889e-03 9.99982368e-01 5.44776397e-03 -1.75979906e-02] [ 4.37383655e-02 -5.33920234e-03 9.99028752e-01 -2.79619706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.023133365 meters Centerline goodness : 0.129528 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 0.99904129 0.00268622 -0.04369529 -2.41920515] [-0.00244638 0.99998165 0.00554144 -0.01776181] [ 0.04370938 -0.00542923 0.99902954 -0.2793875 ] [ 0. 0. 0. 1. ]] SLAMing on 310.053133365 meters Centerline goodness : 0.114234 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 0.99904534 0.0027943 -0.04359588 -2.41947007] [-0.00254651 0.99998029 0.00573835 -0.01851618] [ 0.04361105 -0.00562186 0.99903277 -0.27938143] [ 0. 0. 0. 1. ]] SLAMing on 310.083133365 meters Centerline goodness : 0.132862 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.03, Z:-0.28 [[ 9.98946673e-01 7.75740065e-04 -4.58796461e-02 -2.46311858e+00] [-5.34918756e-04 9.99986018e-01 5.26102372e-03 -2.54442671e-02] [ 4.58830857e-02 -5.23094026e-03 9.98933121e-01 -2.81088965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.113133365 meters Centerline goodness : 0.180362 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.03, Z:-0.28 [[ 9.98933032e-01 8.40453754e-04 -4.61745767e-02 -2.46244342e+00] [-5.79318861e-04 9.99983766e-01 5.66847351e-03 -2.81006499e-02] [ 4.61785912e-02 -5.63567562e-03 9.98917302e-01 -2.81014643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.143133365 meters Centerline goodness : 0.151795 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.03, Z:-0.28 [[ 9.98918720e-01 9.33253333e-04 -4.64813912e-02 -2.46180553e+00] [-6.48655144e-04 9.99980955e-01 6.13754851e-03 -3.10127870e-02] [ 4.64862338e-02 -6.10076171e-03 9.98900301e-01 -2.80831117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.173133365 meters Centerline goodness : 0.091471 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.04, Z:-0.28 [[ 9.98900605e-01 -1.39823248e-03 -4.68575143e-02 -2.45978005e+00] [ 1.62290669e-03 9.99987368e-01 4.75713807e-03 -3.81380232e-02] [ 4.68502708e-02 -4.82795347e-03 9.98890256e-01 -2.81696861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.203133365 meters Centerline goodness : 0.138717 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.04, Z:-0.28 [[ 9.98896224e-01 -1.20801876e-03 -4.69560839e-02 -2.45960232e+00] [ 1.45950087e-03 9.99984774e-01 5.32177149e-03 -4.11652435e-02] [ 4.69489402e-02 -5.38442989e-03 9.98882778e-01 -2.81591854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23313336499996 meters Centerline goodness : 0.135996 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.04, Z:-0.28 [[ 9.98893360e-01 -1.04495306e-03 -4.70208914e-02 -2.45949274e+00] [ 1.31750721e-03 9.99982510e-01 5.76582908e-03 -4.35063567e-02] [ 4.70140440e-02 -5.82139874e-03 9.98877265e-01 -2.81472816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.263133365 meters Centerline goodness : 0.112369 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99889159 0.00731533 -0.04649804 -2.44021419] [-0.00710318 0.9999636 0.00472607 -0.04808819] [ 0.04653092 -0.00439055 0.9989072 -0.27955973] [ 0. 0. 0. 1. ]] SLAMing on 310.29313336499996 meters Centerline goodness : 0.135820 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99889556 0.00737402 -0.04640339 -2.44035246] [-0.00715801 0.99996277 0.00481947 -0.04852684] [ 0.0464372 -0.00448199 0.99891116 -0.27968641] [ 0. 0. 0. 1. ]] SLAMing on 310.323133365 meters Centerline goodness : 0.128920 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99890521 0.00749114 -0.04617655 -2.44090991] [-0.00727169 0.99996146 0.00491868 -0.04867939] [ 0.04621162 -0.00457751 0.99892118 -0.27966732] [ 0. 0. 0. 1. ]] SLAMing on 310.35313336499996 meters Centerline goodness : 0.156249 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99891363 0.00753092 -0.04598735 -2.44151923] [-0.00731379 0.99996131 0.0048879 -0.04831209] [ 0.04602238 -0.00454624 0.99893006 -0.2794605 ] [ 0. 0. 0. 1. ]] SLAMing on 310.383133365 meters Centerline goodness : 0.130779 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99892101 0.00762486 -0.04581135 -2.4418983 ] [-0.00741496 0.99996123 0.00475004 -0.04719707] [ 0.04584579 -0.00440522 0.99893882 -0.27956391] [ 0. 0. 0. 1. ]] SLAMing on 310.41313336499996 meters Centerline goodness : 0.131110 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99892697 0.0076017 -0.04568508 -2.44225392] [-0.00739651 0.99996179 0.00465878 -0.04679513] [ 0.04571875 -0.00431587 0.99894503 -0.27953976] [ 0. 0. 0. 1. ]] SLAMing on 310.443133365 meters Centerline goodness : 0.131358 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99893059 0.00758307 -0.04560898 -2.44250851] [-0.00738034 0.99996213 0.0046116 -0.04656098] [ 0.04564222 -0.00427005 0.99894872 -0.27946242] [ 0. 0. 0. 1. ]] SLAMing on 310.47313336499997 meters Centerline goodness : 0.131532 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99893389 0.00755005 -0.04554214 -2.44264204] [-0.00735024 0.99996262 0.0045533 -0.04631559] [ 0.04557482 -0.0042137 0.99895204 -0.27953117] [ 0. 0. 0. 1. ]] SLAMing on 310.503133365 meters Centerline goodness : 0.136973 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99893308 0.00748858 -0.04556987 -2.44248064] [-0.00729226 0.99996341 0.0044727 -0.04610915] [ 0.0456017 -0.00413562 0.99895114 -0.27965593] [ 0. 0. 0. 1. ]] SLAMing on 310.53313336499997 meters Centerline goodness : 0.139497 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99893253 0.00731873 -0.04560961 -2.44254976] [-0.00713291 0.99996559 0.00423549 -0.04534666] [ 0.04563904 -0.00390564 0.99895036 -0.27946802] [ 0. 0. 0. 1. ]] SLAMing on 310.563133365 meters Centerline goodness : 0.126308 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.04, Z:-0.28 [[ 9.98957413e-01 -1.57598149e-04 -4.56515304e-02 -2.42337475e+00] [ 3.93090351e-04 9.99986664e-01 5.14954200e-03 -4.03458444e-02] [ 4.56501100e-02 -5.16211833e-03 9.98944153e-01 -2.77157225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59313336499997 meters Centerline goodness : 0.127451 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.04, Z:-0.28 [[ 9.98950549e-01 -1.57591541e-04 -4.58014851e-02 -2.42303980e+00] [ 3.95825341e-04 9.99986441e-01 5.19241979e-03 -4.05061275e-02] [ 4.58000458e-02 -5.20509998e-03 9.98937066e-01 -2.77082904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.623133365 meters Centerline goodness : 0.131055 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.04, Z:-0.28 [[ 9.98942724e-01 -1.70337209e-04 -4.59717819e-02 -2.42264214e+00] [ 4.11564899e-04 9.99986197e-01 5.23788492e-03 -4.09587511e-02] [ 4.59702552e-02 -5.25126741e-03 9.98929006e-01 -2.77084355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.653133365 meters Centerline goodness : 0.109466 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.04, Z:-0.28 [[ 9.98935771e-01 -2.56538985e-04 -4.61222294e-02 -2.42232174e+00] [ 4.99575788e-04 9.99986052e-01 5.25795741e-03 -4.16977412e-02] [ 4.61202372e-02 -5.27540329e-03 9.98921966e-01 -2.77014510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.683133365 meters Centerline goodness : 0.134324 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.04, Z:-0.28 [[ 9.98932224e-01 -2.94757859e-04 -4.61987599e-02 -2.42219190e+00] [ 5.44761203e-04 9.99985277e-01 5.39897609e-03 -4.29562060e-02] [ 4.61964883e-02 -5.41837848e-03 9.98917677e-01 -2.76943957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.713133365 meters Centerline goodness : 0.090081 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.05, Z:-0.28 [[ 9.98926941e-01 -2.84214218e-04 -4.63129186e-02 -2.42185365e+00] [ 5.60593661e-04 9.99982113e-01 5.95477427e-03 -4.62941640e-02] [ 4.63103978e-02 -5.97434717e-03 9.98909232e-01 -2.76951840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.743133365 meters Centerline goodness : 0.164413 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.05, Z:-0.28 [[ 9.98930390e-01 -1.81290679e-04 -4.62389761e-02 -2.42211651e+00] [ 4.77168208e-04 9.99979483e-01 6.38791964e-03 -4.87300164e-02] [ 4.62368694e-02 -6.40315083e-03 9.98909982e-01 -2.76739095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.773133365 meters Centerline goodness : 0.131003 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.05, Z:-0.28 [[ 9.98937078e-01 -8.89566307e-05 -4.60945368e-02 -2.42279063e+00] [ 4.06711411e-04 9.99976221e-01 6.88421265e-03 -5.17205661e-02] [ 4.60928283e-02 -6.89564244e-03 9.98913360e-01 -2.76153273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.803133365 meters Centerline goodness : 0.055701 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.05, Z:-0.28 [[ 9.98947642e-01 8.32121490e-05 -4.58650393e-02 -2.42374782e+00] [ 2.59289397e-04 9.99972128e-01 7.46159530e-03 -5.48410464e-02] [ 4.58643818e-02 -7.46563535e-03 9.98919778e-01 -2.75457286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.833133365 meters Centerline goodness : 0.135472 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.06, Z:-0.28 [[ 9.98946023e-01 3.24811306e-04 -4.58992140e-02 -2.42384831e+00] [ 4.70992444e-05 9.99967182e-01 8.10145134e-03 -5.80279754e-02] [ 4.59003391e-02 -8.09507442e-03 9.98913224e-01 -2.75139093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.863133365 meters Centerline goodness : 0.094379 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.07, Z:-0.27 [[ 0.9988522 0.0080808 -0.04721205 -2.40378294] [-0.00774719 0.99994374 0.00724495 -0.0651734 ] [ 0.04726794 -0.00687088 0.99885862 -0.27298404] [ 0. 0. 0. 1. ]] SLAMing on 310.893133365 meters Centerline goodness : 0.117242 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.07, Z:-0.28 [[ 0.99878785 0.0064507 -0.04879772 -2.39798086] [-0.00616224 0.99996266 0.00605929 -0.07143121] [ 0.04883498 -0.00575124 0.9987903 -0.27500369] [ 0. 0. 0. 1. ]] SLAMing on 310.923133365 meters Centerline goodness : 0.132512 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.07, Z:-0.27 [[ 0.99878029 0.00670612 -0.0489178 -2.39769958] [-0.0063863 0.99995722 0.00669129 -0.07488757] [ 0.04896058 -0.00637072 0.99878039 -0.27495055] [ 0. 0. 0. 1. ]] SLAMing on 310.953133365 meters Centerline goodness : 0.131949 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.08, Z:-0.27 [[ 0.99877835 0.0069587 -0.04892223 -2.39783745] [-0.00660815 0.99995135 0.00732341 -0.07823535] [ 0.04897081 -0.00699118 0.99877574 -0.27468806] [ 0. 0. 0. 1. ]] SLAMing on 310.98313336499996 meters Centerline goodness : 0.226316 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.08, Z:-0.27 [[ 0.99877344 0.0072424 -0.04898123 -2.39784251] [-0.00685761 0.99994433 0.00801934 -0.08183466] [ 0.04903659 -0.00767361 0.9987675 -0.2744152 ] [ 0. 0. 0. 1. ]] SLAMing on 311.013133365 meters Centerline goodness : 0.229667 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98817648e-01 -3.88251733e-04 -4.86122929e-02 -2.37790964e+00] [ 8.29824084e-04 9.99958579e-01 9.06370103e-03 -7.88885339e-02] [ 4.86067603e-02 -9.09332420e-03 9.98776599e-01 -2.72994618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04313336499996 meters Centerline goodness : 0.101281 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98813358e-01 -2.93038819e-05 -4.87018900e-02 -2.37753169e+00] [ 5.13333311e-04 9.99950603e-01 9.92613909e-03 -8.39755883e-02] [ 4.86991934e-02 -9.93936062e-03 9.98764035e-01 -2.73037348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.073133365 meters Centerline goodness : 0.140448 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.09, Z:-0.27 [[ 9.98811155e-01 9.44972007e-05 -4.87469794e-02 -2.37725343e+00] [ 4.02571799e-04 9.99948030e-01 1.01870003e-02 -8.53318103e-02] [ 4.87454086e-02 -1.01945137e-02 9.98759209e-01 -2.73260312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10313336499996 meters Centerline goodness : 0.222765 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.09, Z:-0.27 [[ 9.98812540e-01 2.35997405e-04 -4.87181136e-02 -2.37710260e+00] [ 2.67412641e-04 9.99946646e-01 1.03263422e-02 -8.57278412e-02] [ 4.87179513e-02 -1.03271079e-02 9.98759186e-01 -2.73588968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.133133365 meters Centerline goodness : 0.128863 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.09, Z:-0.27 [[ 9.98819336e-01 3.21795533e-04 -4.85780928e-02 -2.37723290e+00] [ 1.78479212e-04 9.99947003e-01 1.02936723e-02 -8.51348522e-02] [ 4.85788307e-02 -1.02901891e-02 9.98766344e-01 -2.73921656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16313336499996 meters Centerline goodness : 0.164695 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98834233e-01 3.67340685e-04 -4.82704867e-02 -2.37798379e+00] [ 1.23794093e-04 9.99948264e-01 1.01712556e-02 -8.41951175e-02] [ 4.82717257e-02 -1.01653739e-02 9.98782512e-01 -2.73899678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.193133365 meters Centerline goodness : 0.132586 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98849249e-01 3.31827170e-04 -4.79590220e-02 -2.37894202e+00] [ 1.47219175e-04 9.99950140e-01 9.98478215e-03 -8.31752790e-02] [ 4.79599440e-02 -9.98035264e-03 9.98799397e-01 -2.73625750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22313336499997 meters Centerline goodness : 0.080862 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98868048e-01 2.03586957e-04 -4.75665935e-02 -2.38031695e+00] [ 2.53839433e-04 9.99953788e-01 9.61030869e-03 -8.13755118e-02] [ 4.75663519e-02 -9.61150456e-03 9.98821837e-01 -2.73043953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.253133365 meters Centerline goodness : 0.123754 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98870013e-01 1.18687569e-04 -4.75256091e-02 -2.38048129e+00] [ 3.30049076e-04 9.99955444e-01 9.43403807e-03 -8.05513983e-02] [ 4.75246112e-02 -9.43906351e-03 9.98825468e-01 -2.72988355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28313336499997 meters Centerline goodness : 0.109966 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98869669e-01 2.95606580e-05 -4.75329806e-02 -2.38060345e+00] [ 4.14358408e-04 9.99956395e-01 9.32929955e-03 -8.02022336e-02] [ 4.75311837e-02 -9.33845004e-03 9.98826101e-01 -2.72825440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.313133365 meters Centerline goodness : 0.146561 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98863254e-01 -5.59864816e-05 -4.76675558e-02 -2.38043004e+00] [ 5.00915855e-04 9.99956423e-01 9.32211420e-03 -8.05089599e-02] [ 4.76649567e-02 -9.33539477e-03 9.98819755e-01 -2.72629558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34313336499997 meters Centerline goodness : 0.100011 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98858293e-01 -2.89352759e-04 -4.77705614e-02 -2.38044478e+00] [ 7.42313355e-04 9.99954935e-01 9.46453463e-03 -8.19379721e-02] [ 4.77656700e-02 -9.48918963e-03 9.98813494e-01 -2.72180086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.373133365 meters Centerline goodness : 0.133265 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98862534e-01 -2.22030200e-04 -4.76821599e-02 -2.38101476e+00] [ 6.85887164e-04 9.99952603e-01 9.71196180e-03 -8.30344043e-02] [ 4.76777435e-02 -9.73361936e-03 9.98815343e-01 -2.71614384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.403133365 meters Centerline goodness : 0.127361 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98867874e-01 -1.74707626e-04 -4.75703615e-02 -2.38145098e+00] [ 6.48411875e-04 9.99950360e-01 9.94272111e-03 -8.42586264e-02] [ 4.75662630e-02 -9.96230989e-03 9.98818403e-01 -2.71324279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.433133365 meters Centerline goodness : 0.154504 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.09, Z:-0.27 [[ 9.98867263e-01 -1.68692925e-04 -4.75832130e-02 -2.38141634e+00] [ 6.51508714e-04 9.99948463e-01 1.01314406e-02 -8.56144505e-02] [ 4.75790516e-02 -1.01509652e-02 9.98815895e-01 -2.71281169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.463133365 meters Centerline goodness : 0.065215 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.09, Z:-0.27 [[ 9.98858792e-01 -1.86973404e-04 -4.77606354e-02 -2.38084502e+00] [ 6.78312660e-04 9.99947016e-01 1.02715356e-02 -8.69079311e-02] [ 4.77561844e-02 -1.02922103e-02 9.98805996e-01 -2.71472742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.493133365 meters Centerline goodness : 0.169390 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.09, Z:-0.27 [[ 9.98848711e-01 -1.31759124e-04 -4.79711885e-02 -2.38014600e+00] [ 6.35311914e-04 9.99944862e-01 1.04818880e-02 -8.82714587e-02] [ 4.79671623e-02 -1.05002970e-02 9.98793720e-01 -2.71762347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.523133365 meters Centerline goodness : 0.170439 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.09, Z:-0.27 [[ 9.98834685e-01 1.89735814e-04 -4.82621597e-02 -2.37929688e+00] [ 3.48595246e-04 9.99937825e-01 1.11456479e-02 -9.11844885e-02] [ 4.82612738e-02 -1.11494837e-02 9.98772516e-01 -2.71953144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.553133365 meters Centerline goodness : 0.094726 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99887045 0.00688834 -0.04701459 -2.3969084 ] [-0.00640983 0.99992619 0.01032107 -0.09859131] [ 0.04708221 -0.01000806 0.99884088 -0.27488928] [ 0. 0. 0. 1. ]] SLAMing on 311.583133365 meters Centerline goodness : 0.091395 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99886685 0.00687067 -0.04709369 -2.39676513] [-0.00638879 0.99992577 0.0103752 -0.09938778] [ 0.04716148 -0.01006257 0.99883659 -0.27471992] [ 0. 0. 0. 1. ]] SLAMing on 311.613133365 meters Centerline goodness : 0.165759 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99885906 0.00688628 -0.04725633 -2.39654335] [-0.00640091 0.99992528 0.01041474 -0.10008425] [ 0.04732452 -0.01010037 0.9988285 -0.27440246] [ 0. 0. 0. 1. ]] SLAMing on 311.643133365 meters Centerline goodness : 0.165759 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99885906 0.00688628 -0.04725633 -2.39654335] [-0.00640091 0.99992528 0.01041474 -0.10008425] [ 0.04732452 -0.01010037 0.9988285 -0.27440246] [ 0. 0. 0. 1. ]] SLAMing on 311.673133365 meters Centerline goodness : 0.104087 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99885962 0.00725393 -0.04718951 -2.39657481] [-0.00674506 0.99991747 0.01093393 -0.10152395] [ 0.04726493 -0.01060317 0.99882611 -0.27446618] [ 0. 0. 0. 1. ]] SLAMing on 311.703133365 meters Centerline goodness : 0.204003 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99885222 0.0074242 -0.04731948 -2.39607852] [-0.00690303 0.99991381 0.01116785 -0.10233441] [ 0.04739831 -0.01082838 0.99881737 -0.27464172] [ 0. 0. 0. 1. ]] SLAMing on 311.73313336499996 meters Centerline goodness : 0.127818 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99883465 0.00747561 -0.04768072 -2.3950465 ] [-0.00695207 0.99991382 0.01113657 -0.10233873] [ 0.04775987 -0.01079211 0.99880054 -0.2747674 ] [ 0. 0. 0. 1. ]] SLAMing on 311.763133365 meters Centerline goodness : 0.125725 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.10, Z:-0.28 [[ 0.99881317 0.00750233 -0.04812451 -2.39373297] [-0.00697804 0.99991456 0.01105304 -0.10230057] [ 0.04820332 -0.0107041 0.99878019 -0.2750036 ] [ 0. 0. 0. 1. ]] SLAMing on 311.79313336499996 meters Centerline goodness : 0.111577 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.10, Z:-0.28 [[ 0.99881115 0.0074556 -0.04817361 -2.39340461] [-0.00693459 0.99991575 0.01097332 -0.10225718] [ 0.04825137 -0.01062621 0.9987787 -0.27535392] [ 0. 0. 0. 1. ]] SLAMing on 311.823133365 meters Centerline goodness : 0.110779 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.10, Z:-0.28 [[ 0.99881675 0.00743226 -0.04806096 -2.39386339] [-0.00691774 0.99991706 0.01086323 -0.1018923 ] [ 0.04813771 -0.0105179 0.99878533 -0.27508404] [ 0. 0. 0. 1. ]] SLAMing on 311.85313336499996 meters Centerline goodness : 0.185307 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.10, Z:-0.27 [[ 0.9988239 0.00729555 -0.04793322 -2.39425283] [-0.00679123 0.99991995 0.01067564 -0.10129753] [ 0.04800727 -0.01033756 0.99879349 -0.27499191] [ 0. 0. 0. 1. ]] SLAMing on 311.883133365 meters Centerline goodness : 0.182339 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.10, Z:-0.27 [[ 0.99883296 0.00729348 -0.04774435 -2.39487054] [-0.00679215 0.99992018 0.010654 -0.10112628] [ 0.04781825 -0.01031728 0.99880277 -0.27475354] [ 0. 0. 0. 1. ]] SLAMing on 311.91313336499996 meters Centerline goodness : 0.127385 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.9988429 0.00735545 -0.04752642 -2.39554837] [-0.00685277 0.99991894 0.01073111 -0.10116353] [ 0.0476015 -0.01039301 0.99881234 -0.27455192] [ 0. 0. 0. 1. ]] SLAMing on 311.943133365 meters Centerline goodness : 0.128766 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99885856 0.00740476 -0.04718838 -2.39640937] [-0.00689619 0.99991647 0.010931 -0.1018177 ] [ 0.04726538 -0.0105931 0.9988262 -0.2745433 ] [ 0. 0. 0. 1. ]] SLAMing on 311.97313336499997 meters Centerline goodness : 0.128001 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99886478 0.00744407 -0.04705032 -2.39655754] [-0.0069277 0.99991408 0.01112842 -0.10275172] [ 0.04712912 -0.01078984 0.99883053 -0.27484068] [ 0. 0. 0. 1. ]] SLAMing on 312.003133365 meters Centerline goodness : 0.127554 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.11, Z:-0.28 [[ 0.99886497 0.00363934 -0.04749246 -2.39467523] [-0.00326868 0.99996361 0.00788004 -0.10583454] [ 0.04751941 -0.00771586 0.99884051 -0.27600956] [ 0. 0. 0. 1. ]] SLAMing on 312.03313336499997 meters Centerline goodness : 0.131148 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.11, Z:-0.28 [[ 9.98877636e-01 1.38914622e-04 -4.73650556e-02 -2.39482430e+00] [ 8.60211706e-05 9.99988730e-01 4.74691051e-03 -1.07306213e-01] [ 4.73651812e-02 -4.74565715e-03 9.98866367e-01 -2.76209123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.063133365 meters Centerline goodness : 0.126017 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.11, Z:-0.28 [[ 9.98873939e-01 3.07988810e-04 -4.74421579e-02 -2.39483885e+00] [-5.51037890e-05 9.99985785e-01 5.33160177e-03 -1.10228764e-01] [ 4.74431256e-02 -5.32298382e-03 9.98859758e-01 -2.75871793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09313336499997 meters Centerline goodness : 0.126499 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.11, Z:-0.28 [[ 9.98875902e-01 5.01035711e-04 -4.73991740e-02 -2.39515297e+00] [-2.16590635e-04 9.99981940e-01 6.00600122e-03 -1.13681073e-01] [ 4.74013272e-02 -5.98898366e-03 9.98857971e-01 -2.75544318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.123133365 meters Centerline goodness : 0.125527 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.12, Z:-0.28 [[ 0.9988925 -0.00311964 -0.04694713 -2.39620344] [ 0.00328065 0.999989 0.00335285 -0.11992595] [ 0.04693615 -0.00350315 0.99889175 -0.27534679] [ 0. 0. 0. 1. ]] SLAMing on 312.153133365 meters Centerline goodness : 0.132519 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.12, Z:-0.27 [[ 0.99889559 -0.00295201 -0.0468922 -2.39660397] [ 0.00313804 0.99998749 0.003894 -0.12299119] [ 0.04688012 -0.00403684 0.99889237 -0.27487915] [ 0. 0. 0. 1. ]] SLAMing on 312.183133365 meters Centerline goodness : 0.127326 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.13, Z:-0.27 [[ 0.99889776 -0.00277919 -0.04685652 -2.3968955 ] [ 0.00298503 0.9999862 0.00432367 -0.1251641 ] [ 0.04684386 -0.00445878 0.99889227 -0.27452566] [ 0. 0. 0. 1. ]] SLAMing on 312.213133365 meters Centerline goodness : 0.200156 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.13, Z:-0.27 [[ 0.99889644 -0.00259939 -0.04689501 -2.39673099] [ 0.00281953 0.99998531 0.00462869 -0.126429 ] [ 0.04688229 -0.0047558 0.9988891 -0.27460449] [ 0. 0. 0. 1. ]] SLAMing on 312.243133365 meters Centerline goodness : 0.184790 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.13, Z:-0.27 [[ 0.99889305 -0.00242642 -0.04697645 -2.39636881] [ 0.00265765 0.99998466 0.00486023 -0.12732753] [ 0.04696394 -0.0049797 0.99888417 -0.27480606] [ 0. 0. 0. 1. ]] SLAMing on 312.273133365 meters Centerline goodness : 0.109401 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.13, Z:-0.28 [[ 9.98884849e-01 -2.35917964e-03 -4.71539192e-02 -2.39576985e+00] [ 2.59353761e-03 9.99984585e-01 4.90949968e-03 -1.27688906e-01] [ 4.71416099e-02 -5.02632031e-03 9.98875570e-01 -2.75048436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.303133365 meters Centerline goodness : 0.181877 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.13, Z:-0.27 [[ 0.99890797 0.00671354 -0.04623639 -2.37751849] [-0.00655942 0.99997242 0.00348415 -0.13069876] [ 0.04625851 -0.00317706 0.99892445 -0.27239007] [ 0. 0. 0. 1. ]] SLAMing on 312.333133365 meters Centerline goodness : 0.113765 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.13, Z:-0.27 [[ 0.99889368 0.00682714 -0.04652748 -2.37707187] [-0.00667623 0.99997194 0.0033979 -0.13015437] [ 0.04654937 -0.00308351 0.99891123 -0.2718772 ] [ 0. 0. 0. 1. ]] SLAMing on 312.363133365 meters Centerline goodness : 0.107129 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.13, Z:-0.27 [[ 0.99876807 0.00657381 -0.04918466 -2.41982973] [-0.00638511 0.99997164 0.00399279 -0.13325835] [ 0.04920952 -0.00367382 0.99878172 -0.27259136] [ 0. 0. 0. 1. ]] SLAMing on 312.393133365 meters Centerline goodness : 0.127228 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.13, Z:-0.27 [[ 0.9987637 0.00662313 -0.04926661 -2.41954591] [-0.00643109 0.9999711 0.00405535 -0.13349915] [ 0.04929204 -0.0037335 0.99877743 -0.27271827] [ 0. 0. 0. 1. ]] SLAMing on 312.423133365 meters Centerline goodness : 0.090132 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.13, Z:-0.27 [[ 0.99877061 0.00656442 -0.04913433 -2.4200076 ] [-0.00637408 0.99997157 0.00402973 -0.13366884] [ 0.04915938 -0.00371159 0.99878405 -0.27251253] [ 0. 0. 0. 1. ]] SLAMing on 312.453133365 meters Centerline goodness : 0.132639 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.13, Z:-0.27 [[ 0.99880825 0.00636278 -0.04839004 -2.42241902] [-0.00616914 0.99997236 0.00414983 -0.13466177] [ 0.04841511 -0.00384636 0.9988199 -0.27173605] [ 0. 0. 0. 1. ]] SLAMing on 312.48313336499996 meters Centerline goodness : 0.108716 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.14, Z:-0.27 [[ 0.99880534 0.00649852 -0.04843201 -2.42231867] [-0.00629049 0.99997033 0.00444666 -0.13581315] [ 0.04845947 -0.00413669 0.99881658 -0.27180731] [ 0. 0. 0. 1. ]] SLAMing on 312.513133365 meters Centerline goodness : 0.117748 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.13, Z:-0.27 [[ 0.99884033 0.00667871 -0.04768001 -2.37872542] [-0.00647913 0.9999696 0.00433914 -0.1338622 ] [ 0.04770754 -0.00402519 0.99885324 -0.27115404] [ 0. 0. 0. 1. ]] SLAMing on 312.54313336499996 meters Centerline goodness : 0.091535 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.14, Z:-0.27 [[ 0.99867663 0.00551275 -0.05113308 -2.41903122] [-0.00528435 0.99997545 0.004601 -0.13859796] [ 0.05115719 -0.00432471 0.99868125 -0.27309231] [ 0. 0. 0. 1. ]] SLAMing on 312.573133365 meters Centerline goodness : 0.096180 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.14, Z:-0.27 [[ 0.99867555 0.00556255 -0.05114879 -2.4188615 ] [-0.00532653 0.99997453 0.0047496 -0.13918844] [ 0.05117391 -0.00447087 0.99867975 -0.2733074 ] [ 0. 0. 0. 1. ]] SLAMing on 312.60313336499996 meters Centerline goodness : 0.092330 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.14, Z:-0.27 [[ 0.99867936 0.00557148 -0.05107346 -2.41897297] [-0.00533096 0.99997406 0.00484441 -0.13966312] [ 0.05109913 -0.00456574 0.99868315 -0.27345729] [ 0. 0. 0. 1. ]] SLAMing on 312.633133365 meters Centerline goodness : 0.109487 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.14, Z:-0.27 [[ 0.99868053 0.00562618 -0.05104452 -2.41882629] [-0.00538051 0.99997328 0.00494894 -0.13986123] [ 0.051071 -0.00466777 0.99868412 -0.27379898] [ 0. 0. 0. 1. ]] SLAMing on 312.66313336499996 meters Centerline goodness : 0.152643 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.15, Z:-0.27 [[ 0.99858035 0.01365393 -0.05148636 -2.4012098 ] [-0.01341526 0.99989762 0.00497839 -0.14648551] [ 0.05154906 -0.00428062 0.99866129 -0.27297693] [ 0. 0. 0. 1. ]] SLAMing on 312.693133365 meters Centerline goodness : 0.132056 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.15, Z:-0.27 [[ 0.99857962 0.01366331 -0.05149812 -2.40104999] [-0.01342388 0.99989743 0.00499232 -0.14639953] [ 0.05156105 -0.00429392 0.99866061 -0.27317311] [ 0. 0. 0. 1. ]] SLAMing on 312.72313336499997 meters Centerline goodness : 0.132211 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.15, Z:-0.27 [[ 0.99856546 0.01370887 -0.05175988 -2.39976176] [-0.01347284 0.9998972 0.00490638 -0.14580304] [ 0.05182182 -0.00420199 0.99864751 -0.27410477] [ 0. 0. 0. 1. ]] SLAMing on 312.753133365 meters Centerline goodness : 0.130968 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.14, Z:-0.27 [[ 0.99847369 0.00742241 -0.05472841 -2.38314692] [-0.00717254 0.99996295 0.00476056 -0.13671184] [ 0.05476171 -0.00436075 0.99848993 -0.27143631] [ 0. 0. 0. 1. ]] SLAMing on 312.78313336499997 meters Centerline goodness : 0.105393 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.13, Z:-0.27 [[ 0.99846958 0.0071832 -0.05483519 -2.38266695] [-0.00696384 0.99996697 0.00419035 -0.13450553] [ 0.05486348 -0.00380207 0.99848663 -0.27168117] [ 0. 0. 0. 1. ]] SLAMing on 312.813133365 meters Centerline goodness : 0.127836 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.13, Z:-0.27 [[ 0.99847026 0.00698139 -0.05484879 -2.38273303] [-0.00679217 0.99997032 0.00363544 -0.13208538] [ 0.05487255 -0.00325734 0.99848805 -0.27151359] [ 0. 0. 0. 1. ]] SLAMing on 312.84313336499997 meters Centerline goodness : 0.088576 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.13, Z:-0.27 [[ 0.99848767 0.00692705 -0.05453795 -2.38359102] [-0.00675294 0.9999715 0.00337608 -0.13022412] [ 0.05455979 -0.00300268 0.99850599 -0.27141483] [ 0. 0. 0. 1. ]] SLAMing on 312.873133365 meters Centerline goodness : 0.130188 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.12, Z:-0.27 [[ 9.98562413e-01 5.63707165e-04 -5.35984044e-02 -2.36895136e+00] [-2.77037827e-04 9.99985620e-01 5.35574708e-03 -1.18457974e-01] [ 5.36006527e-02 -5.33319894e-03 9.98548210e-01 -2.69508559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.903133365 meters Centerline goodness : 0.126614 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.12, Z:-0.27 [[ 9.98569351e-01 3.59477705e-04 -5.34707538e-02 -2.36934589e+00] [-9.47984986e-05 9.99987732e-01 4.95243475e-03 -1.16627194e-01] [ 5.34718781e-02 -4.94028061e-03 9.98557135e-01 -2.69440162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.933133365 meters Centerline goodness : 0.110250 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.12, Z:-0.27 [[ 9.98455433e-01 -1.90803432e-03 -5.55257412e-02 -2.41426742e+00] [ 2.16132533e-03 9.99987530e-01 4.50199279e-03 -1.18416184e-01] [ 5.55164588e-02 -4.61504835e-03 9.98447106e-01 -2.70745529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.963133365 meters Centerline goodness : 0.112632 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.12, Z:-0.27 [[ 9.98440795e-01 -2.13712748e-03 -5.57800331e-02 -2.41371173e+00] [ 2.37303251e-03 9.99988518e-01 4.16330935e-03 -1.17338598e-01] [ 5.57704951e-02 -4.28918573e-03 9.98434402e-01 -2.70741247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.993133365 meters Centerline goodness : 0.165233 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.12, Z:-0.27 [[ 9.98432459e-01 -2.28827291e-03 -5.59230673e-02 -2.41324224e+00] [ 2.51015591e-03 9.99989253e-01 3.89772646e-03 -1.16265124e-01] [ 5.59135473e-02 -4.03199223e-03 9.98427473e-01 -2.70973896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.023133365 meters Centerline goodness : 0.120931 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.11, Z:-0.27 [[ 9.98456932e-01 -2.23311947e-03 -5.54866489e-02 -2.41430930e+00] [ 2.44702541e-03 9.99989834e-01 3.78744659e-03 -1.14500682e-01] [ 5.54776270e-02 -3.91737954e-03 9.98452246e-01 -2.71016295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.053133365 meters Centerline goodness : 0.119075 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.11, Z:-0.27 [[ 9.98469728e-01 -2.25785751e-03 -5.52548997e-02 -2.41492344e+00] [ 2.46513997e-03 9.99990177e-01 3.68351601e-03 -1.13668692e-01] [ 5.52460401e-02 -3.81409029e-03 9.98465487e-01 -2.70952541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.083133365 meters Centerline goodness : 0.184664 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.11, Z:-0.27 [[ 9.98470059e-01 -2.35615227e-03 -5.52448111e-02 -2.41477905e+00] [ 2.55412926e-03 9.99990567e-01 3.51329925e-03 -1.12913291e-01] [ 5.52360121e-02 -3.64902650e-03 9.98466658e-01 -2.71225324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.113133365 meters Centerline goodness : 0.130543 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.11, Z:-0.27 [[ 0.99842578 -0.00269136 -0.05602429 -2.41204941] [ 0.00286546 0.99999131 0.00302745 -0.11133753] [ 0.05601565 -0.00318322 0.99842482 -0.27255084] [ 0. 0. 0. 1. ]] SLAMing on 313.143133365 meters Centerline goodness : 0.129043 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.11, Z:-0.27 [[ 9.98382512e-01 5.78253686e-03 -5.65590048e-02 -2.39255187e+00] [-5.69153191e-03 9.99982237e-01 1.76997840e-03 -1.13341919e-01] [ 5.65682350e-02 -1.44520811e-03 9.98397689e-01 -2.70426505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.173133365 meters Centerline goodness : 0.173447 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.11, Z:-0.27 [[ 9.98384650e-01 5.77188315e-03 -5.65223428e-02 -2.39255776e+00] [-5.68728772e-03 9.99982454e-01 1.65741727e-03 -1.12461960e-01] [ 5.65309175e-02 -1.33328114e-03 9.98399959e-01 -2.70554505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.203133365 meters Centerline goodness : 0.098165 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.11, Z:-0.27 [[ 9.98402956e-01 5.77479168e-03 -5.61977641e-02 -2.39361229e+00] [-5.69683409e-03 9.99982576e-01 1.54730454e-03 -1.11572989e-01] [ 5.62057203e-02 -1.22468409e-03 9.98418458e-01 -2.70159235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23313336499996 meters Centerline goodness : 0.125271 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.11, Z:-0.27 [[ 9.98435592e-01 5.53932342e-03 -5.56388759e-02 -2.39542354e+00] [-5.47808350e-03 9.99984210e-01 1.25312399e-03 -1.10604743e-01] [ 5.56449388e-02 -9.46369184e-04 9.98450172e-01 -2.69580819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.263133365 meters Centerline goodness : 0.190355 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.11, Z:-0.27 [[ 9.98458047e-01 5.49469240e-03 -5.52389035e-02 -2.39670153e+00] [-5.43709047e-03 9.99984507e-01 1.19300955e-03 -1.10516296e-01] [ 5.52446029e-02 -8.90831067e-04 9.98472453e-01 -2.69128282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29313336499996 meters Centerline goodness : 0.114029 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.11, Z:-0.27 [[ 9.98452324e-01 5.42890994e-03 -5.53487366e-02 -2.39643347e+00] [-5.36331283e-03 9.99984728e-01 1.33363227e-03 -1.11909126e-01] [ 5.53551314e-02 -1.03471565e-03 9.98466193e-01 -2.69152689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.323133365 meters Centerline goodness : 0.128171 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.11, Z:-0.27 [[ 9.98420522e-01 5.33848693e-03 -5.59281872e-02 -2.39476787e+00] [-5.26697852e-03 9.99985113e-01 1.42590013e-03 -1.13126860e-01] [ 5.59349667e-02 -1.12907539e-03 9.98433776e-01 -2.69565829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35313336499996 meters Centerline goodness : 0.130451 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.12, Z:-0.27 [[ 9.98387857e-01 5.49970854e-03 -5.64928350e-02 -2.39308457e+00] [-5.40429574e-03 9.99983701e-01 1.84157257e-03 -1.15113733e-01] [ 5.65020423e-02 -1.53329971e-03 9.98401306e-01 -2.70131782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.383133365 meters Centerline goodness : 0.128056 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.12, Z:-0.27 [[ 9.98358405e-01 5.52863238e-03 -5.70081456e-02 -2.39182221e+00] [-5.41802727e-03 9.99983129e-01 2.09454357e-03 -1.16765106e-01] [ 5.70187637e-02 -1.78223349e-03 9.98371516e-01 -2.70251330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41313336499996 meters Centerline goodness : 0.128586 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.12, Z:-0.27 [[ 9.98364283e-01 5.33485702e-03 -5.69236046e-02 -2.39281403e+00] [-5.20476968e-03 9.99983495e-01 2.43331065e-03 -1.19552090e-01] [ 5.69356464e-02 -2.13305619e-03 9.98375572e-01 -2.69342775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.443133365 meters Centerline goodness : 0.115728 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.12, Z:-0.27 [[ 9.98391908e-01 5.21895151e-03 -5.64478548e-02 -2.39443696e+00] [-5.07827432e-03 9.99983633e-01 2.63531887e-03 -1.20984871e-01] [ 5.64606846e-02 -2.34442335e-03 9.98402071e-01 -2.68774685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47313336499997 meters Centerline goodness : 0.115536 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.12, Z:-0.27 [[ 0.99842049 0.00508473 -0.05595248 -2.39603982] [-0.00493782 0.99998399 0.00276341 -0.12197156] [ 0.05596563 -0.00248276 0.99842961 -0.26825037] [ 0. 0. 0. 1. ]] SLAMing on 313.503133365 meters Centerline goodness : 0.126936 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.12, Z:-0.27 [[ 0.99843686 0.00509306 -0.05565867 -2.39679985] [-0.00493225 0.99998326 0.00302605 -0.12327146] [ 0.05567315 -0.0027468 0.99844527 -0.2682125 ] [ 0. 0. 0. 1. ]] SLAMing on 313.53313336499997 meters Centerline goodness : 0.191937 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.12, Z:-0.27 [[ 0.99843103 0.00523796 -0.05574976 -2.39635266] [-0.0050578 0.99998152 0.00337213 -0.12473102] [ 0.05576639 -0.00308487 0.99843908 -0.26850958] [ 0. 0. 0. 1. ]] SLAMing on 313.563133365 meters Centerline goodness : 0.191937 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.12, Z:-0.27 [[ 0.99843103 0.00523796 -0.05574976 -2.39635266] [-0.0050578 0.99998152 0.00337213 -0.12473102] [ 0.05576639 -0.00308487 0.99843908 -0.26850958] [ 0. 0. 0. 1. ]] SLAMing on 313.59313336499997 meters Centerline goodness : 0.172005 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.9983822 0.00563425 -0.05657946 -2.39382774] [-0.00542341 0.99997777 0.00387934 -0.1268929 ] [ 0.05660006 -0.00356621 0.99839056 -0.2690814 ] [ 0. 0. 0. 1. ]] SLAMing on 313.623133365 meters Centerline goodness : 0.172063 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.99835963 0.00577325 -0.05696242 -2.39291735] [-0.00555908 0.99997687 0.00391757 -0.12712669] [ 0.05698372 -0.00359449 0.99836864 -0.26889264] [ 0. 0. 0. 1. ]] SLAMing on 313.653133365 meters Centerline goodness : 0.169125 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.99836172 0.0057991 -0.05692309 -2.39317144] [-0.00558492 0.99997672 0.00392083 -0.12735515] [ 0.0569445 -0.00359649 0.99837087 -0.26851864] [ 0. 0. 0. 1. ]] SLAMing on 313.683133365 meters Centerline goodness : 0.116531 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.99836749 0.00586111 -0.05681545 -2.3935768 ] [-0.00564404 0.99997615 0.00398026 -0.12762953] [ 0.05683742 -0.0036531 0.99837676 -0.26821606] [ 0. 0. 0. 1. ]] SLAMing on 313.713133365 meters Centerline goodness : 0.156356 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.99836759 0.00610461 -0.0567881 -2.39348732] [-0.00586314 0.99997305 0.0044179 -0.12972182] [ 0.05681354 -0.00407773 0.99837648 -0.26841999] [ 0. 0. 0. 1. ]] SLAMing on 313.743133365 meters Centerline goodness : 0.143636 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.99835038 0.00619627 -0.05708006 -2.39252479] [-0.00594147 0.99997162 0.00463256 -0.13089652] [ 0.05710714 -0.00428578 0.99835886 -0.26879309] [ 0. 0. 0. 1. ]] SLAMing on 313.773133365 meters Centerline goodness : 0.127372 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.99832391 0.00644685 -0.05751359 -2.3911473 ] [-0.006173 0.99996876 0.00493792 -0.13191847] [ 0.05754363 -0.00457461 0.99833251 -0.26919919] [ 0. 0. 0. 1. ]] SLAMing on 313.803133365 meters Centerline goodness : 0.129194 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.99831281 0.0065431 -0.05769507 -2.39064645] [-0.00625949 0.99996743 0.00509515 -0.13275945] [ 0.05772653 -0.00472542 0.99832125 -0.26923228] [ 0. 0. 0. 1. ]] SLAMing on 313.833133365 meters Centerline goodness : 0.108987 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.14, Z:-0.27 [[ 0.99822428 0.01469999 -0.05772516 -2.37351483] [-0.01444592 0.99988405 0.00481617 -0.13985113] [ 0.05778926 -0.00397372 0.9983209 -0.26734363] [ 0. 0. 0. 1. ]] SLAMing on 313.863133365 meters Centerline goodness : 0.127227 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.14, Z:-0.27 [[ 0.99842582 0.01294152 -0.05457463 -2.4121062 ] [-0.01274089 0.99991074 0.00402256 -0.14312398] [ 0.05462182 -0.0033209 0.99850159 -0.27010486] [ 0. 0. 0. 1. ]] SLAMing on 313.893133365 meters Centerline goodness : 0.103445 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.14, Z:-0.27 [[ 0.99841851 0.01300484 -0.05469325 -2.41175791] [-0.01279384 0.99990931 0.0042062 -0.14394187] [ 0.05474299 -0.00349982 0.99849434 -0.2702227 ] [ 0. 0. 0. 1. ]] SLAMing on 313.923133365 meters Centerline goodness : 0.130711 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.14, Z:-0.27 [[ 0.99839494 0.01315593 -0.05508594 -2.41067697] [-0.01293337 0.9999067 0.00439484 -0.14482429] [ 0.05513862 -0.00367533 0.99847194 -0.27039281] [ 0. 0. 0. 1. ]] SLAMing on 313.953133365 meters Centerline goodness : 0.128016 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.27 [[ 0.99836676 0.01328191 -0.05556449 -2.40922867] [-0.01304888 0.99990449 0.00455456 -0.1454388 ] [ 0.05561967 -0.00382207 0.99844471 -0.27084181] [ 0. 0. 0. 1. ]] SLAMing on 313.98313336499996 meters Centerline goodness : 0.136102 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.27 [[ 0.99836314 0.01334545 -0.05561414 -2.40915189] [-0.01309872 0.99990269 0.00479865 -0.14652922] [ 0.05567276 -0.00406233 0.9984408 -0.27087558] [ 0. 0. 0. 1. ]] SLAMing on 314.013133365 meters Centerline goodness : 0.107276 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.14, Z:-0.27 [[ 0.99864144 0.00403469 -0.05195185 -2.39541979] [-0.00374625 0.99997703 0.00564823 -0.14478529] [ 0.05197344 -0.00544593 0.99863362 -0.26903874] [ 0. 0. 0. 1. ]] SLAMing on 314.04313336499996 meters Centerline goodness : 0.104172 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.15, Z:-0.27 [[ 9.98720044e-01 2.16310917e-03 -5.05331008e-02 -2.40066715e+00] [-1.95471932e-03 9.99989383e-01 4.17288549e-03 -1.46436593e-01] [ 5.05415907e-02 -4.06876635e-03 9.98713669e-01 -2.66950351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.073133365 meters Centerline goodness : 0.106233 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.27 [[ 9.98786358e-01 1.21907273e-04 -4.92523773e-02 -2.40529602e+00] [ 5.36835036e-06 9.99996661e-01 2.58401132e-03 -1.49005085e-01] [ 4.92525279e-02 -2.58113966e-03 9.98783023e-01 -2.65160094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10313336499996 meters Centerline goodness : 0.191267 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.26 [[ 9.98785830e-01 -4.00708059e-04 -4.92616066e-02 -2.40589245e+00] [ 5.32045347e-04 9.99996339e-01 2.65303488e-03 -1.50995690e-01] [ 4.92603632e-02 -2.67602305e-03 9.98782386e-01 -2.64882475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.133133365 meters Centerline goodness : 0.106204 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.27 [[ 9.98773288e-01 -4.25781254e-04 -4.95150237e-02 -2.40504339e+00] [ 5.62080806e-04 9.99996092e-01 2.73879915e-03 -1.51799345e-01] [ 4.95136640e-02 -2.76327087e-03 9.98769624e-01 -2.65257713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16313336499996 meters Centerline goodness : 0.106204 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.27 [[ 9.98773288e-01 -4.25781254e-04 -4.95150237e-02 -2.40504339e+00] [ 5.62080806e-04 9.99996092e-01 2.73879915e-03 -1.51799345e-01] [ 4.95136640e-02 -2.76327087e-03 9.98769624e-01 -2.65257713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.193133365 meters Centerline goodness : 0.166756 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.15, Z:-0.27 [[ 9.98748544e-01 -3.21947276e-04 -5.00124210e-02 -2.40305338e+00] [ 4.69888647e-04 9.99995549e-01 2.94636324e-03 -1.52428104e-01] [ 5.00112498e-02 -2.96617627e-03 9.98744250e-01 -2.66397656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22313336499997 meters Centerline goodness : 0.184096 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.15, Z:-0.27 [[ 9.98740414e-01 -3.36690846e-04 -5.01744131e-02 -2.40253157e+00] [ 4.83511660e-04 9.99995637e-01 2.91410002e-03 -1.52336752e-01] [ 5.01732131e-02 -2.93468938e-03 9.98736220e-01 -2.66576120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.253133365 meters Centerline goodness : 0.130952 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.15, Z:-0.26 [[ 9.98700083e-01 6.53563050e-03 -5.05512560e-02 -2.38142617e+00] [-6.55930119e-03 9.99978442e-01 -3.02367151e-04 -1.54453207e-01] [ 5.05481900e-02 6.33555012e-04 9.98721422e-01 -2.64827879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28313336499997 meters Centerline goodness : 0.105681 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.16, Z:-0.27 [[ 9.98589369e-01 4.90762642e-03 -5.28695336e-02 -2.42595803e+00] [-4.90423699e-03 9.99987955e-01 1.93843035e-04 -1.57275412e-01] [ 5.28698481e-02 6.57151281e-05 9.98601409e-01 -2.65779336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.313133365 meters Centerline goodness : 0.170991 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.26 [[ 9.98596241e-01 -1.74515591e-03 -5.29386541e-02 -2.40734405e+00] [ 1.81624369e-03 9.99997512e-01 1.29475439e-03 -1.51915810e-01] [ 5.29362628e-02 -1.38908637e-03 9.98596927e-01 -2.63413625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34313336499997 meters Centerline goodness : 0.106803 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.26 [[ 9.98598821e-01 -1.62450530e-03 -5.28938084e-02 -2.40727149e+00] [ 1.70202725e-03 9.99997542e-01 1.42060289e-03 -1.51893866e-01] [ 5.28913706e-02 -1.50863907e-03 9.98599132e-01 -2.63677854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.373133365 meters Centerline goodness : 0.128756 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.26 [[ 9.98598917e-01 -1.65080357e-03 -5.28911960e-02 -2.40712989e+00] [ 1.72126191e-03 9.99997691e-01 1.28661347e-03 -1.51335045e-01] [ 5.28889499e-02 -1.37585041e-03 9.98599452e-01 -2.63790611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.403133365 meters Centerline goodness : 0.155162 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.26 [[ 9.98594203e-01 -1.68631741e-03 -5.29790037e-02 -2.40675086e+00] [ 1.74797286e-03 9.99997848e-01 1.11745747e-03 -1.50667791e-01] [ 5.29770053e-02 -1.20849241e-03 9.98595001e-01 -2.64009768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.433133365 meters Centerline goodness : 0.154067 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.15, Z:-0.26 [[ 9.98537925e-01 6.98547016e-03 -5.36023753e-02 -2.38926159e+00] [-6.94107229e-03 9.99975396e-01 1.01440221e-03 -1.54618925e-01] [ 5.36081425e-02 -6.40861114e-04 9.98561844e-01 -2.62550416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.463133365 meters Centerline goodness : 0.104431 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.15, Z:-0.26 [[ 9.98530015e-01 7.05964049e-03 -5.37398479e-02 -2.38903494e+00] [-7.01591037e-03 9.99974886e-01 1.00234948e-03 -1.54380930e-01] [ 5.37455745e-02 -6.23842080e-04 9.98554467e-01 -2.62344023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.493133365 meters Centerline goodness : 0.165346 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.15, Z:-0.26 [[ 9.98525727e-01 7.06486544e-03 -5.38187712e-02 -2.38896877e+00] [-7.02025903e-03 9.99974840e-01 1.01783138e-03 -1.54511647e-01] [ 5.38246080e-02 -6.38509103e-04 9.98550201e-01 -2.62196394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.523133365 meters Centerline goodness : 0.167816 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.16, Z:-0.26 [[ 9.98521652e-01 7.08763106e-03 -5.38913412e-02 -2.38887818e+00] [-7.03827652e-03 9.99974620e-01 1.10555186e-03 -1.55098995e-01] [ 5.38978092e-02 -7.24615306e-04 9.98546194e-01 -2.62086955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.553133365 meters Centerline goodness : 0.131124 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.16, Z:-0.26 [[ 9.98536403e-01 7.12959571e-03 -5.36117665e-02 -2.39009020e+00] [-7.07001171e-03 9.99974161e-01 1.30097234e-03 -1.56340887e-01] [ 5.36196567e-02 -9.20032425e-04 9.98561008e-01 -2.61254029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.583133365 meters Centerline goodness : 0.174485 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.15, Z:-0.26 [[ 9.98630350e-01 1.29900908e-04 -5.23202433e-02 -2.37185608e+00] [-4.29032055e-06 9.99997118e-01 2.40090798e-03 -1.52724398e-01] [ 5.23204044e-02 -2.39739511e-03 9.98627472e-01 -2.58854324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.613133365 meters Centerline goodness : 0.152157 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.15, Z:-0.26 [[ 9.98656017e-01 1.09047507e-04 -5.18280611e-02 -2.37335123e+00] [ 2.37341998e-05 9.99996719e-01 2.56134317e-03 -1.53373100e-01] [ 5.18281704e-02 -2.55913087e-03 9.98652738e-01 -2.58423624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.643133365 meters Centerline goodness : 0.160865 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.15, Z:-0.26 [[ 9.98673867e-01 6.47611726e-05 -5.14830340e-02 -2.37425357e+00] [ 7.21366020e-05 9.99996467e-01 2.65722263e-03 -1.53763509e-01] [ 5.14830242e-02 -2.65741261e-03 9.98670334e-01 -2.58376946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.673133365 meters Centerline goodness : 0.186933 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.15, Z:-0.26 [[ 9.98678426e-01 1.41640335e-04 -5.13943793e-02 -2.37445522e+00] [ 1.82110283e-06 9.99996104e-01 2.79132624e-03 -1.54358065e-01] [ 5.13945745e-02 -2.78773089e-03 9.98674535e-01 -2.58386559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.703133365 meters Centerline goodness : 0.128286 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.15, Z:-0.26 [[ 9.98684079e-01 2.17703655e-04 -5.12841362e-02 -2.37467259e+00] [-6.73471866e-05 9.99995695e-01 2.93354176e-03 -1.54993221e-01] [ 5.12845540e-02 -2.92622761e-03 9.98679794e-01 -2.58472374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73313336499996 meters Centerline goodness : 0.151745 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.16, Z:-0.26 [[ 9.98666128e-01 4.38950438e-04 -5.16311112e-02 -2.37382529e+00] [-2.70895085e-04 9.99994643e-01 3.26187712e-03 -1.56143587e-01] [ 5.16322665e-02 -3.24353958e-03 9.98660898e-01 -2.58493078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.763133365 meters Centerline goodness : 0.160630 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.16, Z:-0.26 [[ 9.98643738e-01 6.35002549e-04 -5.20603549e-02 -2.37277013e+00] [-4.53596336e-04 9.99993785e-01 3.49627779e-03 -1.56944318e-01] [ 5.20622515e-02 -3.46792154e-03 9.98637820e-01 -2.58595783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79313336499996 meters Centerline goodness : 0.181233 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.16, Z:-0.26 [[ 9.98631198e-01 6.46206563e-04 -5.23002231e-02 -2.37199561e+00] [-4.60010179e-04 9.99993514e-01 3.57210439e-03 -1.57512631e-01] [ 5.23021922e-02 -3.54315625e-03 9.98625018e-01 -2.58906357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.823133365 meters Centerline goodness : 0.126297 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.16, Z:-0.26 [[ 9.98632781e-01 7.04209797e-04 -5.22692397e-02 -2.37185064e+00] [-5.08982367e-04 9.99992846e-01 3.74825200e-03 -1.58629095e-01] [ 5.22715053e-02 -3.71652320e-03 9.98625995e-01 -2.59184127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85313336499996 meters Centerline goodness : 0.128367 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.16, Z:-0.26 [[ 9.98668656e-01 9.04453044e-03 -5.07849579e-02 -2.35346771e+00] [-8.94777403e-03 9.99957695e-01 2.13225231e-03 -1.61547703e-01] [ 5.08020946e-02 -1.67500122e-03 9.98707335e-01 -2.57522647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.883133365 meters Centerline goodness : 0.180124 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.16, Z:-0.26 [[ 9.98615084e-01 7.61460546e-03 -5.20570053e-02 -2.39750919e+00] [-7.54330771e-03 9.99970323e-01 1.56594897e-03 -1.63683988e-01] [ 5.20673844e-02 -1.17109826e-03 9.98642887e-01 -2.58427721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91313336499996 meters Centerline goodness : 0.133504 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.16, Z:-0.26 [[ 9.98608263e-01 7.57048784e-03 -5.21941018e-02 -2.39703743e+00] [-7.50205134e-03 9.99970724e-01 1.50698520e-03 -1.63664635e-01] [ 5.22039823e-02 -1.11332505e-03 9.98635822e-01 -2.58653037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.943133365 meters Centerline goodness : 0.101695 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.16, Z:-0.26 [[ 9.98579041e-01 7.72226752e-03 -5.27282203e-02 -2.39534204e+00] [-7.64593575e-03 9.99969409e-01 1.64921367e-03 -1.64040989e-01] [ 5.27393429e-02 -1.24371362e-03 9.98607538e-01 -2.59228992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97313336499997 meters Centerline goodness : 0.147370 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.17, Z:-0.26 [[ 9.98435055e-01 7.10115236e-03 -5.54708437e-02 -2.43557930e+00] [-7.03633240e-03 9.99974315e-01 1.36376205e-03 -1.66368270e-01] [ 5.54791032e-02 -9.71316540e-04 9.98459376e-01 -2.60917922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.003133365 meters Centerline goodness : 0.103893 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.17, Z:-0.26 [[ 9.98407042e-01 7.29262752e-03 -5.59481623e-02 -2.43397229e+00] [-7.20981858e-03 9.99972595e-01 1.68180710e-03 -1.67399570e-01] [ 5.59588938e-02 -1.27575195e-03 9.98432258e-01 -2.61696215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03313336499997 meters Centerline goodness : 0.102351 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.17, Z:-0.26 [[ 9.98393712e-01 7.31335640e-03 -5.61828242e-02 -2.43333256e+00] [-7.22805127e-03 9.99972396e-01 1.72140832e-03 -1.67711334e-01] [ 5.61938626e-02 -1.31255091e-03 9.98419014e-01 -2.61800535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.063133365 meters Centerline goodness : 0.101087 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.17, Z:-0.26 [[ 9.98378176e-01 7.38090494e-03 -5.64494393e-02 -2.43235806e+00] [-7.28927106e-03 9.99971760e-01 1.82902357e-03 -1.68135135e-01] [ 5.64613450e-02 -1.41458196e-03 9.98403784e-01 -2.62296923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09313336499997 meters Centerline goodness : 0.104105 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.17, Z:-0.26 [[ 9.98354219e-01 -1.40835449e-03 -5.73312370e-02 -2.45070874e+00] [ 1.60370200e-03 9.99993064e-01 3.36148212e-03 -1.65537479e-01] [ 5.73261052e-02 -3.44789207e-03 9.98349553e-01 -2.64728926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.123133365 meters Centerline goodness : 0.145490 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.17, Z:-0.26 [[ 9.98348767e-01 -1.17860648e-03 -5.74312728e-02 -2.45023767e+00] [ 1.38770012e-03 9.99992553e-01 3.60101733e-03 -1.66059087e-01] [ 5.74266010e-02 -3.67476859e-03 9.98342968e-01 -2.64933334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.153133365 meters Centerline goodness : 0.104419 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.17, Z:-0.26 [[ 9.98359476e-01 -1.24116581e-03 -5.72434771e-02 -2.45086570e+00] [ 1.44513756e-03 9.99992754e-01 3.52197250e-03 -1.66039405e-01] [ 5.72386910e-02 -3.59891932e-03 9.98354035e-01 -2.64573653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.183133365 meters Centerline goodness : 0.104159 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.17, Z:-0.26 [[ 9.98369951e-01 -1.17613615e-03 -5.70618828e-02 -2.45143170e+00] [ 1.38596233e-03 9.99992423e-01 3.63773326e-03 -1.66601431e-01] [ 5.70571720e-02 -3.71088919e-03 9.98364016e-01 -2.64387935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.213133365 meters Centerline goodness : 0.104937 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.17, Z:-0.26 [[ 9.98377610e-01 -1.07073000e-03 -5.69297862e-02 -2.45187338e+00] [ 1.29067220e-03 9.99991845e-01 3.82676587e-03 -1.67406197e-01] [ 5.69252245e-02 -3.89403506e-03 9.98370851e-01 -2.64230704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.243133365 meters Centerline goodness : 0.164602 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.17, Z:-0.26 [[ 9.98384128e-01 -9.33974332e-04 -5.68177810e-02 -2.45209820e+00] [ 1.16873453e-03 9.99990917e-01 4.09871961e-03 -1.68586003e-01] [ 5.68134369e-02 -4.15850150e-03 9.98376152e-01 -2.64291783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.273133365 meters Centerline goodness : 0.123902 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.17, Z:-0.26 [[ 9.98363078e-01 7.63848518e-03 -5.66817241e-02 -2.43387271e+00] [-7.49316691e-03 9.99968073e-01 2.77585272e-03 -1.73138146e-01] [ 5.67011178e-02 -2.34658325e-03 9.98388440e-01 -2.61907480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.303133365 meters Centerline goodness : 0.267677 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.18, Z:-0.26 [[ 0.99834506 0.00746741 -0.05702093 -2.43325174] [-0.00730463 0.99996863 0.00306273 -0.17563561] [ 0.05704201 -0.00264115 0.99836829 -0.26190273] [ 0. 0. 0. 1. ]] SLAMing on 315.333133365 meters Centerline goodness : 0.275694 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.18, Z:-0.26 [[ 0.99834533 0.00755318 -0.05700492 -2.4335476 ] [-0.00737078 0.99996702 0.00340936 -0.17780178] [ 0.05702879 -0.00298355 0.99836808 -0.2615311 ] [ 0. 0. 0. 1. ]] SLAMing on 315.363133365 meters Centerline goodness : 0.131280 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.18, Z:-0.26 [[ 0.99835089 0.00769028 -0.05688897 -2.43422805] [-0.00748395 0.99996463 0.00383901 -0.18015269] [ 0.05691648 -0.00340692 0.99837313 -0.26097029] [ 0. 0. 0. 1. ]] SLAMing on 315.393133365 meters Centerline goodness : 0.282720 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.18, Z:-0.26 [[ 9.98415604e-01 4.34172544e-03 -5.61019759e-02 -2.43646920e+00] [-4.28100598e-03 9.99990114e-01 1.20244155e-03 -1.83923953e-01] [ 5.61066419e-02 -9.60363513e-04 9.98424320e-01 -2.60447964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.423133365 meters Centerline goodness : 0.127816 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.19, Z:-0.26 [[ 9.98406421e-01 4.44584367e-03 -5.62570342e-02 -2.43620462e+00] [-4.36068324e-03 9.99989153e-01 1.63644072e-03 -1.86441189e-01] [ 5.62636994e-02 -1.38851381e-03 9.98414978e-01 -2.60308899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.453133365 meters Centerline goodness : 0.127816 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.19, Z:-0.26 [[ 9.98406421e-01 4.44584367e-03 -5.62570342e-02 -2.43620462e+00] [-4.36068324e-03 9.99989153e-01 1.63644072e-03 -1.86441189e-01] [ 5.62636994e-02 -1.38851381e-03 9.98414978e-01 -2.60308899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48313336499996 meters Centerline goodness : 0.130903 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.19, Z:-0.26 [[ 9.98382620e-01 4.48348865e-03 -5.66748833e-02 -2.43514090e+00] [-4.37813765e-03 9.99988450e-01 1.98289478e-03 -1.88684925e-01] [ 5.66831190e-02 -1.73155724e-03 9.98390718e-01 -2.60391881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.513133365 meters Centerline goodness : 0.206414 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.19, Z:-0.26 [[ 9.98366769e-01 4.50240381e-03 -5.69519430e-02 -2.43438663e+00] [-4.38088136e-03 9.99987854e-01 2.25844374e-03 -1.90608202e-01] [ 5.69614197e-02 -2.00525547e-03 9.98374366e-01 -2.60550813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54313336499996 meters Centerline goodness : 0.112090 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.19, Z:-0.26 [[ 9.98357682e-01 4.59235828e-03 -5.71038434e-02 -2.43408526e+00] [-4.45179882e-03 9.99986741e-01 2.58843947e-03 -1.92523694e-01] [ 5.71149732e-02 -2.32997360e-03 9.98364889e-01 -2.60463945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.573133365 meters Centerline goodness : 0.262759 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.19, Z:-0.26 [[ 0.99835872 0.004682 -0.05707842 -2.43422874] [-0.00452616 0.99998567 0.00285927 -0.19398469] [ 0.05709099 -0.00259623 0.9983656 -0.26033585] [ 0. 0. 0. 1. ]] SLAMing on 315.60313336499996 meters Centerline goodness : 0.127038 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.20, Z:-0.26 [[ 0.99837321 0.00482446 -0.05681253 -2.43506426] [-0.0046491 0.99998401 0.00321842 -0.19591663] [ 0.05682714 -0.00294905 0.99837968 -0.25999706] [ 0. 0. 0. 1. ]] SLAMing on 315.633133365 meters Centerline goodness : 0.133016 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.9983697 0.00482843 -0.05687384 -2.43462398] [-0.00465113 0.9999839 0.00324949 -0.19631159] [ 0.05688861 -0.00297966 0.99837609 -0.2603937 ] [ 0. 0. 0. 1. ]] SLAMing on 315.66313336499996 meters Centerline goodness : 0.115614 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.99835004 0.00476555 -0.05722319 -2.43329466] [-0.00459087 0.99998439 0.00318361 -0.19635138] [ 0.05723747 -0.00291565 0.99835633 -0.2610807 ] [ 0. 0. 0. 1. ]] SLAMing on 315.693133365 meters Centerline goodness : 0.119556 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.99832928 0.00468062 -0.05759111 -2.43189351] [-0.00451205 0.99998515 0.00305672 -0.19608441] [ 0.05760457 -0.00279175 0.99833557 -0.26181289] [ 0. 0. 0. 1. ]] SLAMing on 315.72313336499997 meters Centerline goodness : 0.340593 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.99830898 0.00469379 -0.05794085 -2.43067353] [-0.00452445 0.9999851 0.0030536 -0.19607497] [ 0.05795432 -0.00278628 0.99831535 -0.2623672 ] [ 0. 0. 0. 1. ]] SLAMing on 315.753133365 meters Centerline goodness : 0.339808 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.9983094 0.00474967 -0.05792918 -2.4306802 ] [-0.00457561 0.99998461 0.00313689 -0.19636836] [ 0.05794319 -0.00286653 0.99831577 -0.26240556] [ 0. 0. 0. 1. ]] SLAMing on 315.78313336499997 meters Centerline goodness : 0.167893 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.99833142 0.00494703 -0.05753175 -2.43227007] [-0.00475399 0.9999826 0.0034918 -0.19782817] [ 0.05754803 -0.00321247 0.99833757 -0.26151373] [ 0. 0. 0. 1. ]] SLAMing on 315.813133365 meters Centerline goodness : 0.261632 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.99833397 0.00498189 -0.05748446 -2.43244803] [-0.00477945 0.99998189 0.00365869 -0.19892405] [ 0.05750164 -0.00337785 0.9983397 -0.26142813] [ 0. 0. 0. 1. ]] SLAMing on 315.84313336499997 meters Centerline goodness : 0.282113 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.9983261 0.00490079 -0.05762803 -2.43186259] [-0.00469522 0.99998212 0.00370201 -0.19991394] [ 0.05764514 -0.00342524 0.99833126 -0.26174989] [ 0. 0. 0. 1. ]] SLAMing on 315.873133365 meters Centerline goodness : 0.101302 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.99831692 0.00487975 -0.05778858 -2.43123098] [-0.00466555 0.99998174 0.0038409 -0.20113451] [ 0.05780627 -0.00356482 0.99832145 -0.26211186] [ 0. 0. 0. 1. ]] SLAMing on 315.903133365 meters Centerline goodness : 0.095572 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.99832509 0.00508596 -0.05762941 -2.43209433] [-0.00483566 0.99997826 0.00448181 -0.20476139] [ 0.05765096 -0.00419563 0.99832798 -0.26142339] [ 0. 0. 0. 1. ]] SLAMing on 315.933133365 meters Centerline goodness : 0.199699 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.21, Z:-0.26 [[ 0.99833541 0.00523377 -0.05743702 -2.43316401] [-0.00496248 0.99997585 0.004865 -0.20680512] [ 0.05746109 -0.00457187 0.99833728 -0.26057803] [ 0. 0. 0. 1. ]] SLAMing on 315.963133365 meters Centerline goodness : 0.233656 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.21, Z:-0.26 [[ 0.99833719 0.00538595 -0.05739212 -2.43375801] [-0.00509193 0.99997316 0.00526791 -0.20894401] [ 0.05741895 -0.00496691 0.99833782 -0.25989781] [ 0. 0. 0. 1. ]] SLAMing on 315.993133365 meters Centerline goodness : 0.261440 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.21, Z:-0.26 [[ 0.99833452 0.00555574 -0.05742234 -2.43401685] [-0.0052388 0.99997021 0.00566862 -0.21105971] [ 0.05745212 -0.00535835 0.99833388 -0.25941548] [ 0. 0. 0. 1. ]] SLAMing on 316.023133365 meters Centerline goodness : 0.097774 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.21, Z:-0.26 [[ 0.99833304 0.00569049 -0.05743475 -2.43400503] [-0.00535369 0.99996757 0.00601618 -0.21301994] [ 0.05746712 -0.00569866 0.99833114 -0.25937036] [ 0. 0. 0. 1. ]] SLAMing on 316.053133365 meters Centerline goodness : 0.122318 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.21, Z:-0.26 [[ 0.99833271 0.00580624 -0.05742893 -2.43400808] [-0.00545394 0.99996535 0.00628935 -0.21454243] [ 0.05746346 -0.00596565 0.99832979 -0.25937052] [ 0. 0. 0. 1. ]] SLAMing on 316.083133365 meters Centerline goodness : 0.323987 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.99834428 0.00616942 -0.05718955 -2.43469367] [-0.00578644 0.99995973 0.00685992 -0.21688179] [ 0.05722957 -0.00651764 0.99833977 -0.25915662] [ 0. 0. 0. 1. ]] SLAMing on 316.113133365 meters Centerline goodness : 0.337621 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.99834449 0.00630742 -0.05717073 -2.43475106] [-0.00591356 0.99995762 0.00705576 -0.21766378] [ 0.05721281 -0.00670599 0.99833948 -0.25910858] [ 0. 0. 0. 1. ]] SLAMing on 316.143133365 meters Centerline goodness : 0.113403 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.99833022 0.0064541 -0.05740309 -2.43412107] [-0.00604838 0.99995551 0.0072389 -0.21857393] [ 0.05744726 -0.00687962 0.99832484 -0.2591947 ] [ 0. 0. 0. 1. ]] SLAMing on 316.173133365 meters Centerline goodness : 0.125755 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.99833253 0.00651778 -0.05735569 -2.43431281] [-0.00610399 0.99995409 0.00738678 -0.21941001] [ 0.0574012 -0.00702437 0.99832648 -0.25910256] [ 0. 0. 0. 1. ]] SLAMing on 316.203133365 meters Centerline goodness : 0.094687 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.99833594 0.00661843 -0.05728476 -2.43463366] [-0.00619186 0.99995179 0.00762071 -0.22056846] [ 0.05733243 -0.00725333 0.99832879 -0.25890544] [ 0. 0. 0. 1. ]] SLAMing on 316.23313336499996 meters Centerline goodness : 0.111092 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.99833347 0.00671672 -0.05731645 -2.43462947] [-0.0062728 0.99994895 0.00792151 -0.22218377] [ 0.05736673 -0.00754877 0.99832463 -0.25885399] [ 0. 0. 0. 1. ]] SLAMing on 316.263133365 meters Centerline goodness : 0.134906 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.9983206 0.00679595 -0.05753084 -2.43409527] [-0.00633067 0.9999458 0.00826575 -0.224256 ] [ 0.05758389 -0.00788766 0.99830951 -0.25888155] [ 0. 0. 0. 1. ]] SLAMing on 316.29313336499996 meters Centerline goodness : 0.135531 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.99834924 0.00318576 -0.05734671 -2.43367767] [-0.00290491 0.99998338 0.00497999 -0.22493076] [ 0.05736162 -0.00480519 0.9983419 -0.25991493] [ 0. 0. 0. 1. ]] SLAMing on 316.323133365 meters Centerline goodness : 0.340724 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.23, Z:-0.26 [[ 0.99828048 -0.00461087 -0.05843656 -2.41022284] [ 0.00493258 0.99997346 0.00536231 -0.22560511] [ 0.05841029 -0.00564133 0.99827672 -0.25932124] [ 0. 0. 0. 1. ]] SLAMing on 316.35313336499996 meters Centerline goodness : 0.339750 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.23, Z:-0.26 [[ 0.99826205 -0.00453973 -0.05875594 -2.40953385] [ 0.00488676 0.99997145 0.00576399 -0.22792444] [ 0.0587281 -0.0060411 0.99825574 -0.25927577] [ 0. 0. 0. 1. ]] SLAMing on 316.383133365 meters Centerline goodness : 0.101653 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.23, Z:-0.26 [[ 0.99824205 -0.00456942 -0.05909254 -2.40892968] [ 0.00493541 0.99996952 0.00604906 -0.23002186] [ 0.0590631 -0.00633007 0.99823418 -0.2590543 ] [ 0. 0. 0. 1. ]] SLAMing on 316.41313336499996 meters Centerline goodness : 0.138632 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.23, Z:-0.26 [[ 0.99823033 -0.00458296 -0.05928915 -2.40875774] [ 0.00496756 0.99996756 0.0063411 -0.23205369] [ 0.05925816 -0.0066244 0.99822071 -0.25863922] [ 0. 0. 0. 1. ]] SLAMing on 316.443133365 meters Centerline goodness : 0.344931 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.24, Z:-0.26 [[ 0.99826475 0.00270182 -0.05882344 -2.38974276] [-0.00248218 0.99998967 0.00380663 -0.23651002] [ 0.05883312 -0.00365401 0.99826114 -0.25670779] [ 0. 0. 0. 1. ]] SLAMing on 316.47313336499997 meters Centerline goodness : 0.137133 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.24, Z:-0.26 [[ 0.99826254 0.002726 -0.05885977 -2.389809 ] [-0.00249322 0.99998878 0.00402792 -0.23796008] [ 0.05887009 -0.00387417 0.99825813 -0.25654344] [ 0. 0. 0. 1. ]] SLAMing on 316.503133365 meters Centerline goodness : 0.342797 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.25 [[ 0.99835182 -0.0047267 -0.05719523 -2.3707356 ] [ 0.00500701 0.99997614 0.00475876 -0.2362194 ] [ 0.05717137 -0.0050373 0.99835167 -0.25463694] [ 0. 0. 0. 1. ]] SLAMing on 316.53313336499997 meters Centerline goodness : 0.347156 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.24, Z:-0.26 [[ 9.98457818e-01 1.49841739e-03 -5.54954109e-02 -2.39005048e+00] [-1.27634001e-03 9.99991037e-01 4.03695176e-03 -2.41775116e-01] [ 5.55009626e-02 -3.95989503e-03 9.98450781e-01 -2.56954423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.563133365 meters Centerline goodness : 0.205132 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.26 [[ 9.98502597e-01 9.93108427e-03 -5.37953320e-02 -2.37231391e+00] [-9.82020099e-03 9.99949077e-01 2.32515270e-03 -2.44088283e-01] [ 5.38156839e-02 -1.79339003e-03 9.98549276e-01 -2.55227746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59313336499997 meters Centerline goodness : 0.346167 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.26 [[ 9.98499832e-01 9.75887867e-03 -5.38781061e-02 -2.37203312e+00] [-9.66431383e-03 9.99951268e-01 2.01542656e-03 -2.42794619e-01] [ 5.38951488e-02 -1.49170815e-03 9.98545486e-01 -2.55338083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.623133365 meters Centerline goodness : 0.099208 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.26 [[ 9.98492875e-01 9.59998350e-03 -5.40353541e-02 -2.37142312e+00] [-9.51991017e-03 9.99953172e-01 1.73907410e-03 -2.41808820e-01] [ 5.40495189e-02 -1.22204138e-03 9.98537509e-01 -2.55693143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.653133365 meters Centerline goodness : 0.344737 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.26 [[ 9.98488145e-01 9.47885519e-03 -5.41440336e-02 -2.37100804e+00] [-9.41114254e-03 9.99954581e-01 1.50543688e-03 -2.40868729e-01] [ 5.41558443e-02 -9.93603660e-04 9.98532001e-01 -2.55899751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.683133365 meters Centerline goodness : 0.342701 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.26 [[ 9.98492857e-01 9.42739298e-03 -5.40660622e-02 -2.37126972e+00] [-9.36867698e-03 9.99955216e-01 1.33935671e-03 -2.39820787e-01] [ 5.40762676e-02 -8.30810631e-04 9.98536463e-01 -2.55793446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.713133365 meters Centerline goodness : 0.145031 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.23, Z:-0.26 [[ 9.98565176e-01 7.38321432e-04 -5.35447906e-02 -2.38999848e+00] [-5.86473574e-04 9.99995762e-01 2.85156061e-03 -2.34537512e-01] [ 5.35466690e-02 -2.81606652e-03 9.98561377e-01 -2.58163790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.743133365 meters Centerline goodness : 0.123352 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.23, Z:-0.26 [[ 9.98581215e-01 7.30276809e-04 -5.32449352e-02 -2.39071611e+00] [-5.87789639e-04 9.99996205e-01 2.69168033e-03 -2.33287045e-01] [ 5.32466988e-02 -2.65656460e-03 9.98577855e-01 -2.58176898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.773133365 meters Centerline goodness : 0.100608 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.23, Z:-0.26 [[ 9.98604040e-01 6.75710066e-04 -5.28158524e-02 -2.39144594e+00] [-5.57851415e-04 9.99997322e-01 2.24621157e-03 -2.30527871e-01] [ 5.28172287e-02 -2.21361255e-03 9.98601743e-01 -2.58503185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.803133365 meters Centerline goodness : 0.090018 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.23, Z:-0.26 [[ 9.98592716e-01 9.10773412e-03 -5.22459208e-02 -2.37117111e+00] [-9.10962979e-03 9.99958486e-01 2.01854449e-04 -2.30924890e-01] [ 5.22455903e-02 2.74370613e-04 9.98634229e-01 -2.57644100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.833133365 meters Centerline goodness : 0.111008 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.23, Z:-0.26 [[ 9.98586755e-01 8.97743269e-03 -5.23822360e-02 -2.37040146e+00] [-8.99740941e-03 9.99959512e-01 -1.45558110e-04 -2.29251905e-01] [ 5.23788084e-02 6.16656824e-04 9.98627098e-01 -2.58224828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.863133365 meters Centerline goodness : 0.344321 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98535420e-01 3.22544639e-03 -5.40056696e-02 -2.35225667e+00] [-3.19951328e-03 9.99994721e-01 5.66644593e-04 -2.22424514e-01] [ 5.40072122e-02 -3.93022839e-04 9.98540468e-01 -2.55840047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.893133365 meters Centerline goodness : 0.343712 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98542901e-01 3.19745102e-03 -5.38688259e-02 -2.35241697e+00] [-3.18285484e-03 9.99994871e-01 3.56746499e-04 -2.20914486e-01] [ 5.38696902e-02 -1.84770031e-04 9.98547957e-01 -2.56101726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.923133365 meters Centerline goodness : 0.339451 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98554930e-01 3.17151706e-03 -5.36469326e-02 -2.35295035e+00] [-3.16562586e-03 9.99994970e-01 1.94788507e-04 -2.19804915e-01] [ 5.36472805e-02 -2.46809071e-05 9.98559947e-01 -2.56110198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.953133365 meters Centerline goodness : 0.342893 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98561734e-01 2.96771050e-03 -5.35318245e-02 -2.35317514e+00] [-2.98773034e-03 9.99995494e-01 -2.93957147e-04 -2.17312399e-01] [ 5.35307109e-02 4.53473015e-04 9.98566101e-01 -2.56191390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98313336499996 meters Centerline goodness : 0.287780 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98556210e-01 2.89091543e-03 -5.36389569e-02 -2.35288834e+00] [-2.92057777e-03 9.99995622e-01 -4.74623136e-04 -2.16411491e-01] [ 5.36373500e-02 6.30594625e-04 9.98560282e-01 -2.56254521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.013133365 meters Centerline goodness : 0.104138 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98551131e-01 2.80989185e-03 -5.37377181e-02 -2.35244275e+00] [-2.84911224e-03 9.99995728e-01 -6.53254389e-04 -2.15447258e-01] [ 5.37356530e-02 8.05412700e-04 9.98554871e-01 -2.56573696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04313336499996 meters Centerline goodness : 0.115662 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.21, Z:-0.26 [[ 9.98547772e-01 2.75650193e-03 -5.38028703e-02 -2.35216196e+00] [-2.80326211e-03 9.99995756e-01 -7.93654833e-04 -2.14596246e-01] [ 5.38004542e-02 9.43325813e-04 9.98551261e-01 -2.56781875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.073133365 meters Centerline goodness : 0.341839 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.21, Z:-0.26 [[ 9.98547309e-01 2.64548857e-03 -5.38170324e-02 -2.35222125e+00] [-2.69768823e-03 9.99995959e-01 -8.97326371e-04 -2.14218076e-01] [ 5.38144410e-02 1.04120441e-03 9.98550410e-01 -2.56688760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10313336499996 meters Centerline goodness : 0.085370 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.21, Z:-0.26 [[ 9.98543210e-01 2.53563913e-03 -5.38983123e-02 -2.35216380e+00] [-2.59016881e-03 9.99996202e-01 -9.41884288e-04 -2.14480699e-01] [ 5.38957193e-02 1.08011789e-03 9.98545985e-01 -2.56530402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.133133365 meters Centerline goodness : 0.108983 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98535088e-01 2.43552096e-03 -5.40531771e-02 -2.35186906e+00] [-2.48858912e-03 9.99996485e-01 -9.14491222e-04 -2.15256818e-01] [ 5.40507598e-02 1.04766772e-03 9.98537640e-01 -2.56501446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16313336499996 meters Centerline goodness : 0.100486 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98525096e-01 2.39655174e-03 -5.42391887e-02 -2.35155534e+00] [-2.44174902e-03 9.99996725e-01 -7.67042856e-04 -2.16421205e-01] [ 5.42371728e-02 8.98350027e-04 9.98527677e-01 -2.56346334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.193133365 meters Centerline goodness : 0.187226 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98515347e-01 2.36096291e-03 -5.44199274e-02 -2.35114097e+00] [-2.39667959e-03 9.99996953e-01 -5.91063501e-04 -2.17716812e-01] [ 5.44183661e-02 7.20613106e-04 9.98517963e-01 -2.56407312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22313336499997 meters Centerline goodness : 0.100293 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98501029e-01 2.25709876e-03 -5.46863878e-02 -2.35049929e+00] [-2.28293552e-03 9.99997310e-01 -4.09988356e-04 -2.19353279e-01] [ 5.46853153e-02 5.34219293e-04 9.98503496e-01 -2.56458586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.253133365 meters Centerline goodness : 0.099321 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98522671e-01 -1.70179951e-03 -5.43100224e-02 -2.35148385e+00] [ 1.49772020e-03 9.99991665e-01 -3.79815251e-03 -2.21874408e-01] [ 5.43160335e-02 3.71120017e-03 9.98516898e-01 -2.56365844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28313336499997 meters Centerline goodness : 0.345209 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98527517e-01 -1.72377430e-03 -5.42201722e-02 -2.35208350e+00] [ 1.53441946e-03 9.99992579e-01 -3.53376700e-03 -2.23752590e-01] [ 5.42258612e-02 3.44536710e-03 9.98522752e-01 -2.55878602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.313133365 meters Centerline goodness : 0.114541 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.22, Z:-0.25 [[ 9.98547385e-01 -8.84449869e-03 -5.31497317e-02 -2.33289223e+00] [ 8.72662898e-03 9.99958922e-01 -2.44936000e-03 -2.21842930e-01] [ 5.31692118e-02 1.98198403e-03 9.98583550e-01 -2.53438441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34313336499997 meters Centerline goodness : 0.101267 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.22, Z:-0.25 [[ 9.98562328e-01 -8.70291925e-03 -5.28917324e-02 -2.33375511e+00] [ 8.60119659e-03 9.99960697e-01 -2.15054981e-03 -2.23051328e-01] [ 5.29083697e-02 1.69252584e-03 9.98597937e-01 -2.53154770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.373133365 meters Centerline goodness : 0.101267 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.22, Z:-0.25 [[ 9.98562328e-01 -8.70291925e-03 -5.28917324e-02 -2.33375511e+00] [ 8.60119659e-03 9.99960697e-01 -2.15054981e-03 -2.23051328e-01] [ 5.29083697e-02 1.69252584e-03 9.98597937e-01 -2.53154770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.403133365 meters Centerline goodness : 0.103960 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.23, Z:-0.26 [[ 9.98757439e-01 -3.02314415e-03 -4.97437334e-02 -2.35090066e+00] [ 2.90446254e-03 9.99992761e-01 -2.45797180e-03 -2.27755339e-01] [ 4.97508041e-02 2.31043881e-03 9.98758990e-01 -2.56324253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.433133365 meters Centerline goodness : 0.121659 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.23, Z:-0.26 [[ 9.98761071e-01 -2.99642400e-03 -4.96723780e-02 -2.35106378e+00] [ 2.88034167e-03 9.99992952e-01 -2.40837571e-03 -2.27932843e-01] [ 4.96792444e-02 2.26231848e-03 9.98762662e-01 -2.56352820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.463133365 meters Centerline goodness : 0.106753 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.23, Z:-0.26 [[ 0.99875748 0.00476713 -0.04960621 -2.33063716] [-0.00501842 0.99997519 -0.00494238 -0.22953183] [ 0.04958142 0.00518518 0.99875663 -0.25574035] [ 0. 0. 0. 1. ]] SLAMing on 317.493133365 meters Centerline goodness : 0.334702 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.23, Z:-0.26 [[ 0.99875163 0.00468902 -0.04973125 -2.33018573] [-0.0049501 0.9999746 -0.00512796 -0.22860679] [ 0.04970594 0.00536773 0.99874947 -0.25592808] [ 0. 0. 0. 1. ]] SLAMing on 317.523133365 meters Centerline goodness : 0.102266 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.23, Z:-0.26 [[ 0.99875694 0.00465602 -0.04962762 -2.33035544] [-0.00492391 0.99997395 -0.00527707 -0.22774251] [ 0.04960175 0.00551487 0.99875385 -0.25605316] [ 0. 0. 0. 1. ]] SLAMing on 317.553133365 meters Centerline goodness : 0.339260 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.23, Z:-0.26 [[ 0.99876499 0.00464057 -0.04946671 -2.33075416] [-0.00491213 0.99997352 -0.00536967 -0.22709021] [ 0.04944048 0.00560603 0.99876134 -0.25601447] [ 0. 0. 0. 1. ]] SLAMing on 317.583133365 meters Centerline goodness : 0.343916 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.23, Z:-0.26 [[ 0.99877655 0.00464967 -0.04923196 -2.33127184] [-0.00492114 0.99997334 -0.00539432 -0.22678766] [ 0.04920557 0.00563 0.9987728 -0.25609612] [ 0. 0. 0. 1. ]] SLAMing on 317.613133365 meters Centerline goodness : 0.345705 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.23, Z:-0.26 [[ 0.99877681 0.00465008 -0.04922653 -2.33112301] [-0.0049223 0.99997325 -0.00541026 -0.22658319] [ 0.04920005 0.00564595 0.99877299 -0.25636054] [ 0. 0. 0. 1. ]] SLAMing on 317.643133365 meters Centerline goodness : 0.114216 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.23, Z:-0.26 [[ 0.99874348 0.00446083 -0.04991545 -2.32898579] [-0.00474226 0.99997351 -0.00552122 -0.22682769] [ 0.0498895 0.005751 0.99873819 -0.25717969] [ 0. 0. 0. 1. ]] SLAMing on 317.673133365 meters Centerline goodness : 0.085627 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.22, Z:-0.26 [[ 9.98689351e-01 -2.31830477e-03 -5.11292947e-02 -2.30894512e+00] [ 2.06783722e-03 9.99985605e-01 -4.95106342e-03 -2.23046655e-01] [ 5.11400368e-02 4.83884726e-03 9.98679770e-01 -2.55154412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.703133365 meters Centerline goodness : 0.086627 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.22, Z:-0.26 [[ 9.98681679e-01 -2.29318162e-03 -5.12800687e-02 -2.30825526e+00] [ 2.04700489e-03 9.99986131e-01 -4.85263652e-03 -2.23481159e-01] [ 5.12904854e-02 4.74126863e-03 9.98672522e-01 -2.55655900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73313336499996 meters Centerline goodness : 0.086158 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.22, Z:-0.26 [[ 9.98679540e-01 -2.20062890e-03 -5.13257634e-02 -2.30795109e+00] [ 1.96136610e-03 9.99986977e-01 -4.71155289e-03 -2.23894877e-01] [ 5.13354634e-02 4.60466286e-03 9.98670850e-01 -2.55994512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.763133365 meters Centerline goodness : 0.237307 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.22, Z:-0.26 [[ 9.98672958e-01 -2.15685731e-03 -5.14555228e-02 -2.30743467e+00] [ 1.92137782e-03 9.99987457e-01 -4.62539640e-03 -2.24207308e-01] [ 5.14648537e-02 4.52039280e-03 9.98664576e-01 -2.56286372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79313336499996 meters Centerline goodness : 0.338082 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.22, Z:-0.26 [[ 9.98657028e-01 -2.16804876e-03 -5.17633116e-02 -2.30641305e+00] [ 1.93052028e-03 9.99987380e-01 -4.63829973e-03 -2.24215882e-01] [ 5.17727144e-02 4.53214050e-03 9.98648610e-01 -2.56669158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.823133365 meters Centerline goodness : 0.331635 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.22, Z:-0.26 [[ 9.98624012e-01 -2.19956241e-03 -5.23950879e-02 -2.30456064e+00] [ 1.95480826e-03 9.99986940e-01 -4.72210713e-03 -2.23975904e-01] [ 5.24047902e-02 4.61318721e-03 9.98615269e-01 -2.57131826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85313336499996 meters Centerline goodness : 0.341062 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.22, Z:-0.26 [[ 9.98620433e-01 -2.21468456e-03 -5.24626096e-02 -2.30431528e+00] [ 1.96423429e-03 9.99986431e-01 -4.82496026e-03 -2.23394728e-01] [ 5.24725835e-02 4.71525505e-03 9.98611233e-01 -2.57222093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.883133365 meters Centerline goodness : 0.326047 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.22, Z:-0.26 [[ 9.98623911e-01 -2.19728949e-03 -5.23971085e-02 -2.30451407e+00] [ 1.94150833e-03 9.99985953e-01 -4.93198942e-03 -2.22594749e-01] [ 5.24072095e-02 4.82347314e-03 9.98614149e-01 -2.57106899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91313336499996 meters Centerline goodness : 0.261562 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.22, Z:-0.26 [[ 9.98632557e-01 -2.22658508e-03 -5.22308183e-02 -2.30488445e+00] [ 1.96071713e-03 9.99984863e-01 -5.14093835e-03 -2.21431594e-01] [ 5.22414744e-02 5.03149855e-03 9.98621806e-01 -2.57064594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.943133365 meters Centerline goodness : 0.132685 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.22, Z:-0.26 [[ 0.99865888 0.00662799 -0.05134706 -2.28601558] [-0.00698547 0.99995258 -0.00678571 -0.22276011] [ 0.05129965 0.00713529 0.99865782 -0.25530192] [ 0. 0. 0. 1. ]] SLAMing on 317.97313336499997 meters Centerline goodness : 0.341170 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.22, Z:-0.26 [[ 0.99866662 0.00666016 -0.05119195 -2.28629925] [-0.00702761 0.9999508 -0.00700116 -0.22116083] [ 0.0511428 0.00735158 0.99866429 -0.25536162] [ 0. 0. 0. 1. ]] SLAMing on 318.003133365 meters Centerline goodness : 0.347488 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.22, Z:-0.26 [[ 0.99870168 0.00715522 -0.05043577 -2.28822234] [-0.00751956 0.99994696 -0.00703774 -0.21865495] [ 0.05038274 0.00740786 0.99870251 -0.25505317] [ 0. 0. 0. 1. ]] SLAMing on 318.03313336499997 meters Centerline goodness : 0.100780 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.21, Z:-0.25 [[ 9.98694935e-01 1.23027004e-03 -5.10579334e-02 -2.27139528e+00] [-1.55135180e-03 9.99979269e-01 -6.24942362e-03 -2.11793090e-01] [ 5.10491864e-02 6.32047653e-03 9.98676140e-01 -2.52305609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.063133365 meters Centerline goodness : 0.343715 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.21, Z:-0.25 [[ 9.98707196e-01 1.15253317e-03 -5.08193622e-02 -2.27193674e+00] [-1.48660661e-03 9.99977532e-01 -6.53643464e-03 -2.10255949e-01] [ 5.08106869e-02 6.60353272e-03 9.98686471e-01 -2.52272465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09313336499997 meters Centerline goodness : 0.331301 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.21, Z:-0.25 [[ 9.98741880e-01 1.18501182e-03 -5.01323548e-02 -2.27374106e+00] [-1.53116160e-03 9.99975250e-01 -6.86687725e-03 -2.07788938e-01] [ 5.01229767e-02 6.93499863e-03 9.98718976e-01 -2.51968330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.123133365 meters Centerline goodness : 0.276453 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.21, Z:-0.25 [[ 9.98752422e-01 1.19093516e-03 -4.99217434e-02 -2.27429799e+00] [-1.54313616e-03 9.99974189e-01 -7.01711380e-03 -2.06609423e-01] [ 4.99120979e-02 7.08539545e-03 9.98728481e-01 -2.51896680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.153133365 meters Centerline goodness : 0.163510 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.21, Z:-0.25 [[ 9.98756662e-01 1.18819941e-03 -4.98369094e-02 -2.27468540e+00] [-1.54600406e-03 9.99973304e-01 -7.14157769e-03 -2.05702672e-01] [ 4.98270933e-02 7.20974636e-03 9.98731836e-01 -2.51632879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.183133365 meters Centerline goodness : 0.091062 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.20, Z:-0.25 [[ 9.98761519e-01 1.14562672e-03 -4.97404917e-02 -2.27503450e+00] [-1.51069228e-03 9.99972196e-01 -7.30242973e-03 -2.04761890e-01] [ 4.97307428e-02 7.36852839e-03 9.98735479e-01 -2.51443596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.213133365 meters Centerline goodness : 0.135003 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.20, Z:-0.25 [[ 9.98765431e-01 1.14895033e-03 -4.96617842e-02 -2.27529799e+00] [-1.51723440e-03 9.99971625e-01 -7.37878324e-03 -2.04131486e-01] [ 4.96518972e-02 7.44502219e-03 9.98738835e-01 -2.51353677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.243133365 meters Centerline goodness : 0.309722 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.20, Z:-0.25 [[ 0.9987533 -0.00516469 -0.04965047 -2.25734011] [ 0.00486076 0.99996872 -0.00624025 -0.19822824] [ 0.04968114 0.00599113 0.99874716 -0.24873232] [ 0. 0. 0. 1. ]] SLAMing on 318.273133365 meters Centerline goodness : 0.237493 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.20, Z:-0.25 [[ 0.99877203 -0.00505427 -0.04928365 -2.25802309] [ 0.0047498 0.99996892 -0.00629315 -0.19716528] [ 0.04931392 0.00605134 0.998765 -0.24898746] [ 0. 0. 0. 1. ]] SLAMing on 318.303133365 meters Centerline goodness : 0.132263 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.20, Z:-0.25 [[ 0.99881226 0.00351484 -0.04859742 -2.2391452 ] [-0.00391081 0.99995991 -0.00805528 -0.19945945] [ 0.04856716 0.00823576 0.99878596 -0.24734661] [ 0. 0. 0. 1. ]] SLAMing on 318.333133365 meters Centerline goodness : 0.105837 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.20, Z:-0.25 [[ 0.9988066 0.00348358 -0.04871593 -2.23872411] [-0.00388349 0.99995952 -0.00811677 -0.19927168] [ 0.04868568 0.00829627 0.99877969 -0.24752172] [ 0. 0. 0. 1. ]] SLAMing on 318.363133365 meters Centerline goodness : 0.167831 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.20, Z:-0.25 [[ 0.99879889 0.0035064 -0.04887206 -2.23827323] [-0.00390653 0.99995961 -0.00809411 -0.1993096 ] [ 0.04884171 0.00827531 0.99877225 -0.24767107] [ 0. 0. 0. 1. ]] SLAMing on 318.393133365 meters Centerline goodness : 0.182711 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.20, Z:-0.25 [[ 0.99879056 0.00358013 -0.04903665 -2.23769522] [-0.00397917 0.99995974 -0.00804236 -0.19918636] [ 0.04900588 0.00822776 0.9987646 -0.24798234] [ 0. 0. 0. 1. ]] SLAMing on 318.423133365 meters Centerline goodness : 0.102447 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.19, Z:-0.25 [[ 0.99873533 -0.00259697 -0.05020954 -2.21874895] [ 0.00224724 0.99997283 -0.00702061 -0.19423792] [ 0.05022641 0.0068989 0.99871403 -0.24568945] [ 0. 0. 0. 1. ]] SLAMing on 318.453133365 meters Centerline goodness : 0.106138 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.19, Z:-0.25 [[ 0.99870416 -0.00276315 -0.05081702 -2.21672723] [ 0.00240164 0.99997138 -0.00717366 -0.19440727] [ 0.05083539 0.00704232 0.99868222 -0.24655381] [ 0. 0. 0. 1. ]] SLAMing on 318.48313336499996 meters Centerline goodness : 0.187541 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.19, Z:-0.25 [[ 0.99869192 -0.00277571 -0.0510563 -2.21606242] [ 0.00241371 0.99997152 -0.00715054 -0.19473027] [ 0.05107469 0.00701795 0.99867018 -0.24671376] [ 0. 0. 0. 1. ]] SLAMing on 318.513133365 meters Centerline goodness : 0.224554 Centerline is valid? [False, False] Translation: X:-2.20, Y:-0.20, Z:-0.25 [[ 0.99870941 0.00600067 -0.05043316 -2.19715895] [-0.0064333 0.99994385 -0.00842036 -0.19783434] [ 0.0503798 0.00873394 0.99869194 -0.2450555 ] [ 0. 0. 0. 1. ]] SLAMing on 318.54313336499996 meters Centerline goodness : 0.265239 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.20, Z:-0.25 [[ 9.98677015e-01 -1.78251666e-03 -5.13910711e-02 -2.21785400e+00] [ 1.48508132e-03 9.99981930e-01 -5.82528952e-03 -1.96428849e-01] [ 5.14005262e-02 5.74126283e-03 9.98661616e-01 -2.45635675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.573133365 meters Centerline goodness : 0.112803 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.20, Z:-0.25 [[ 9.98680780e-01 -1.69474929e-03 -5.13208296e-02 -2.21812876e+00] [ 1.40629753e-03 9.99983015e-01 -5.65614764e-03 -1.97150883e-01] [ 5.13295437e-02 5.57651358e-03 9.98666201e-01 -2.45466300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60313336499996 meters Centerline goodness : 0.261600 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.20, Z:-0.25 [[ 9.98668365e-01 -1.71618562e-03 -5.15611392e-02 -2.21745956e+00] [ 1.43998116e-03 9.99984418e-01 -5.39350479e-03 -1.99565621e-01] [ 5.15695921e-02 5.31207554e-03 9.98655275e-01 -2.45618723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.633133365 meters Centerline goodness : 0.312642 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.20, Z:-0.24 [[ 9.98747829e-01 -3.11804134e-04 -5.00267689e-02 -2.17427038e+00] [-1.13276988e-05 9.99979142e-01 -6.45876502e-03 -1.98622827e-01] [ 5.00277393e-02 6.45124422e-03 9.98726993e-01 -2.43902155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66313336499996 meters Centerline goodness : 0.123480 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.20, Z:-0.24 [[ 9.98747279e-01 -1.50553046e-04 -5.00384938e-02 -2.17431178e+00] [-1.53861597e-04 9.99981507e-01 -6.07970166e-03 -2.00481032e-01] [ 5.00384837e-02 6.07978449e-03 9.98728785e-01 -2.43841593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.693133365 meters Centerline goodness : 0.132733 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.20, Z:-0.24 [[ 9.98763147e-01 2.07558753e-04 -4.97205406e-02 -2.17550138e+00] [-4.65903399e-04 9.99986452e-01 -5.18440069e-03 -2.04952634e-01] [ 4.97187909e-02 5.20115332e-03 9.98749713e-01 -2.43217363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72313336499997 meters Centerline goodness : 0.107129 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.21, Z:-0.24 [[ 9.98761781e-01 3.55089715e-04 -4.97471442e-02 -2.17564182e+00] [-5.91039267e-04 9.99988647e-01 -4.72834676e-03 -2.07578339e-01] [ 4.97449004e-02 4.75189455e-03 9.98750652e-01 -2.42901740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.753133365 meters Centerline goodness : 0.103576 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.21, Z:-0.24 [[ 9.98747587e-01 4.79587297e-04 -5.00302672e-02 -2.17514650e+00] [-6.94550460e-04 9.99990602e-01 -4.27936563e-03 -2.10412455e-01] [ 5.00277447e-02 4.30875464e-03 9.98738534e-01 -2.42619755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78313336499997 meters Centerline goodness : 0.336479 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.21, Z:-0.24 [[ 9.98737648e-01 6.52336680e-04 -5.02263435e-02 -2.17479606e+00] [-8.43743380e-04 9.99992463e-01 -3.78977449e-03 -2.13156416e-01] [ 5.02234927e-02 3.82736861e-03 9.98730670e-01 -2.42466352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.813133365 meters Centerline goodness : 0.337641 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.22, Z:-0.24 [[ 9.98735424e-01 8.94667249e-04 -5.02668054e-02 -2.17484380e+00] [-1.05716264e-03 9.99994301e-01 -3.20616412e-03 -2.16081055e-01] [ 5.02636505e-02 3.25524988e-03 9.98730679e-01 -2.42278280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84313336499997 meters Centerline goodness : 0.098169 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.22, Z:-0.24 [[ 0.99885422 0.00214314 -0.04780842 -2.13258336] [-0.00234945 0.99998817 -0.00425972 -0.21697755] [ 0.04779873 0.00436717 0.99884744 -0.24085101] [ 0. 0. 0. 1. ]] SLAMing on 318.873133365 meters Centerline goodness : 0.099643 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.22, Z:-0.24 [[ 0.9988612 0.00258225 -0.04764077 -2.13325265] [-0.00274171 0.99999086 -0.00328215 -0.22236836] [ 0.04763186 0.00340903 0.99885914 -0.24039919] [ 0. 0. 0. 1. ]] SLAMing on 318.903133365 meters Centerline goodness : 0.098315 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.22, Z:-0.24 [[ 0.99885824 0.00278783 -0.04769116 -2.1331833 ] [-0.00292546 0.99999175 -0.00281633 -0.22478106] [ 0.04768292 0.00295264 0.99885816 -0.24028313] [ 0. 0. 0. 1. ]] SLAMing on 318.933133365 meters Centerline goodness : 0.090819 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.23, Z:-0.24 [[ 0.99885068 0.00298487 -0.04783726 -2.1327773 ] [-0.00310203 0.99999237 -0.00237512 -0.22700402] [ 0.04782981 0.00252078 0.99885232 -0.24034522] [ 0. 0. 0. 1. ]] SLAMing on 318.963133365 meters Centerline goodness : 0.242272 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.23, Z:-0.24 [[ 9.98841863e-01 3.15727951e-03 -4.80100440e-02 -2.13225757e+00] [-3.25583029e-03 9.99992750e-01 -1.97464886e-03 -2.28987084e-01] [ 4.80034614e-02 2.12867450e-03 9.98844901e-01 -2.40479731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.993133365 meters Centerline goodness : 0.133705 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.23, Z:-0.24 [[ 9.98823425e-01 -3.16532325e-03 -4.83916002e-02 -2.11326014e+00] [ 3.12565849e-03 9.99994714e-01 -8.95312458e-04 -2.26328547e-01] [ 4.83941784e-02 7.43003440e-04 9.98828039e-01 -2.38521468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.023133365 meters Centerline goodness : 0.100026 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.23, Z:-0.24 [[ 0.99883388 0.00580654 -0.04792879 -2.09502086] [-0.00592578 0.99997969 -0.00234603 -0.23155576] [ 0.0479142 0.00262731 0.998848 -0.23637622] [ 0. 0. 0. 1. ]] SLAMing on 319.053133365 meters Centerline goodness : 0.107290 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.24, Z:-0.24 [[ 9.98839545e-01 6.13194337e-03 -4.77698877e-02 -2.09578747e+00] [-6.21534549e-03 9.99979408e-01 -1.59757021e-03 -2.35582912e-01] [ 4.77591078e-02 1.89262266e-03 9.98857090e-01 -2.35787990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.083133365 meters Centerline goodness : 0.259846 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.24, Z:-0.24 [[ 9.98837619e-01 6.28327751e-03 -4.77904988e-02 -2.09587557e+00] [-6.34700464e-03 9.99979159e-01 -1.18183409e-03 -2.37844580e-01] [ 4.77820770e-02 1.48378687e-03 9.98856682e-01 -2.35567043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.113133365 meters Centerline goodness : 0.245533 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.24, Z:-0.24 [[ 9.98833224e-01 6.46471183e-03 -4.78580988e-02 -2.09595768e+00] [-6.50603941e-03 9.99978585e-01 -7.07820244e-04 -2.40285685e-01] [ 4.78524981e-02 1.01836105e-03 9.98853894e-01 -2.35234205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.143133365 meters Centerline goodness : 0.266440 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.24, Z:-0.24 [[ 9.98826068e-01 6.63100069e-03 -4.79845291e-02 -2.09575912e+00] [-6.65040363e-03 9.99977856e-01 -2.44717641e-04 -2.42719354e-01] [ 4.79818438e-02 5.63546845e-04 9.98848049e-01 -2.35090006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.173133365 meters Centerline goodness : 0.268174 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.24, Z:-0.23 [[ 9.98831185e-01 -1.98291759e-05 -4.83349065e-02 -2.07611876e+00] [ 5.08204942e-05 9.99999794e-01 6.39949983e-04 -2.40809793e-01] [ 4.83348839e-02 -6.41658404e-04 9.98830980e-01 -2.33230708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.203133365 meters Centerline goodness : 0.202046 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.24, Z:-0.23 [[ 9.98821932e-01 1.35314224e-04 -4.85255679e-02 -2.07566840e+00] [-8.44199585e-05 9.99999444e-01 1.05086133e-03 -2.43014069e-01] [ 4.85256832e-02 -1.04552682e-03 9.98821388e-01 -2.33200245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23313336499996 meters Centerline goodness : 0.116080 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.25, Z:-0.23 [[ 9.98820581e-01 4.71526034e-04 -4.85512569e-02 -2.07567976e+00] [-3.81035190e-04 9.99998173e-01 1.87305929e-03 -2.47279826e-01] [ 4.85520514e-02 -1.85235043e-03 9.98818936e-01 -2.33025795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.263133365 meters Centerline goodness : 0.116080 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.25, Z:-0.23 [[ 9.98820581e-01 4.71526034e-04 -4.85512569e-02 -2.07567976e+00] [-3.81035190e-04 9.99998173e-01 1.87305929e-03 -2.47279826e-01] [ 4.85520514e-02 -1.85235043e-03 9.98818936e-01 -2.33025795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29313336499996 meters Centerline goodness : 0.096076 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.25, Z:-0.23 [[ 9.98837354e-01 9.29327322e-03 -4.73030200e-02 -2.05743091e+00] [-9.28301545e-03 9.99956817e-01 4.36532840e-04 -2.52106637e-01] [ 4.73050342e-02 3.08935893e-06 9.98880490e-01 -2.31420116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.323133365 meters Centerline goodness : 0.323512 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.25, Z:-0.23 [[ 9.98841811e-01 9.46577592e-03 -4.71745243e-02 -2.05796210e+00] [-9.43708183e-03 9.99955125e-01 8.30940698e-04 -2.54044929e-01] [ 4.71802728e-02 -3.84788465e-04 9.98886317e-01 -2.31105390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35313336499996 meters Centerline goodness : 0.301968 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.26, Z:-0.23 [[ 9.98837007e-01 9.58537145e-03 -4.72520322e-02 -2.05797068e+00] [-9.54014308e-03 9.99953792e-01 1.18260675e-03 -2.56067882e-01] [ 4.72611845e-02 -7.30440237e-04 9.98882299e-01 -2.30789887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.383133365 meters Centerline goodness : 0.100041 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.26, Z:-0.23 [[ 9.98866158e-01 6.15448509e-03 -4.72072155e-02 -2.05768840e+00] [-6.24528552e-03 9.99978921e-01 -1.77619019e-03 -2.59215739e-01] [ 4.71952889e-02 2.06899881e-03 9.98883539e-01 -2.31282175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41313336499996 meters Centerline goodness : 0.294812 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.26, Z:-0.23 [[ 9.98858091e-01 6.30836688e-03 -4.73573519e-02 -2.05727931e+00] [-6.38101075e-03 9.99978685e-01 -1.38292775e-03 -2.61268814e-01] [ 4.73476185e-02 1.68353634e-03 9.98877054e-01 -2.31356627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.443133365 meters Centerline goodness : 0.278375 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.26, Z:-0.23 [[ 9.98856233e-01 6.47272604e-03 -4.73743479e-02 -2.05724094e+00] [-6.52553321e-03 9.99978248e-01 -9.60103456e-04 -2.63462650e-01] [ 4.73671029e-02 1.26814820e-03 9.98876744e-01 -2.31370346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47313336499997 meters Centerline goodness : 0.295510 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.23 [[ 9.98848360e-01 6.58424249e-03 -4.75247496e-02 -2.05698903e+00] [-6.61910492e-03 9.99977927e-01 -5.76224579e-04 -2.65582469e-01] [ 4.75199066e-02 8.90132279e-04 9.98869895e-01 -2.31179981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.503133365 meters Centerline goodness : 0.104920 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.23 [[ 9.98844582e-01 6.72553178e-03 -4.75843324e-02 -2.05704186e+00] [-6.74201982e-03 9.99977255e-01 -1.86009981e-04 -2.67708614e-01] [ 4.75819991e-02 5.06609574e-04 9.98867207e-01 -2.30920388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53313336499997 meters Centerline goodness : 0.093390 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.23 [[ 9.98839832e-01 6.79378956e-03 -4.76742546e-02 -2.05700532e+00] [-6.79672134e-03 9.99976897e-01 1.00612058e-04 -2.69546471e-01] [ 4.76738367e-02 2.23533292e-04 9.98862931e-01 -2.30643279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.563133365 meters Centerline goodness : 0.269527 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.23 [[ 9.98836238e-01 7.03099054e-03 -4.77151462e-02 -2.05700556e+00] [-7.00794136e-03 9.99975233e-01 6.50330534e-04 -2.72304857e-01] [ 4.77185369e-02 -3.15188758e-04 9.98860772e-01 -2.30479548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59313336499997 meters Centerline goodness : 0.306949 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.23 [[ 9.98834110e-01 7.13365386e-03 -4.77444457e-02 -2.05670171e+00] [-7.10076520e-03 9.99974421e-01 8.58422529e-04 -2.73217200e-01] [ 4.77493481e-02 -5.18399605e-04 9.98859215e-01 -2.30806456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.623133365 meters Centerline goodness : 0.106618 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.23 [[ 9.98830514e-01 7.16298266e-03 -4.78152296e-02 -2.05610368e+00] [-7.12718867e-03 9.99974179e-01 9.19041540e-04 -2.73567800e-01] [ 4.78205780e-02 -5.77178571e-04 9.98855775e-01 -2.31422475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.653133365 meters Centerline goodness : 0.107857 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.23 [[ 9.98824500e-01 7.17695242e-03 -4.79385924e-02 -2.05562956e+00] [-7.13622922e-03 9.99974016e-01 1.02058369e-03 -2.74324877e-01] [ 4.79446715e-02 -6.77283206e-04 9.98849763e-01 -2.31688019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.683133365 meters Centerline goodness : 0.099264 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.28, Z:-0.23 [[ 9.98821125e-01 7.12882932e-03 -4.80160326e-02 -2.05544799e+00] [-7.08628477e-03 9.99974334e-01 1.05621852e-03 -2.75028923e-01] [ 4.80223298e-02 -7.14718090e-04 9.98846007e-01 -2.31678250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.713133365 meters Centerline goodness : 0.351068 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.28, Z:-0.23 [[ 9.98821877e-01 7.10978571e-03 -4.80032197e-02 -2.05574271e+00] [-7.06248287e-03 9.99974393e-01 1.15494878e-03 -2.75941824e-01] [ 4.80102019e-02 -8.14566193e-04 9.98846513e-01 -2.31280088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.743133365 meters Centerline goodness : 0.280258 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.28, Z:-0.23 [[ 9.98835222e-01 7.33828243e-03 -4.76901267e-02 -2.05715492e+00] [-7.26118988e-03 9.99972036e-01 1.78957400e-03 -2.78933606e-01] [ 4.77019254e-02 -1.44120248e-03 9.98860575e-01 -2.30320488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.773133365 meters Centerline goodness : 0.112285 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.28, Z:-0.23 [[ 9.98838252e-01 7.45761828e-03 -4.76080807e-02 -2.05733048e+00] [-7.36402912e-03 9.99970593e-01 2.14091814e-03 -2.80712523e-01] [ 4.76226468e-02 -1.78784364e-03 9.98863798e-01 -2.30381755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.803133365 meters Centerline goodness : 0.262600 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.28, Z:-0.23 [[ 9.98830445e-01 8.67482906e-04 -4.83424256e-02 -2.03816254e+00] [-7.33988087e-04 9.99995869e-01 2.77912565e-03 -2.78556028e-01] [ 4.83446367e-02 -2.74039255e-03 9.98826955e-01 -2.28633802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.833133365 meters Centerline goodness : 0.264098 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.28, Z:-0.23 [[ 9.98812860e-01 8.98299669e-04 -4.87038342e-02 -2.03744579e+00] [-7.36434145e-04 9.99994147e-01 3.34130810e-03 -2.82838216e-01] [ 4.87065507e-02 -3.30147433e-03 9.98807675e-01 -2.28409579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.863133365 meters Centerline goodness : 0.105326 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.29, Z:-0.23 [[ 9.98812198e-01 1.05540211e-03 -4.87142594e-02 -2.03769349e+00] [-8.72981545e-04 9.99992528e-01 3.76582968e-03 -2.85020869e-01] [ 4.87178698e-02 -3.71882997e-03 9.98805657e-01 -2.28031438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.893133365 meters Centerline goodness : 0.106388 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.29, Z:-0.23 [[ 9.98815585e-01 1.26641102e-03 -4.86397233e-02 -2.03810858e+00] [-1.06032336e-03 9.99990353e-01 4.26259227e-03 -2.87343296e-01] [ 4.86446522e-02 -4.20596975e-03 9.98807293e-01 -2.27718706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.923133365 meters Centerline goodness : 0.261091 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.29, Z:-0.23 [[ 9.98816264e-01 1.43505268e-03 -4.86211008e-02 -2.03833629e+00] [-1.20616460e-03 9.99988055e-01 4.73660008e-03 -2.89842597e-01] [ 4.86273172e-02 -4.67234814e-03 9.98806064e-01 -2.27438063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.953133365 meters Centerline goodness : 0.258654 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.29, Z:-0.23 [[ 9.98808797e-01 1.53179963e-03 -4.87713067e-02 -2.03822241e+00] [-1.28198042e-03 9.99985901e-01 5.15312643e-03 -2.92386527e-01] [ 4.87785126e-02 -5.08446415e-03 9.98796678e-01 -2.27091927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98313336499996 meters Centerline goodness : 0.350123 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.29, Z:-0.23 [[ 9.98796315e-01 1.62176152e-03 -4.90233650e-02 -2.03774600e+00] [-1.35110001e-03 9.99983665e-01 5.55370517e-03 -2.94878631e-01] [ 4.90315710e-02 -5.48078479e-03 9.98782191e-01 -2.26912859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.013133365 meters Centerline goodness : 0.263288 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.30, Z:-0.23 [[ 9.98743637e-01 7.91338463e-04 -5.01050970e-02 -2.03427679e+00] [-5.19835661e-04 9.99985114e-01 5.43146588e-03 -3.01896888e-01] [ 5.01086493e-02 -5.39859557e-03 9.98729182e-01 -2.27867079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04313336499996 meters Centerline goodness : 0.127546 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.31, Z:-0.23 [[ 9.98729001e-01 9.36173787e-04 -5.03935150e-02 -2.03370758e+00] [-6.35085270e-04 9.99981856e-01 5.99042801e-03 -3.05012200e-01] [ 5.03982087e-02 -5.95081000e-03 9.98711474e-01 -2.27740016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.073133365 meters Centerline goodness : 0.131032 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.31, Z:-0.23 [[ 9.98713843e-01 1.04631824e-03 -5.06908702e-02 -2.03334575e+00] [-7.13416139e-04 9.99978065e-01 6.58494734e-03 -3.08679112e-01] [ 5.06966482e-02 -6.54031438e-03 9.98692683e-01 -2.27249963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10313336499996 meters Centerline goodness : 0.263210 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.31, Z:-0.23 [[ 9.98683901e-01 1.02019690e-03 -5.12779151e-02 -2.03250632e+00] [-6.56732626e-04 9.99974547e-01 7.10447441e-03 -3.12644871e-01] [ 5.12838579e-02 -7.06144834e-03 9.98659152e-01 -2.26535825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.133133365 meters Centerline goodness : 0.114255 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.32, Z:-0.23 [[ 9.98671320e-01 -6.05467451e-04 -5.15289133e-02 -2.03157610e+00] [ 9.29271497e-04 9.99979973e-01 6.26020318e-03 -3.19492079e-01] [ 5.15240910e-02 -6.29976972e-03 9.98651882e-01 -2.26759225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16313336499996 meters Centerline goodness : 0.262875 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.32, Z:-0.23 [[ 9.98651927e-01 -5.71871649e-04 -5.19037736e-02 -2.03126799e+00] [ 9.32762755e-04 9.99975558e-01 6.92912339e-03 -3.24265756e-01] [ 5.18985424e-02 -6.96819634e-03 9.98628052e-01 -2.25999779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.193133365 meters Centerline goodness : 0.195818 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.34, Z:-0.23 [[ 0.99869391 -0.00264097 -0.05102452 -2.03305594] [ 0.00296936 0.99997536 0.00636116 -0.33539122] [ 0.05100647 -0.00650436 0.99867714 -0.22584978] [ 0. 0. 0. 1. ]] SLAMing on 320.22313336499997 meters Centerline goodness : 0.262652 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.34, Z:-0.23 [[ 0.9986779 -0.00249727 -0.05134401 -2.03267113] [ 0.00286823 0.99997031 0.00715259 -0.34058972] [ 0.05132462 -0.0072904 0.99865541 -0.22534591] [ 0. 0. 0. 1. ]] SLAMing on 320.253133365 meters Centerline goodness : 0.257797 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.35, Z:-0.22 [[ 0.99865444 -0.00238575 -0.05180369 -2.03194769] [ 0.00279742 0.99996507 0.00787557 -0.34565426] [ 0.05178309 -0.00800989 0.99862623 -0.22481488] [ 0. 0. 0. 1. ]] SLAMing on 320.28313336499997 meters Centerline goodness : 0.264669 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.35, Z:-0.22 [[ 0.99864356 -0.00584458 -0.05173851 -2.03179017] [ 0.00613507 0.99996629 0.00545757 -0.35272996] [ 0.05170487 -0.00576758 0.99864575 -0.22497341] [ 0. 0. 0. 1. ]] SLAMing on 320.313133365 meters Centerline goodness : 0.209692 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.36, Z:-0.22 [[ 0.99865253 0.00326916 -0.0517923 -2.01442587] [-0.00306535 0.99998724 0.00401416 -0.36033624] [ 0.05180476 -0.00384999 0.99864981 -0.22259657] [ 0. 0. 0. 1. ]] SLAMing on 320.34313336499997 meters Centerline goodness : 0.313717 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.36, Z:-0.22 [[ 0.99864731 0.00348942 -0.05187855 -2.01428468] [-0.00325656 0.99998424 0.00457233 -0.36312452] [ 0.05189369 -0.0043972 0.99864293 -0.2225165 ] [ 0. 0. 0. 1. ]] SLAMing on 320.373133365 meters Centerline goodness : 0.095464 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.37, Z:-0.22 [[ 0.99865001 0.00373513 -0.05180927 -2.01462341] [-0.00347305 0.99998072 0.00514757 -0.36583918] [ 0.0518275 -0.00496068 0.99864373 -0.22229912] [ 0. 0. 0. 1. ]] SLAMing on 320.403133365 meters Centerline goodness : 0.102890 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.37, Z:-0.22 [[ 0.99865625 0.00400783 -0.05166856 -2.0153984 ] [-0.00371291 0.99997627 0.00580252 -0.36894034] [ 0.05169059 -0.00560288 0.99864743 -0.221711 ] [ 0. 0. 0. 1. ]] SLAMing on 320.433133365 meters Centerline goodness : 0.258881 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.37, Z:-0.22 [[ 0.99877445 -0.00343255 -0.04937414 -1.99685285] [ 0.00376519 0.99997083 0.00664571 -0.3733064 ] [ 0.04934989 -0.00682347 0.99875824 -0.22005654] [ 0. 0. 0. 1. ]] SLAMing on 320.463133365 meters Centerline goodness : 0.110855 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.38, Z:-0.22 [[ 0.99879617 0.00364251 -0.04891777 -1.97783172] [-0.00347857 0.99998805 0.00343603 -0.3797828 ] [ 0.0489297 -0.00326173 0.9987969 -0.21922009] [ 0. 0. 0. 1. ]] SLAMing on 320.493133365 meters Centerline goodness : 0.255526 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.38, Z:-0.22 [[ 0.99877698 0.00365459 -0.04930702 -1.97713918] [-0.00346639 0.99998638 0.00390186 -0.38302055] [ 0.04932061 -0.00372617 0.99877605 -0.21896455] [ 0. 0. 0. 1. ]] SLAMing on 320.523133365 meters Centerline goodness : 0.128591 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.39, Z:-0.22 [[ 0.99876746 0.00375739 -0.04949179 -1.97698018] [-0.00354244 0.99998391 0.00443011 -0.38611841] [ 0.04950763 -0.00424933 0.99876471 -0.21863518] [ 0. 0. 0. 1. ]] SLAMing on 320.553133365 meters Centerline goodness : 0.249799 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.39, Z:-0.22 [[ 0.99877035 0.00396005 -0.04941759 -1.97751669] [-0.0037187 0.99998071 0.00497491 -0.38875086] [ 0.04943634 -0.00478503 0.99876581 -0.2182311 ] [ 0. 0. 0. 1. ]] SLAMing on 320.583133365 meters Centerline goodness : 0.214818 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.39, Z:-0.22 [[ 0.99877106 0.00421857 -0.0493819 -1.97795328] [-0.00393559 0.99997528 0.00582632 -0.39308182] [ 0.04940526 -0.00562481 0.99876298 -0.21783877] [ 0. 0. 0. 1. ]] SLAMing on 320.613133365 meters Centerline goodness : 0.116237 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.39, Z:-0.22 [[ 0.99874978 0.00413274 -0.04981763 -1.97662646] [-0.00384129 0.99997495 0.00594462 -0.39439139] [ 0.04984095 -0.00574582 0.99874064 -0.21829277] [ 0. 0. 0. 1. ]] SLAMing on 320.643133365 meters Centerline goodness : 0.119042 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99872054 0.00403977 -0.0504079 -1.97489248] [-0.00373945 0.9999747 0.00605063 -0.39561197] [ 0.05043107 -0.00585439 0.99871039 -0.21878425] [ 0. 0. 0. 1. ]] SLAMing on 320.673133365 meters Centerline goodness : 0.119936 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99869778 0.00397876 -0.05086176 -1.97344354] [-0.00367084 0.99997438 0.00614603 -0.39661553] [ 0.05088491 -0.00595132 0.99868679 -0.21937467] [ 0. 0. 0. 1. ]] SLAMing on 320.703133365 meters Centerline goodness : 0.209150 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.9986802 0.00393251 -0.05120935 -1.97237134] [-0.00361733 0.99997395 0.00624585 -0.39750723] [ 0.05123258 -0.00605236 0.99866841 -0.21973141] [ 0. 0. 0. 1. ]] SLAMing on 320.73313336499996 meters Centerline goodness : 0.126747 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99867206 0.00391661 -0.05136908 -1.97205354] [-0.00359064 0.99997284 0.00643638 -0.39888589] [ 0.0513929 -0.00624339 0.998659 -0.21972971] [ 0. 0. 0. 1. ]] SLAMing on 320.763133365 meters Centerline goodness : 0.214440 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99867453 0.00388775 -0.05132317 -1.97232758] [-0.00355852 0.99997251 0.00650459 -0.39951576] [ 0.05134705 -0.00631333 0.99866091 -0.21950984] [ 0. 0. 0. 1. ]] SLAMing on 320.79313336499996 meters Centerline goodness : 0.252630 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99867366 0.00386592 -0.05134173 -1.97242287] [-0.00353435 0.99997232 0.0065473 -0.39983855] [ 0.05136562 -0.00635716 0.99865968 -0.21939026] [ 0. 0. 0. 1. ]] SLAMing on 320.823133365 meters Centerline goodness : 0.134725 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99866667 0.00383987 -0.05147948 -1.97183186] [-0.00350763 0.99997245 0.00654253 -0.39985349] [ 0.05150319 -0.00635323 0.99865262 -0.21980403] [ 0. 0. 0. 1. ]] SLAMing on 320.85313336499996 meters Centerline goodness : 0.269638 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99864112 0.00357599 -0.05199164 -1.96979259] [-0.00326212 0.99997595 0.0061207 -0.3981511 ] [ 0.05201228 -0.00594278 0.99862876 -0.22096707] [ 0. 0. 0. 1. ]] SLAMing on 320.883133365 meters Centerline goodness : 0.233851 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99864044 0.00343548 -0.05201411 -1.96956701] [-0.00313887 0.99997835 0.005783 -0.39659128] [ 0.05203285 -0.00561187 0.99862961 -0.22118207] [ 0. 0. 0. 1. ]] SLAMing on 320.91313336499996 meters Centerline goodness : 0.139724 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.39, Z:-0.22 [[ 0.99864127 0.00329903 -0.05200707 -1.96949908] [-0.00302217 0.99998085 0.0054013 -0.39456041] [ 0.0520239 -0.00523679 0.99863211 -0.22129324] [ 0. 0. 0. 1. ]] SLAMing on 320.943133365 meters Centerline goodness : 0.103030 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.39, Z:-0.22 [[ 0.99864488 0.00321135 -0.05194323 -1.96969085] [-0.00295195 0.99998279 0.00506991 -0.39261103] [ 0.05195862 -0.0049097 0.99863717 -0.22123289] [ 0. 0. 0. 1. ]] SLAMing on 320.97313336499997 meters Centerline goodness : 0.215892 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.39, Z:-0.22 [[ 0.99865055 0.00305851 -0.05184333 -1.96974522] [-0.00282246 0.99998532 0.00462575 -0.39015149] [ 0.05185671 -0.00447318 0.99864452 -0.22144434] [ 0. 0. 0. 1. ]] SLAMing on 321.003133365 meters Centerline goodness : 0.139167 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.39, Z:-0.22 [[ 0.99865667 0.00289617 -0.05173456 -1.96994764] [-0.00268296 0.99998762 0.00419025 -0.38777294] [ 0.05174606 -0.00404582 0.99865208 -0.22151474] [ 0. 0. 0. 1. ]] SLAMing on 321.03313336499997 meters Centerline goodness : 0.137765 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.38, Z:-0.22 [[ 0.99868662 0.00264672 -0.05116663 -1.97143396] [-0.00247184 0.99999089 0.00348082 -0.38376399] [ 0.05117538 -0.00334977 0.99868406 -0.22137535] [ 0. 0. 0. 1. ]] SLAMing on 321.063133365 meters Centerline goodness : 0.307451 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.38, Z:-0.22 [[ 0.99870335 0.00252156 -0.05084538 -1.97235043] [-0.00236355 0.99999219 0.00316745 -0.3819303 ] [ 0.05085297 -0.00304317 0.99870151 -0.22120687] [ 0. 0. 0. 1. ]] SLAMing on 321.09313336499997 meters Centerline goodness : 0.252437 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.38, Z:-0.22 [[ 0.99871677 0.00239456 -0.05058739 -1.97304063] [-0.00225414 0.99999345 0.00283266 -0.38005448] [ 0.05059385 -0.00271499 0.99871562 -0.22113772] [ 0. 0. 0. 1. ]] SLAMing on 321.123133365 meters Centerline goodness : 0.137737 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.38, Z:-0.22 [[ 0.99872094 0.00219299 -0.05051409 -1.9732045 ] [-0.0020738 0.99999494 0.00241194 -0.37802953] [ 0.05051912 -0.0023041 0.99872044 -0.22117056] [ 0. 0. 0. 1. ]] SLAMing on 321.153133365 meters Centerline goodness : 0.176549 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.38, Z:-0.22 [[ 9.98723751e-01 1.99947015e-03 -5.04665283e-02 -1.97297142e+00] [-1.90245490e-03 9.99996249e-01 1.97033075e-03 -3.75792310e-01] [ 5.04702787e-02 -1.87180582e-03 9.98723809e-01 -2.21679978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.183133365 meters Centerline goodness : 0.176549 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.38, Z:-0.22 [[ 9.98723751e-01 1.99947015e-03 -5.04665283e-02 -1.97297142e+00] [-1.90245490e-03 9.99996249e-01 1.97033075e-03 -3.75792310e-01] [ 5.04702787e-02 -1.87180582e-03 9.98723809e-01 -2.21679978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.213133365 meters Centerline goodness : 0.270175 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.37, Z:-0.22 [[ 0.99861945 -0.00351179 -0.05241047 -1.9547678 ] [ 0.00363067 0.99999105 0.00217323 -0.36672892] [ 0.05240237 -0.00236051 0.99862326 -0.21989039] [ 0. 0. 0. 1. ]] SLAMing on 321.243133365 meters Centerline goodness : 0.330818 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.37, Z:-0.22 [[ 9.98644787e-01 5.49779973e-03 -5.17529078e-02 -1.93746307e+00] [-5.49143853e-03 9.99984887e-01 2.65109482e-04 -3.69095096e-01] [ 5.17535831e-02 1.94477092e-05 9.98659885e-01 -2.18467981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.273133365 meters Centerline goodness : 0.327813 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.37, Z:-0.22 [[ 9.98638837e-01 5.31667739e-03 -5.18864763e-02 -1.93685599e+00] [-5.32805084e-03 9.99985803e-01 -8.08802775e-05 -3.67445919e-01] [ 5.18853096e-02 3.57223970e-04 9.98652986e-01 -2.18807372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.303133365 meters Centerline goodness : 0.328499 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.37, Z:-0.22 [[ 9.98631633e-01 5.14655295e-03 -5.20420448e-02 -1.93622750e+00] [-5.17622980e-03 9.99986508e-01 -4.35480644e-04 -3.65721171e-01] [ 5.20391014e-02 7.04266330e-04 9.98644800e-01 -2.19098158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.333133365 meters Centerline goodness : 0.324420 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.36, Z:-0.22 [[ 9.98641387e-01 5.01779001e-03 -5.18671587e-02 -1.93588099e+00] [-5.08608900e-03 9.99986364e-01 -1.18489982e-03 -3.60850486e-01] [ 5.18605059e-02 1.44709099e-03 9.98653290e-01 -2.19916903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.363133365 meters Centerline goodness : 0.295697 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.36, Z:-0.22 [[ 9.98662524e-01 5.05405649e-03 -5.14550316e-02 -1.93658696e+00] [-5.14059489e-03 9.99985586e-01 -1.54962154e-03 -3.58223752e-01] [ 5.14464580e-02 1.81205843e-03 9.98674110e-01 -2.20165065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.393133365 meters Centerline goodness : 0.092377 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.35, Z:-0.22 [[ 0.9986796 0.00503172 -0.05112479 -1.93693698] [-0.00514332 0.99998467 -0.00205166 -0.35484656] [ 0.05111368 0.0023119 0.99869017 -0.22061273] [ 0. 0. 0. 1. ]] SLAMing on 321.423133365 meters Centerline goodness : 0.134816 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.35, Z:-0.22 [[ 0.99869854 0.00510447 -0.05074623 -1.93729378] [-0.00523474 0.99998334 -0.00243439 -0.35184922] [ 0.05073296 0.00269687 0.99870861 -0.22124158] [ 0. 0. 0. 1. ]] SLAMing on 321.453133365 meters Centerline goodness : 0.133958 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.35, Z:-0.22 [[ 0.99870354 0.00512353 -0.05064574 -1.93683093] [-0.00527897 0.99998176 -0.0029358 -0.34830291] [ 0.05062977 0.00319935 0.99871237 -0.2220503 ] [ 0. 0. 0. 1. ]] SLAMing on 321.48313336499996 meters Centerline goodness : 0.132039 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.35, Z:-0.22 [[ 0.99869991 0.00511835 -0.05071783 -1.9360782 ] [-0.00529916 0.99998007 -0.00343114 -0.34509664] [ 0.05069926 0.00369544 0.99870713 -0.2227195 ] [ 0. 0. 0. 1. ]] SLAMing on 321.513133365 meters Centerline goodness : 0.133683 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.34, Z:-0.22 [[ 0.99869954 0.00638511 -0.05058114 -1.93636382] [-0.00655288 0.99997356 -0.00315173 -0.33745641] [ 0.05055968 0.00347908 0.99871498 -0.22274201] [ 0. 0. 0. 1. ]] SLAMing on 321.54313336499996 meters Centerline goodness : 0.107413 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.34, Z:-0.22 [[ 0.99870923 0.00632264 -0.05039749 -1.93649891] [-0.00650982 0.99997251 -0.00355086 -0.33503249] [ 0.05037366 0.00387435 0.99872293 -0.22307995] [ 0. 0. 0. 1. ]] SLAMing on 321.573133365 meters Centerline goodness : 0.130263 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.33, Z:-0.22 [[ 0.99872007 0.00631201 -0.05018337 -1.93655549] [-0.00651282 0.99997142 -0.00383904 -0.33309995] [ 0.0501577 0.00416096 0.99873264 -0.22361131] [ 0. 0. 0. 1. ]] SLAMing on 321.60313336499996 meters Centerline goodness : 0.259961 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.33, Z:-0.22 [[ 0.99872948 0.00648741 -0.04997343 -1.93627261] [-0.00670427 0.99996882 -0.00417322 -0.33003613] [ 0.0499448 0.00450295 0.99874183 -0.22460678] [ 0. 0. 0. 1. ]] SLAMing on 321.633133365 meters Centerline goodness : 0.109511 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.33, Z:-0.22 [[ 0.99873359 0.00647056 -0.04989342 -1.93614131] [-0.00669941 0.99996779 -0.00442099 -0.32842124] [ 0.04986321 0.00474965 0.99874476 -0.22498554] [ 0. 0. 0. 1. ]] SLAMing on 321.66313336499996 meters Centerline goodness : 0.123335 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.33, Z:-0.23 [[ 0.99873878 0.00643531 -0.04979388 -1.93608406] [-0.00667761 0.99996665 -0.0047011 -0.32669128] [ 0.04976197 0.00502767 0.99874845 -0.22531761] [ 0. 0. 0. 1. ]] SLAMing on 321.693133365 meters Centerline goodness : 0.131435 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.32, Z:-0.23 [[ 0.99873994 0.00640839 -0.04977404 -1.93575258] [-0.00666425 0.99996541 -0.00497612 -0.32494325] [ 0.04974043 0.00530156 0.99874811 -0.22574868] [ 0. 0. 0. 1. ]] SLAMing on 321.72313336499997 meters Centerline goodness : 0.123199 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.32, Z:-0.23 [[ 0.99874325 0.0063404 -0.04971634 -1.93530869] [-0.0066101 0.99996431 -0.00526226 -0.32333734] [ 0.0496812 0.00558428 0.99874952 -0.22650074] [ 0. 0. 0. 1. ]] SLAMing on 321.753133365 meters Centerline goodness : 0.259883 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.32, Z:-0.23 [[ 0.99875236 0.00629853 -0.04953837 -1.93523095] [-0.00657989 0.99996312 -0.00551859 -0.32187116] [ 0.04950178 0.00583766 0.99875697 -0.22714403] [ 0. 0. 0. 1. ]] SLAMing on 321.78313336499997 meters Centerline goodness : 0.311906 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.32, Z:-0.23 [[ 0.99878756 0.00662937 -0.04877971 -1.93666464] [-0.00691023 0.99996049 -0.00559136 -0.31969253] [ 0.04874072 0.00592166 0.99879391 -0.22756898] [ 0. 0. 0. 1. ]] SLAMing on 321.813133365 meters Centerline goodness : 0.206497 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.32, Z:-0.23 [[ 0.99878108 0.00656789 -0.04892048 -1.93593313] [-0.00686535 0.99995894 -0.00591495 -0.31770623] [ 0.04887962 0.0062436 0.99878516 -0.22810887] [ 0. 0. 0. 1. ]] SLAMing on 321.84313336499997 meters Centerline goodness : 0.098893 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.32, Z:-0.23 [[ 0.99877553 0.0064763 -0.04904594 -1.93518418] [-0.0067903 0.99995749 -0.00623821 -0.31593225] [ 0.04900346 0.00656361 0.99877704 -0.22872028] [ 0. 0. 0. 1. ]] SLAMing on 321.873133365 meters Centerline goodness : 0.099501 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.31, Z:-0.23 [[ 0.99877347 0.00636297 -0.04910261 -1.93467534] [-0.00669196 0.99995623 -0.00653837 -0.31439737] [ 0.04905886 0.00685895 0.99877234 -0.22924375] [ 0. 0. 0. 1. ]] SLAMing on 321.903133365 meters Centerline goodness : 0.303891 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.31, Z:-0.23 [[ 0.99878058 0.00630124 -0.04896568 -1.93470851] [-0.00664052 0.99995504 -0.00676928 -0.31305341] [ 0.04892082 0.00708619 0.99877752 -0.22966697] [ 0. 0. 0. 1. ]] SLAMing on 321.933133365 meters Centerline goodness : 0.325624 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.31, Z:-0.23 [[ 9.98754783e-01 5.13180279e-04 -4.98860796e-02 -1.91706200e+00] [-8.19381797e-04 9.99980951e-01 -6.11775846e-03 -3.06825323e-01] [ 4.98819898e-02 6.15101626e-03 9.98736177e-01 -2.27252425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.963133365 meters Centerline goodness : 0.128137 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.30, Z:-0.23 [[ 9.98755280e-01 2.55102067e-04 -4.98780975e-02 -1.91655324e+00] [-5.96252891e-04 9.99976532e-01 -6.82493239e-03 -3.03174173e-01] [ 4.98751859e-02 6.84617723e-03 9.98731994e-01 -2.27964856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.993133365 meters Centerline goodness : 0.326754 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.30, Z:-0.23 [[ 9.98747545e-01 8.27433773e-05 -5.00333338e-02 -1.91573575e+00] [-4.45445995e-04 9.99973705e-01 -7.23811236e-03 -3.01111191e-01] [ 5.00314193e-02 7.25133410e-03 9.98721320e-01 -2.28585975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.023133365 meters Centerline goodness : 0.107582 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.30, Z:-0.23 [[ 9.98743246e-01 -8.70236725e-05 -5.01190591e-02 -1.91530748e+00] [-2.96585440e-04 9.99970721e-01 -7.64646897e-03 -2.99086200e-01] [ 5.01182571e-02 7.65172383e-03 9.98713979e-01 -2.28941082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.053133365 meters Centerline goodness : 0.330670 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.29, Z:-0.23 [[ 0.99866277 -0.00592167 -0.05135759 -1.89771216] [ 0.00556598 0.99995954 -0.00706601 -0.29241542] [ 0.05139736 0.0067707 0.99865533 -0.22620847] [ 0. 0. 0. 1. ]] SLAMing on 322.083133365 meters Centerline goodness : 0.343393 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.29, Z:-0.23 [[ 0.99868905 -0.00602122 -0.05083225 -1.89921438] [ 0.00565367 0.99995685 -0.00737145 -0.29024952] [ 0.05087444 0.0070744 0.99868 -0.22603329] [ 0. 0. 0. 1. ]] SLAMing on 322.113133365 meters Centerline goodness : 0.329739 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.29, Z:-0.23 [[ 0.99869984 -0.0060921 -0.05061137 -1.89983342] [ 0.00571726 0.99995517 -0.00754765 -0.28920655] [ 0.05065508 0.00724848 0.9986899 -0.22596919] [ 0. 0. 0. 1. ]] SLAMing on 322.143133365 meters Centerline goodness : 0.107049 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.29, Z:-0.23 [[ 0.99869928 -0.00621832 -0.05060719 -1.89966594] [ 0.00583107 0.99995261 -0.00779614 -0.28806085] [ 0.05065327 0.0074909 0.99868821 -0.22627257] [ 0. 0. 0. 1. ]] SLAMing on 322.173133365 meters Centerline goodness : 0.108079 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.29, Z:-0.23 [[ 9.98746521e-01 1.54178466e-03 -5.00300935e-02 -1.87895674e+00] [-2.07096864e-03 9.99942443e-01 -1.05272000e-02 -2.88008212e-01] [ 5.00109832e-02 1.06176152e-02 9.98692229e-01 -2.26264232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.203133365 meters Centerline goodness : 0.106134 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.29, Z:-0.23 [[ 9.98728253e-01 1.33492967e-03 -5.03993510e-02 -1.87762876e+00] [-1.88428480e-03 9.99939317e-01 -1.08541041e-02 -2.86815908e-01] [ 5.03818032e-02 1.09352671e-02 9.98670163e-01 -2.26890885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23313336499996 meters Centerline goodness : 0.309596 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.29, Z:-0.23 [[ 9.98711666e-01 1.20921894e-03 -5.07301254e-02 -1.87648704e+00] [-1.77379559e-03 9.99936981e-01 -1.10854766e-02 -2.85697895e-01] [ 5.07135237e-02 1.11611797e-02 9.98650873e-01 -2.27426939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.263133365 meters Centerline goodness : 0.254783 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.28, Z:-0.23 [[ 9.98712497e-01 1.15864489e-03 -5.07149449e-02 -1.87604479e+00] [-1.73756448e-03 9.99933821e-01 -1.13725679e-02 -2.83561195e-01] [ 5.06984119e-02 1.14460461e-02 9.98648416e-01 -2.28135441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29313336499996 meters Centerline goodness : 0.335184 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.28, Z:-0.23 [[ 9.98721260e-01 1.10072825e-03 -5.05433763e-02 -1.87642267e+00] [-1.68832160e-03 9.99931474e-01 -1.15843044e-02 -2.82324029e-01] [ 5.05271616e-02 1.16548245e-02 9.98654681e-01 -2.28124716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.323133365 meters Centerline goodness : 0.320405 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.28, Z:-0.23 [[ 9.98733613e-01 9.42280681e-04 -5.03019213e-02 -1.87716764e+00] [-1.55476315e-03 9.99925118e-01 -1.21383851e-02 -2.79218121e-01] [ 5.02867168e-02 1.22012208e-02 9.98660291e-01 -2.27817362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35313336499996 meters Centerline goodness : 0.107823 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.28, Z:-0.23 [[ 9.98738940e-01 8.58057958e-04 -5.01975492e-02 -1.87721143e+00] [-1.48631477e-03 9.99921021e-01 -1.24796979e-02 -2.77127573e-01] [ 5.01828764e-02 1.25385696e-02 9.98661336e-01 -2.28100913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.383133365 meters Centerline goodness : 0.113219 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.27, Z:-0.23 [[ 9.98742966e-01 7.25309900e-04 -5.01194699e-02 -1.87693360e+00] [-1.37433001e-03 9.99915638e-01 -1.29162124e-02 -2.74607833e-01] [ 5.01058735e-02 1.29688570e-02 9.98659707e-01 -2.28709796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41313336499996 meters Centerline goodness : 0.252817 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.27, Z:-0.23 [[ 9.98751981e-01 5.98395529e-04 -4.99411934e-02 -1.87698978e+00] [-1.26863319e-03 9.99909546e-01 -1.33899186e-02 -2.71901617e-01] [ 4.99286636e-02 1.34365648e-02 9.98662399e-01 -2.29193807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.443133365 meters Centerline goodness : 0.243024 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.27, Z:-0.23 [[ 9.98755340e-01 4.01547642e-04 -4.98759362e-02 -1.87674673e+00] [-1.09754045e-03 9.99902400e-01 -1.39278776e-02 -2.69113290e-01] [ 4.98654757e-02 1.39652830e-02 9.98658303e-01 -2.29701221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47313336499997 meters Centerline goodness : 0.321705 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.27, Z:-0.23 [[ 9.98752788e-01 2.30107627e-04 -4.99281017e-02 -1.87615579e+00] [-9.52344128e-04 9.99895252e-01 -1.44422240e-02 -2.66393968e-01] [ 4.99195485e-02 1.44717603e-02 9.98648390e-01 -2.30358411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.503133365 meters Centerline goodness : 0.118952 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.26, Z:-0.23 [[ 9.98768112e-01 7.79257477e-05 -4.96210829e-02 -1.87668100e+00] [-8.30157598e-04 9.99885053e-01 -1.51390922e-02 -2.61939333e-01] [ 4.96141993e-02 1.51616358e-02 9.98653371e-01 -2.30592959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53313336499997 meters Centerline goodness : 0.125590 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.26, Z:-0.23 [[ 9.98773518e-01 -4.11173713e-05 -4.95121992e-02 -1.87696076e+00] [-7.24653956e-04 9.99880406e-01 -1.54482662e-02 -2.60180824e-01] [ 4.95069130e-02 1.54651984e-02 9.98654041e-01 -2.30554277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.563133365 meters Centerline goodness : 0.099489 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.26, Z:-0.23 [[ 9.98777530e-01 -1.65768109e-04 -4.94309493e-02 -1.87700602e+00] [-6.12918349e-04 9.99875971e-01 -1.57374405e-02 -2.58642749e-01] [ 4.94274272e-02 1.57484991e-02 9.98653551e-01 -2.30773068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59313336499997 meters Centerline goodness : 0.102202 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.26, Z:-0.23 [[ 9.98779978e-01 -3.01900519e-04 -4.93808157e-02 -1.87691454e+00] [-4.88369038e-04 9.99872021e-01 -1.59907261e-02 -2.57512646e-01] [ 4.93793236e-02 1.59953331e-02 9.98652007e-01 -2.31089057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.623133365 meters Centerline goodness : 0.303991 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.26, Z:-0.23 [[ 9.98774831e-01 -4.25428384e-04 -4.94838984e-02 -1.87645769e+00] [-3.77765955e-04 9.99868360e-01 -1.62209433e-02 -2.56520279e-01] [ 4.94842852e-02 1.62197632e-02 9.98643192e-01 -2.31380935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.653133365 meters Centerline goodness : 0.334164 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.26, Z:-0.23 [[ 9.98773223e-01 -5.43907728e-04 -4.95151774e-02 -1.87620503e+00] [-2.72549559e-04 9.99864145e-01 -1.64807859e-02 -2.55246126e-01] [ 4.95174146e-02 1.64740630e-02 9.98637387e-01 -2.31674387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.683133365 meters Centerline goodness : 0.138593 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.25, Z:-0.23 [[ 9.98768546e-01 -7.77139477e-04 -4.96063259e-02 -1.87548260e+00] [-7.18899579e-05 9.99853589e-01 -1.71112677e-02 -2.51807514e-01] [ 4.96123609e-02 1.70937622e-02 9.98622259e-01 -2.32376477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.713133365 meters Centerline goodness : 0.314226 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.23 [[ 9.98764255e-01 -9.24282273e-04 -4.96901309e-02 -1.87476903e+00] [ 5.56401465e-05 9.99847216e-01 -1.74797219e-02 -2.49764471e-01] [ 4.96986953e-02 1.74553566e-02 9.98611711e-01 -2.33109878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.743133365 meters Centerline goodness : 0.284874 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.23 [[ 9.98762459e-01 -1.05096508e-03 -4.97236937e-02 -1.87423752e+00] [ 1.65718619e-04 9.99841481e-01 -1.78040866e-02 -2.47945561e-01] [ 4.97345230e-02 1.77738132e-02 9.98604310e-01 -2.33765182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.773133365 meters Centerline goodness : 0.136993 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.23 [[ 9.98758888e-01 -1.12808838e-03 -4.97936806e-02 -1.87361036e+00] [ 2.31881925e-04 9.99837951e-01 -1.80005059e-02 -2.46826137e-01] [ 4.98059178e-02 1.79666190e-02 9.98597302e-01 -2.34453399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.803133365 meters Centerline goodness : 0.332124 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.23 [[ 9.98750576e-01 -1.29088056e-03 -4.99561869e-02 -1.87294706e+00] [ 3.83235932e-04 9.99834763e-01 -1.81741283e-02 -2.46449803e-01] [ 4.99713929e-02 1.81322761e-02 9.98586041e-01 -2.34891484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.833133365 meters Centerline goodness : 0.242625 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.23 [[ 9.98748589e-01 -1.32789888e-03 -4.99949268e-02 -1.87286391e+00] [ 4.19681246e-04 9.99834782e-01 -1.81723125e-02 -2.46652805e-01] [ 5.00107977e-02 1.81285895e-02 9.98584135e-01 -2.34929222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.863133365 meters Centerline goodness : 0.200267 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.23 [[ 9.98748666e-01 -1.36512358e-03 -4.99923939e-02 -1.87287402e+00] [ 4.57327878e-04 9.99834887e-01 -1.81656148e-02 -2.46882120e-01] [ 5.00089378e-02 1.81200206e-02 9.98584384e-01 -2.34938109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.893133365 meters Centerline goodness : 0.335389 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.24 [[ 9.98750887e-01 -1.39101051e-03 -4.99472751e-02 -1.87298064e+00] [ 4.84260420e-04 9.99834946e-01 -1.81616594e-02 -2.47049665e-01] [ 4.99642941e-02 1.81147860e-02 9.98586713e-01 -2.35002188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.923133365 meters Centerline goodness : 0.098557 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.24 [[ 9.98747642e-01 -1.41392271e-03 -5.00114781e-02 -1.87256888e+00] [ 5.03013046e-04 9.99833841e-01 -1.82219105e-02 -2.46690931e-01] [ 5.00289326e-02 1.81739337e-02 9.98582402e-01 -2.35359892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.953133365 meters Centerline goodness : 0.101870 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.24 [[ 9.98750605e-01 -1.44050238e-03 -4.99515198e-02 -1.87238132e+00] [ 5.21937907e-04 9.99830619e-01 -1.83972899e-02 -2.45481251e-01] [ 4.99695603e-02 1.83482328e-02 9.98582188e-01 -2.35805801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98313336499996 meters Centerline goodness : 0.182334 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.24, Z:-0.24 [[ 0.99872928 0.00226798 -0.05034558 -1.87122966] [-0.00304209 0.99987825 -0.01530453 -0.24231181] [ 0.05030474 0.01543824 0.99861459 -0.23609548] [ 0. 0. 0. 1. ]] SLAMing on 323.013133365 meters Centerline goodness : 0.335370 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.24, Z:-0.24 [[ 0.99873725 0.00222222 -0.05018926 -1.87123091] [-0.00301822 0.99987078 -0.01578964 -0.2392436 ] [ 0.05014769 0.01592118 0.9986149 -0.23656485] [ 0. 0. 0. 1. ]] SLAMing on 323.04313336499996 meters Centerline goodness : 0.334767 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.24, Z:-0.24 [[ 0.99874486 0.00217257 -0.05003982 -1.87111782] [-0.00299262 0.99986236 -0.01631878 -0.23570476] [ 0.04999748 0.01644805 0.9986139 -0.23722152] [ 0. 0. 0. 1. ]] SLAMing on 323.073133365 meters Centerline goodness : 0.334767 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.24, Z:-0.24 [[ 0.99874486 0.00217257 -0.05003982 -1.87111782] [-0.00299262 0.99986236 -0.01631878 -0.23570476] [ 0.04999748 0.01644805 0.9986139 -0.23722152] [ 0. 0. 0. 1. ]] SLAMing on 323.10313336499996 meters Centerline goodness : 0.135024 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.23, Z:-0.24 [[ 0.99872237 0.00577513 -0.05020228 -1.87041132] [-0.00647139 0.99988497 -0.01371765 -0.22873855] [ 0.05011728 0.014025 0.99864486 -0.23750582] [ 0. 0. 0. 1. ]] SLAMing on 323.133133365 meters Centerline goodness : 0.300425 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.22, Z:-0.24 [[ 0.99873725 0.0056072 -0.04992467 -1.8707404 ] [-0.00633435 0.99987598 -0.01441879 -0.22431526] [ 0.04983763 0.01471682 0.9986489 -0.237924 ] [ 0. 0. 0. 1. ]] SLAMing on 323.16313336499996 meters Centerline goodness : 0.137679 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.22, Z:-0.24 [[ 0.99875135 0.00534236 -0.04967087 -1.87102269] [-0.00610648 0.99986515 -0.01524451 -0.21961049] [ 0.04958273 0.01552879 0.99864929 -0.23834948] [ 0. 0. 0. 1. ]] SLAMing on 323.193133365 meters Centerline goodness : 0.123416 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.21, Z:-0.24 [[ 0.99875684 0.00498853 -0.04959734 -1.87097323] [-0.00579729 0.99985236 -0.01617588 -0.21463624] [ 0.04950932 0.0164433 0.9986383 -0.23863259] [ 0. 0. 0. 1. ]] SLAMing on 323.22313336499997 meters Centerline goodness : 0.337809 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.21, Z:-0.24 [[ 0.99876238 0.00455535 -0.04952739 -1.87089411] [-0.00541193 0.99983785 -0.01717485 -0.20959389] [ 0.04944112 0.01742163 0.99862509 -0.2389359 ] [ 0. 0. 0. 1. ]] SLAMing on 323.253133365 meters Centerline goodness : 0.102223 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.20, Z:-0.24 [[ 0.9987648 0.00412156 -0.04951657 -1.87067682] [-0.00502462 0.99982307 -0.01812696 -0.20475058] [ 0.0494331 0.01835337 0.99860879 -0.23921724] [ 0. 0. 0. 1. ]] SLAMing on 323.28313336499997 meters Centerline goodness : 0.340442 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.19, Z:-0.24 [[ 0.99890767 -0.00347149 -0.04659842 -1.89193198] [ 0.00265828 0.99984329 -0.01750203 -0.18978553] [ 0.04665188 0.01735904 0.99876036 -0.24107321] [ 0. 0. 0. 1. ]] SLAMing on 323.313133365 meters Centerline goodness : 0.093245 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.19, Z:-0.24 [[ 0.99892641 -0.00371198 -0.04617622 -1.89315165] [ 0.00287849 0.99983198 -0.01810344 -0.18634011] [ 0.04623566 0.01795109 0.99876925 -0.24078762] [ 0. 0. 0. 1. ]] SLAMing on 323.34313336499997 meters Centerline goodness : 0.103629 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.18, Z:-0.24 [[ 0.99894011 -0.0039413 -0.04585984 -1.89412744] [ 0.00308774 0.99982096 -0.01866841 -0.18323054] [ 0.04592521 0.01850702 0.99877343 -0.24050271] [ 0. 0. 0. 1. ]] SLAMing on 323.373133365 meters Centerline goodness : 0.183851 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.18, Z:-0.24 [[ 0.99894368 -0.00424268 -0.04575511 -1.89423644] [ 0.00336411 0.99980882 -0.01926148 -0.18036502] [ 0.04582808 0.01908721 0.99876697 -0.24071645] [ 0. 0. 0. 1. ]] SLAMing on 323.403133365 meters Centerline goodness : 0.088911 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.18, Z:-0.24 [[ 0.99891504 -0.00504159 -0.04629613 -1.89212724] [ 0.00409533 0.99978123 -0.0205116 -0.17530434] [ 0.04638941 0.02029975 0.99871715 -0.24189734] [ 0. 0. 0. 1. ]] SLAMing on 323.433133365 meters Centerline goodness : 0.155496 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.17, Z:-0.24 [[ 0.99890727 -0.00528057 -0.04643679 -1.89146055] [ 0.00431052 0.99977091 -0.02096523 -0.17308042] [ 0.04653686 0.02074215 0.9987012 -0.24238022] [ 0. 0. 0. 1. ]] SLAMing on 323.463133365 meters Centerline goodness : 0.157362 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.17, Z:-0.24 [[ 0.99891001 -0.0054268 -0.0463609 -1.89154227] [ 0.00444167 0.99976271 -0.02132581 -0.17111286] [ 0.04646563 0.02109665 0.99869709 -0.24253196] [ 0. 0. 0. 1. ]] SLAMing on 323.493133365 meters Centerline goodness : 0.117737 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.16, Z:-0.24 [[ 0.99883871 -0.01188217 -0.04669093 -1.87344818] [ 0.01092865 0.99972756 -0.02062438 -0.16334968] [ 0.04692327 0.02009016 0.99869645 -0.23999678] [ 0. 0. 0. 1. ]] SLAMing on 323.523133365 meters SLAMing on 323.553133365 meters SLAMing on 323.583133365 meters SLAMing on 323.613133365 meters SLAMing on 323.643133365 meters SLAMing on 323.673133365 meters Centerline goodness : 0.126108 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.13, Z:-0.24 [[ 9.98791596e-01 -2.35586822e-03 -4.90896889e-02 -1.86758853e+00] [ 1.30396927e-03 9.99769091e-01 -2.14491211e-02 -1.28349014e-01] [ 4.91288849e-02 2.13591905e-02 9.98564038e-01 -2.41622425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.703133365 meters Centerline goodness : 0.200785 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.12, Z:-0.24 [[ 9.98765531e-01 1.18267430e-03 -4.96589905e-02 -1.86617120e+00] [-2.10536334e-03 9.99826045e-01 -1.85323093e-02 -1.24829127e-01] [ 4.96284344e-02 1.86139820e-02 9.98594281e-01 -2.41728328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73313336499996 meters Centerline goodness : 0.164687 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.12, Z:-0.24 [[ 0.9987337 0.00478628 -0.05008084 -1.86503137] [-0.0055736 0.99986288 -0.01559327 -0.12104742] [ 0.04999934 0.01585265 0.99862343 -0.24190146] [ 0. 0. 0. 1. ]] SLAMing on 323.763133365 meters Centerline goodness : 0.161346 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.12, Z:-0.24 [[ 0.99873755 0.00472192 -0.05001016 -1.8647559 ] [-0.0055443 0.99985147 -0.01631841 -0.11504146] [ 0.04992567 0.01657508 0.99861539 -0.2424907 ] [ 0. 0. 0. 1. ]] SLAMing on 323.79313336499996 meters Centerline goodness : 0.154897 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.11, Z:-0.24 [[ 0.9987378 0.00455046 -0.05002101 -1.86438796] [-0.00541532 0.99983795 -0.01716817 -0.10908474] [ 0.04993478 0.01741738 0.9986006 -0.24294521] [ 0. 0. 0. 1. ]] SLAMing on 323.823133365 meters Centerline goodness : 0.159500 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.10, Z:-0.24 [[ 0.99873093 0.00705097 -0.04986786 -1.8637071 ] [-0.00788556 0.99983179 -0.01655904 -0.09783144] [ 0.04974272 0.01693126 0.99861854 -0.24324543] [ 0. 0. 0. 1. ]] SLAMing on 323.85313336499996 meters Centerline goodness : 0.157633 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.09, Z:-0.24 [[ 0.99873642 0.00681912 -0.04979009 -1.86375502] [-0.00769415 0.99981893 -0.01740396 -0.09403661] [ 0.0496624 0.01776506 0.99860806 -0.24326444] [ 0. 0. 0. 1. ]] SLAMing on 323.883133365 meters Centerline goodness : 0.148124 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.09, Z:-0.24 [[ 0.99875456 0.0065488 -0.04946153 -1.86437342] [-0.00744989 0.99980923 -0.01805549 -0.09085614] [ 0.04933385 0.01840149 0.99861282 -0.24349895] [ 0. 0. 0. 1. ]] SLAMing on 323.91313336499996 meters Centerline goodness : 0.127221 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.08, Z:-0.25 [[ 9.98793861e-01 -2.01078306e-03 -4.90589384e-02 -1.88308578e+00] [ 1.18385640e-03 9.99856838e-01 -1.68790177e-02 -8.26186464e-02] [ 4.90858550e-02 1.68005805e-02 9.98653253e-01 -2.46275716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.943133365 meters Centerline goodness : 0.149352 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.08, Z:-0.25 [[ 9.98794816e-01 -2.28496250e-03 -4.90274800e-02 -1.88304722e+00] [ 1.42820408e-03 9.99845791e-01 -1.75029862e-02 -7.92921225e-02] [ 4.90599132e-02 1.74118706e-02 9.98644057e-01 -2.46477144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97313336499997 meters Centerline goodness : 0.127711 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.08, Z:-0.25 [[ 0.9988132 -0.00288004 -0.0486199 -1.88380114] [ 0.00198234 0.99982686 -0.01850179 -0.07529322] [ 0.04866477 0.01838345 0.99864598 -0.2469553 ] [ 0. 0. 0. 1. ]] SLAMing on 324.003133365 meters Centerline goodness : 0.152036 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.07, Z:-0.25 [[ 0.99881079 -0.00310333 -0.04865561 -1.88361671] [ 0.00218603 0.99981909 -0.01889474 -0.07385536] [ 0.04870544 0.01876591 0.99863688 -0.24723424] [ 0. 0. 0. 1. ]] SLAMing on 324.03313336499997 meters Centerline goodness : 0.175412 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.07, Z:-0.25 [[ 0.99881441 -0.00329603 -0.0485687 -1.88365351] [ 0.00236892 0.99981413 -0.01913375 -0.07293838] [ 0.04862274 0.01899601 0.99863656 -0.24765321] [ 0. 0. 0. 1. ]] SLAMing on 324.063133365 meters Centerline goodness : 0.122172 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.08, Z:-0.25 [[ 0.99878584 0.00438733 -0.04906729 -1.86712435] [-0.00535463 0.99979357 -0.01959976 -0.07556947] [ 0.04897117 0.0198387 0.99860315 -0.24757627] [ 0. 0. 0. 1. ]] SLAMing on 324.09313336499997 meters Centerline goodness : 0.170059 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.07, Z:-0.25 [[ 0.99878424 0.00419405 -0.04911665 -1.86687515] [-0.00518214 0.99978641 -0.02000714 -0.07362928] [ 0.04902225 0.02023735 0.99859264 -0.24775576] [ 0. 0. 0. 1. ]] SLAMing on 324.123133365 meters Centerline goodness : 0.148383 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.07, Z:-0.25 [[ 0.99878547 0.00404385 -0.04910431 -1.86680608] [-0.00505448 0.9997776 -0.02047467 -0.07086878] [ 0.0490106 0.020698 0.99858377 -0.24783423] [ 0. 0. 0. 1. ]] SLAMing on 324.153133365 meters Centerline goodness : 0.137678 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.07, Z:-0.25 [[ 0.99878695 0.00384456 -0.04909022 -1.86678032] [-0.0048845 0.99976582 -0.02108181 -0.06753696] [ 0.04899768 0.02129601 0.99857183 -0.24790332] [ 0. 0. 0. 1. ]] SLAMing on 324.183133365 meters Centerline goodness : 0.137335 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.06, Z:-0.25 [[ 0.99878555 0.00364222 -0.04913413 -1.86645361] [-0.00471898 0.99975085 -0.0218165 -0.06332956] [ 0.04904242 0.02202186 0.99855389 -0.24819704] [ 0. 0. 0. 1. ]] SLAMing on 324.213133365 meters Centerline goodness : 0.126287 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.05, Z:-0.25 [[ 0.99875995 0.00621977 -0.04939508 -1.86509521] [-0.00725555 0.99975696 -0.0208176 -0.05417596] [ 0.04925359 0.02115017 0.99856234 -0.24826516] [ 0. 0. 0. 1. ]] SLAMing on 324.243133365 meters Centerline goodness : 0.139811 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.05, Z:-0.25 [[ 0.998746 0.00609288 -0.04969201 -1.86423251] [-0.0071718 0.99974177 -0.02156268 -0.05061996] [ 0.0495478 0.02189202 0.9985318 -0.24826845] [ 0. 0. 0. 1. ]] SLAMing on 324.273133365 meters Centerline goodness : 0.167010 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.05, Z:-0.25 [[ 0.99874501 0.00595497 -0.04972871 -1.86409905] [-0.00706357 0.99972977 -0.02214703 -0.04780463] [ 0.04958339 0.0224705 0.99851718 -0.24825581] [ 0. 0. 0. 1. ]] SLAMing on 324.303133365 meters Centerline goodness : 0.126716 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.04, Z:-0.25 [[ 0.99874887 0.00568053 -0.04968327 -1.86432947] [-0.00682318 0.99971541 -0.02285928 -0.04462027] [ 0.04953928 0.02316968 0.99850339 -0.24800141] [ 0. 0. 0. 1. ]] SLAMing on 324.333133365 meters SLAMing on 324.363133365 meters Centerline goodness : 0.157313 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.04, Z:-0.25 [[ 0.9987768 0.00477924 -0.04921437 -1.86624062] [-0.00599204 0.99968125 -0.02452522 -0.03706754] [ 0.04908147 0.02479012 0.99848709 -0.24699322] [ 0. 0. 0. 1. ]] SLAMing on 324.393133365 meters Centerline goodness : 0.134859 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.04, Z:-0.25 [[ 0.99878491 0.00459791 -0.04906694 -1.86641339] [-0.00582317 0.99967404 -0.02485761 -0.03534999] [ 0.04893665 0.02511313 0.99848612 -0.24732641] [ 0. 0. 0. 1. ]] SLAMing on 324.423133365 meters Centerline goodness : 0.174060 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.03, Z:-0.25 [[ 0.99874402 -0.0041075 -0.049935 -1.8853681 ] [ 0.00292049 0.99971198 -0.0238208 -0.02956192] [ 0.05001847 0.02364505 0.99846836 -0.24946429] [ 0. 0. 0. 1. ]] SLAMing on 324.453133365 meters Centerline goodness : 0.141407 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.02, Z:-0.25 [[ 0.99859448 -0.01084328 -0.05187953 -1.86657818] [ 0.00962011 0.99967119 -0.02376888 -0.01875035] [ 0.05212021 0.02323639 0.99837045 -0.24677172] [ 0. 0. 0. 1. ]] SLAMing on 324.48313336499996 meters Centerline goodness : 0.155444 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.02, Z:-0.25 [[ 0.99859432 -0.01098084 -0.05185374 -1.86702848] [ 0.00973872 0.99966099 -0.02414666 -0.01666891] [ 0.05210131 0.02360773 0.99836272 -0.24622049] [ 0. 0. 0. 1. ]] SLAMing on 324.513133365 meters Centerline goodness : 0.166198 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.01, Z:-0.25 [[ 0.99859949 -0.01109725 -0.05172917 -1.86773664] [ 0.00984053 0.99965174 -0.02448589 -0.0146507 ] [ 0.05198288 0.02394255 0.99836092 -0.24562229] [ 0. 0. 0. 1. ]] SLAMing on 324.54313336499996 meters SLAMing on 324.573133365 meters Centerline goodness : 0.164045 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.01, Z:-0.25 [[ 0.99861414 -0.01140549 -0.0513781 -1.86894186] [ 0.01011411 0.9996281 -0.02532523 -0.0101812 ] [ 0.05164784 0.02477049 0.99835811 -0.24505869] [ 0. 0. 0. 1. ]] SLAMing on 324.60313336499996 meters Centerline goodness : 0.155098 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.01, Z:-0.25 [[ 0.99862517 -0.00852093 -0.05172194 -1.86815573] [ 0.00735402 0.99971505 -0.02270981 -0.00839336] [ 0.05190071 0.02229822 0.99840328 -0.2450981 ] [ 0. 0. 0. 1. ]] SLAMing on 324.633133365 meters Centerline goodness : 0.128711 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.00, Z:-0.25 [[ 0.99858284 -0.00613602 -0.05286463 -1.86385444] [ 0.00503454 0.99976798 -0.02094391 -0.0034244 ] [ 0.05298087 0.02064808 0.99838203 -0.24686469] [ 0. 0. 0. 1. ]] SLAMing on 324.66313336499996 meters SLAMing on 324.693133365 meters SLAMing on 324.72313336499997 meters SLAMing on 324.753133365 meters Centerline goodness : 0.165728 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.00, Z:-0.25 [[ 9.98545225e-01 -7.12269186e-03 -5.34481092e-02 -1.86273252e+00] [ 5.93719194e-03 9.99733550e-01 -2.23064832e-02 1.37854261e-03] [ 5.35927502e-02 2.19567006e-02 9.98321451e-01 -2.46542610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78313336499997 meters Centerline goodness : 0.133841 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.00, Z:-0.25 [[ 9.98542899e-01 -7.11895365e-03 -5.34920528e-02 -1.86273216e+00] [ 5.93322946e-03 9.99733884e-01 -2.22925646e-02 1.53218468e-03] [ 5.36365175e-02 2.19427014e-02 9.98319409e-01 -2.46422496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.813133365 meters Centerline goodness : 0.132479 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.00, Z:-0.25 [[ 0.99854254 -0.00715782 -0.05349362 -1.86285002] [ 0.00596843 0.99973215 -0.02236084 0.00192143] [ 0.05363935 0.02200897 0.9983178 -0.24623877] [ 0. 0. 0. 1. ]] SLAMing on 324.84313336499997 meters Centerline goodness : 0.144823 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.00, Z:-0.25 [[ 0.99854272 -0.00721519 -0.05348252 -1.86282846] [ 0.00601922 0.99972896 -0.02248926 0.00259136] [ 0.05363029 0.02213456 0.99831551 -0.24633574] [ 0. 0. 0. 1. ]] SLAMing on 324.873133365 meters SLAMing on 324.903133365 meters SLAMing on 324.933133365 meters SLAMing on 324.963133365 meters Centerline goodness : 0.144249 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.01, Z:-0.25 [[ 0.99855022 -0.00343236 -0.05371857 -1.86233998] [ 0.00237854 0.99980372 -0.01966909 0.00812982] [ 0.05377554 0.0195128 0.99836238 -0.2463254 ] [ 0. 0. 0. 1. ]] SLAMing on 324.993133365 meters Centerline goodness : 0.144249 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.01, Z:-0.25 [[ 0.99855022 -0.00343236 -0.05371857 -1.86233998] [ 0.00237854 0.99980372 -0.01966909 0.00812982] [ 0.05377554 0.0195128 0.99836238 -0.2463254 ] [ 0. 0. 0. 1. ]] SLAMing on 325.023133365 meters Centerline goodness : 0.168317 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.01, Z:-0.25 [[ 9.98539333e-01 4.28519689e-04 -5.40279187e-02 -1.86163778e+00] [-1.30648415e-03 9.99867660e-01 -1.62159279e-02 9.44338492e-03] [ 5.40138198e-02 1.62628284e-02 9.98407746e-01 -2.46341297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.053133365 meters Centerline goodness : 0.060144 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.01, Z:-0.25 [[ 9.98536406e-01 4.39563853e-04 -5.40819050e-02 -1.86130708e+00] [-1.34387997e-03 9.99859876e-01 -1.66860027e-02 1.26050477e-02] [ 5.40669922e-02 1.67342608e-02 9.98397078e-01 -2.46687016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.083133365 meters SLAMing on 325.113133365 meters Centerline goodness : 0.130968 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.02, Z:-0.25 [[ 0.99853991 0.00388143 -0.05387936 -1.86136575] [-0.00467729 0.9998817 -0.014653 0.02196514] [ 0.05381611 0.01488362 0.99843994 -0.24721987] [ 0. 0. 0. 1. ]] SLAMing on 325.143133365 meters Centerline goodness : 0.058682 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.03, Z:-0.25 [[ 0.99856032 0.00379861 -0.05350562 -1.86227938] [-0.00461619 0.99987435 -0.01516501 0.02517735] [ 0.05344129 0.01539017 0.99845239 -0.24720224] [ 0. 0. 0. 1. ]] SLAMing on 325.173133365 meters SLAMing on 325.203133365 meters Centerline goodness : 0.132598 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:-0.25 [[ 0.99860724 0.00591265 -0.0524272 -1.86645134] [-0.00664825 0.99988174 -0.01386758 0.03199407] [ 0.05233901 0.01419682 0.99852846 -0.24548422] [ 0. 0. 0. 1. ]] SLAMing on 325.23313336499996 meters Centerline goodness : 0.132511 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:-0.25 [[ 0.99862112 0.00573372 -0.05218221 -1.86718731] [-0.00649216 0.99987558 -0.01437653 0.03468429] [ 0.05209329 0.01469548 0.99853409 -0.24529299] [ 0. 0. 0. 1. ]] SLAMing on 325.263133365 meters Centerline goodness : 0.113003 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.04, Z:-0.25 [[ 0.99862748 0.00551699 -0.05208378 -1.86754115] [-0.00630035 0.99986931 -0.01488824 0.03713438] [ 0.05199484 0.01519595 0.99853173 -0.24514254] [ 0. 0. 0. 1. ]] SLAMing on 325.29313336499996 meters Centerline goodness : 0.130164 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.04, Z:-0.25 [[ 0.99862645 0.00519808 -0.05213638 -1.86725631] [-0.00601845 0.99986035 -0.0155904 0.04062053] [ 0.05204806 0.01588276 0.99851827 -0.24539207] [ 0. 0. 0. 1. ]] SLAMing on 325.323133365 meters Centerline goodness : 0.134282 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.04, Z:-0.25 [[ 0.99862141 0.00507178 -0.05224525 -1.86684846] [-0.00590826 0.99985663 -0.01586882 0.04202576] [ 0.05215727 0.01615562 0.99850819 -0.24561495] [ 0. 0. 0. 1. ]] SLAMing on 325.35313336499996 meters Centerline goodness : 0.134016 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.05, Z:-0.24 [[ 9.98593175e-01 -2.10986062e-03 -5.29831898e-02 -1.84783499e+00] [ 1.30982706e-03 9.99884678e-01 -1.51299487e-02 4.94989948e-02] [ 5.30090018e-02 1.50392647e-02 9.98480779e-01 -2.43242290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.383133365 meters Centerline goodness : 0.137271 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.05, Z:-0.24 [[ 0.99846056 -0.0028253 -0.0553943 -1.89240635] [ 0.001967 0.99987727 -0.01554273 0.05180635] [ 0.05543142 0.01540984 0.99834358 -0.24487691] [ 0. 0. 0. 1. ]] SLAMing on 325.41313336499996 meters Centerline goodness : 0.136654 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.05, Z:-0.24 [[ 0.99845613 -0.00299471 -0.05546514 -1.89229007] [ 0.00211118 0.99987006 -0.01598127 0.05402545] [ 0.05550579 0.0158395 0.99833272 -0.24485376] [ 0. 0. 0. 1. ]] SLAMing on 325.443133365 meters Centerline goodness : 0.136492 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.06, Z:-0.24 [[ 0.99846503 -0.00313355 -0.05529697 -1.8927096 ] [ 0.00223165 0.9998636 -0.01636438 0.05618447] [ 0.05534071 0.01621586 0.99833584 -0.2448789 ] [ 0. 0. 0. 1. ]] SLAMing on 325.47313336499997 meters Centerline goodness : 0.141744 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.06, Z:-0.24 [[ 0.99847417 -0.003277 -0.05512351 -1.89317548] [ 0.00235553 0.99985655 -0.0167731 0.05842943] [ 0.05517057 0.01661766 0.99833865 -0.24481074] [ 0. 0. 0. 1. ]] SLAMing on 325.503133365 meters Centerline goodness : 0.158804 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.06, Z:-0.24 [[ 0.99848883 -0.00340708 -0.05484936 -1.89399768] [ 0.00247007 0.99985001 -0.017142 0.0604484 ] [ 0.05489954 0.01698061 0.99834748 -0.24459183] [ 0. 0. 0. 1. ]] SLAMing on 325.53313336499997 meters Centerline goodness : 0.129251 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.06, Z:-0.24 [[ 0.99849754 -0.00354812 -0.0546815 -1.89458715] [ 0.0025948 0.99984358 -0.01749505 0.06226067] [ 0.05473502 0.01732687 0.99835057 -0.24432258] [ 0. 0. 0. 1. ]] SLAMing on 325.563133365 meters Centerline goodness : 0.130046 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.07, Z:-0.24 [[ 0.99841262 -0.00873182 -0.05564175 -1.87216457] [ 0.00789957 0.99985388 -0.01515967 0.07081504] [ 0.05576599 0.01469606 0.9983357 -0.24338338] [ 0. 0. 0. 1. ]] SLAMing on 325.59313336499997 meters Centerline goodness : 0.138042 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.07, Z:-0.24 [[ 0.99840004 -0.00889474 -0.05584126 -1.87144293] [ 0.0080361 0.9998463 -0.01558225 0.07318122] [ 0.05597127 0.01510857 0.99831806 -0.24376762] [ 0. 0. 0. 1. ]] SLAMing on 325.623133365 meters Centerline goodness : 0.119045 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.07, Z:-0.25 [[ 9.98383880e-01 -7.42513564e-04 -5.68249674e-02 -1.89115663e+00] [-1.98276120e-04 9.99863045e-01 -1.65484926e-02 7.13445157e-02] [ 5.68294724e-02 1.65330153e-02 9.98246999e-01 -2.45776056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.653133365 meters Centerline goodness : 0.119993 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.07, Z:-0.25 [[ 9.98373283e-01 -9.21931372e-04 -5.70082328e-02 -1.89057281e+00] [-4.62977797e-05 9.99855822e-01 -1.69803705e-02 7.35017836e-02] [ 5.70156682e-02 1.69553876e-02 9.98229297e-01 -2.46015186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.683133365 meters Centerline goodness : 0.124036 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.08, Z:-0.25 [[ 9.98370902e-01 -1.10378836e-03 -5.70466834e-02 -1.89042670e+00] [ 1.10903910e-04 9.99848515e-01 -1.74050068e-02 7.55645817e-02] [ 5.70572532e-02 1.73703256e-02 9.98219786e-01 -2.46105714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.713133365 meters Centerline goodness : 0.130594 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.08, Z:-0.25 [[ 9.98371266e-01 -1.27347208e-03 -5.70367755e-02 -1.89060622e+00] [ 2.58903789e-04 9.99841679e-01 -1.77918255e-02 7.74016997e-02] [ 5.70504028e-02 1.77480803e-02 9.98213533e-01 -2.45911728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.743133365 meters Centerline goodness : 0.121188 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.08, Z:-0.25 [[ 9.98391785e-01 -1.59168952e-03 -5.66684284e-02 -1.89175452e+00] [ 5.39994623e-04 9.99827431e-01 -1.85692224e-02 8.13978092e-02] [ 5.66882056e-02 1.85087585e-02 9.98220353e-01 -2.45524775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.773133365 meters Centerline goodness : 0.125705 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.08, Z:-0.25 [[ 9.98399477e-01 -1.70865880e-03 -5.65293341e-02 -1.89201623e+00] [ 6.39441944e-04 9.99820663e-01 -1.89270561e-02 8.35026070e-02] [ 5.65515361e-02 1.88606157e-02 9.98221519e-01 -2.45649507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.803133365 meters Centerline goodness : 0.135598 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.09, Z:-0.25 [[ 9.98394589e-01 -1.86856721e-03 -5.66105408e-02 -1.89161420e+00] [ 7.73234520e-04 9.99812195e-01 -1.93642935e-02 8.58969549e-02] [ 5.66360925e-02 1.92894326e-02 9.98208531e-01 -2.45960387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.833133365 meters Centerline goodness : 0.128510 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.09, Z:-0.25 [[ 9.98385592e-01 -2.04365492e-03 -5.67629611e-02 -1.89095317e+00] [ 9.20350554e-04 9.99803369e-01 -1.98084864e-02 8.82422978e-02] [ 5.67922814e-02 1.97242655e-02 9.98191159e-01 -2.46365539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.863133365 meters Centerline goodness : 0.132544 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.09, Z:-0.25 [[ 9.98371631e-01 -2.23490648e-03 -5.70008113e-02 -1.89021625e+00] [ 1.07841510e-03 9.99793114e-01 -2.03117295e-02 9.08684812e-02] [ 5.70344134e-02 2.02171840e-02 9.98167492e-01 -2.46641137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.893133365 meters Centerline goodness : 0.135446 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.09, Z:-0.25 [[ 9.98361344e-01 -2.46755224e-03 -5.71711220e-02 -1.88970386e+00] [ 1.27143499e-03 9.99779745e-01 -2.09486391e-02 9.42855542e-02] [ 5.72102217e-02 2.08416221e-02 9.98144587e-01 -2.46817483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.923133365 meters Centerline goodness : 0.138752 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.10, Z:-0.25 [[ 9.98369975e-01 1.08586294e-03 -5.70632426e-02 -1.89019102e+00] [-2.13273323e-03 9.99830484e-01 -1.82880942e-02 1.00179545e-01] [ 5.70337111e-02 1.83799848e-02 9.98203051e-01 -2.46507058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.953133365 meters Centerline goodness : 0.142205 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.10, Z:-0.25 [[ 9.98380728e-01 8.27546414e-04 -5.68791410e-02 -1.89075638e+00] [-1.91441240e-03 9.99816575e-01 -1.90565083e-02 1.04584335e-01] [ 5.68529378e-02 1.91345407e-02 9.98199185e-01 -2.46356242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98313336499996 meters Centerline goodness : 0.131140 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.25 [[ 9.98378624e-01 5.77221705e-04 -5.69191559e-02 -1.89057580e+00] [-1.70811311e-03 9.99802071e-01 -1.98217304e-02 1.08940217e-01] [ 5.68964485e-02 1.98868163e-02 9.98182002e-01 -2.46514366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.013133365 meters Centerline goodness : 0.122176 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.25 [[ 9.98366799e-01 2.83229351e-04 -5.71284060e-02 -1.88976060e+00] [-1.46077644e-03 9.99787315e-01 -2.05715802e-02 1.12880948e-01] [ 5.71104292e-02 2.06214345e-02 9.98154875e-01 -2.46993596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04313336499996 meters Centerline goodness : 0.114839 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.12, Z:-0.25 [[ 9.98354488e-01 -5.12836120e-05 -5.73438146e-02 -1.88905544e+00] [-1.17368276e-03 9.99771845e-01 -2.13279039e-02 1.16584813e-01] [ 5.73318251e-02 2.13601120e-02 9.98126649e-01 -2.47275903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.073133365 meters Centerline goodness : 0.119134 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.12, Z:-0.25 [[ 9.98351871e-01 -3.41304868e-04 -5.73883704e-02 -1.88891398e+00] [-9.19084695e-04 9.99758985e-01 -2.19346276e-02 1.19412089e-01] [ 5.73820253e-02 2.19512213e-02 9.98110939e-01 -2.47347460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10313336499996 meters Centerline goodness : 0.119340 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.12, Z:-0.25 [[ 9.98374850e-01 -7.56786191e-04 -5.69832101e-02 -1.89029884e+00] [-5.39417030e-04 9.99741534e-01 -2.27282910e-02 1.23571678e-01] [ 5.69856823e-02 2.27220919e-02 9.98116395e-01 -2.46742659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.133133365 meters Centerline goodness : 0.133615 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.13, Z:-0.24 [[ 0.9984015 -0.00877891 -0.05583344 -1.87157871] [ 0.00757199 0.99973387 -0.02179131 0.12997355] [ 0.05600989 0.02133371 0.99820227 -0.24404308] [ 0. 0. 0. 1. ]] SLAMing on 326.16313336499996 meters SLAMing on 326.193133365 meters Centerline goodness : 0.105429 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.13, Z:-0.24 [[ 0.99842678 -0.00950556 -0.05525939 -1.87346556] [ 0.00827708 0.99971443 -0.02241761 0.13164035] [ 0.0554567 0.02192496 0.99822034 -0.24325961] [ 0. 0. 0. 1. ]] SLAMing on 326.22313336499997 meters Centerline goodness : 0.184860 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.13, Z:-0.24 [[ 0.9982955 -0.01132135 -0.05725307 -1.91904783] [ 0.00998007 0.99967027 -0.02365916 0.13175125] [ 0.05750204 0.02304744 0.99807932 -0.24473488] [ 0. 0. 0. 1. ]] SLAMing on 326.253133365 meters Centerline goodness : 0.095311 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.13, Z:-0.24 [[ 0.99830099 -0.01141439 -0.05713889 -1.9195947 ] [ 0.01006683 0.99966566 -0.0238165 0.13260007] [ 0.05739164 0.02320083 0.99808212 -0.24432564] [ 0. 0. 0. 1. ]] SLAMing on 326.28313336499997 meters Centerline goodness : 0.099969 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.13, Z:-0.25 [[ 9.98354957e-01 -3.13113765e-03 -5.72501248e-02 -1.94023630e+00] [ 1.71758114e-03 9.99692853e-01 -2.47234447e-02 1.29451942e-01] [ 5.73099531e-02 2.45844418e-02 9.98053693e-01 -2.45995170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.313133365 meters SLAMing on 326.34313336499997 meters Centerline goodness : 0.218619 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.13, Z:-0.25 [[ 0.99834791 -0.00339773 -0.05735776 -1.94016515] [ 0.00194349 0.99967572 -0.02539061 0.1331684 ] [ 0.05742543 0.02523719 0.99803076 -0.24572032] [ 0. 0. 0. 1. ]] SLAMing on 326.373133365 meters Centerline goodness : 0.097485 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-0.25 [[ 0.99834074 -0.00378809 -0.05745788 -1.93980527] [ 0.00227696 0.99965038 -0.02634247 0.13826138] [ 0.05753758 0.02616793 0.99800033 -0.24584314] [ 0. 0. 0. 1. ]] SLAMing on 326.403133365 meters Centerline goodness : 0.072951 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-0.25 [[ 0.99834732 -0.00401431 -0.05732814 -1.94009445] [ 0.00247653 0.99963587 -0.02687002 0.14087902] [ 0.05741513 0.02668364 0.99799373 -0.24588297] [ 0. 0. 0. 1. ]] SLAMing on 326.433133365 meters Centerline goodness : 0.106233 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-0.25 [[ 0.99836216 -0.00421124 -0.05705498 -1.94106719] [ 0.00265611 0.99962362 -0.02730507 0.14304478] [ 0.0571485 0.02710881 0.99799758 -0.24545093] [ 0. 0. 0. 1. ]] SLAMing on 326.463133365 meters Centerline goodness : 0.096790 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-0.24 [[ 0.99838024 -0.00429119 -0.05673172 -1.94236482] [ 0.00273239 0.99961736 -0.02752571 0.1444746 ] [ 0.05682813 0.02732611 0.99800994 -0.24472856] [ 0. 0. 0. 1. ]] SLAMing on 326.493133365 meters Centerline goodness : 0.210759 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-0.24 [[ 0.9983924 -0.0042817 -0.05651799 -1.94307669] [ 0.00272762 0.99961683 -0.02754561 0.14494367] [ 0.05661427 0.02734717 0.99802152 -0.24442362] [ 0. 0. 0. 1. ]] SLAMing on 326.523133365 meters Centerline goodness : 0.214809 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-0.24 [[ 0.99839097 -0.0043172 -0.05654059 -1.94284713] [ 0.00276301 0.99961695 -0.02753747 0.14483371] [ 0.05663781 0.02733694 0.99802047 -0.24466641] [ 0. 0. 0. 1. ]] SLAMing on 326.553133365 meters Centerline goodness : 0.179141 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.15, Z:-0.25 [[ 0.99833757 -0.0048435 -0.05743371 -1.93976168] [ 0.00323478 0.99960073 -0.02806997 0.14563119] [ 0.05754674 0.02783752 0.99795463 -0.2459904 ] [ 0. 0. 0. 1. ]] SLAMing on 326.583133365 meters Centerline goodness : 0.098623 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.15, Z:-0.25 [[ 0.99832413 -0.00494934 -0.05765796 -1.93893463] [ 0.00332383 0.99959525 -0.02825409 0.14633198] [ 0.05777447 0.0280151 0.9979365 -0.24642734] [ 0. 0. 0. 1. ]] SLAMing on 326.613133365 meters Centerline goodness : 0.133536 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.15, Z:-0.25 [[ 0.99831905 -0.00500375 -0.05774119 -1.93873514] [ 0.00336403 0.99958927 -0.02846008 0.14757118] [ 0.05785988 0.028218 0.99792584 -0.24641509] [ 0. 0. 0. 1. ]] SLAMing on 326.643133365 meters Centerline goodness : 0.100623 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.15, Z:-0.25 [[ 0.99831932 -0.0050842 -0.05772934 -1.93883883] [ 0.00342766 0.99958054 -0.02875766 0.14933811] [ 0.05785134 0.02851145 0.99791799 -0.2463212 ] [ 0. 0. 0. 1. ]] SLAMing on 326.673133365 meters Centerline goodness : 0.197828 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.15, Z:-0.25 [[ 0.99835728 0.00337922 -0.05719551 -1.9598312 ] [-0.00510863 0.99953331 -0.03011764 0.15007448] [ 0.05706705 0.03036035 0.99790861 -0.24838653] [ 0. 0. 0. 1. ]] SLAMing on 326.703133365 meters Centerline goodness : 0.093547 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.15, Z:-0.25 [[ 0.99835679 0.00322067 -0.05721326 -1.95962136] [-0.00497896 0.99951881 -0.03061631 0.15261173] [ 0.05708712 0.03085086 0.99789242 -0.24860406] [ 0. 0. 0. 1. ]] SLAMing on 326.73313336499996 meters Centerline goodness : 0.091577 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.16, Z:-0.25 [[ 0.99834433 0.00307854 -0.05743794 -1.95891904] [-0.00487315 0.99950345 -0.03113049 0.15550094] [ 0.05731359 0.03135885 0.99786361 -0.24883257] [ 0. 0. 0. 1. ]] SLAMing on 326.763133365 meters Centerline goodness : 0.044901 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.16, Z:-0.25 [[ 9.98241494e-01 -2.26394698e-03 -5.92350691e-02 -1.98009795e+00] [ 6.00545675e-04 9.99605383e-01 -2.80841063e-02 1.59839910e-01] [ 5.92752749e-02 2.79991469e-02 9.97848931e-01 -2.49994179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79313336499996 meters Centerline goodness : 0.101953 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.16, Z:-0.25 [[ 9.98226492e-01 -2.29953913e-03 -5.94859961e-02 -1.97927436e+00] [ 6.08349713e-04 9.99595528e-01 -2.84325445e-02 1.62319670e-01] [ 5.95273174e-02 2.83459309e-02 9.97824136e-01 -2.50298346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.823133365 meters Centerline goodness : 0.043266 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.16, Z:-0.25 [[ 9.98213638e-01 -2.46930322e-03 -5.96945187e-02 -1.97848286e+00] [ 7.46534082e-04 9.99583045e-01 -2.88648467e-02 1.64641726e-01] [ 5.97409048e-02 2.87687196e-02 9.97799271e-01 -2.50713404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85313336499996 meters Centerline goodness : 0.043211 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.17, Z:-0.25 [[ 9.98030144e-01 -2.54030712e-03 -6.26847589e-02 -2.02070194e+00] [ 6.77298622e-04 9.99557925e-01 -2.97236474e-02 1.68945513e-01] [ 6.27325547e-02 2.96226398e-02 9.97590660e-01 -2.53684706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.883133365 meters Centerline goodness : 0.043211 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.17, Z:-0.25 [[ 9.98030144e-01 -2.54030712e-03 -6.26847589e-02 -2.02070194e+00] [ 6.77298622e-04 9.99557925e-01 -2.97236474e-02 1.68945513e-01] [ 6.27325547e-02 2.96226398e-02 9.97590660e-01 -2.53684706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91313336499996 meters Centerline goodness : 0.210459 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.17, Z:-0.25 [[ 9.98018467e-01 -2.66521934e-03 -6.28652265e-02 -2.02000845e+00] [ 7.78015485e-04 9.99548838e-01 -3.00252330e-02 1.70479016e-01] [ 6.29168880e-02 2.99168268e-02 9.97570273e-01 -2.54067277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.943133365 meters Centerline goodness : 0.106075 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.17, Z:-0.25 [[ 9.98010215e-01 -2.76507644e-03 -6.29917889e-02 -2.01951589e+00] [ 8.59986437e-04 9.99541978e-01 -3.02505257e-02 1.71818414e-01] [ 6.30465823e-02 3.01361615e-02 9.97555482e-01 -2.54364066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97313336499997 meters Centerline goodness : 0.109689 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.17, Z:-0.25 [[ 9.98002559e-01 -2.87601793e-03 -6.31080077e-02 -2.01897526e+00] [ 9.53282736e-04 9.99535033e-01 -3.04763553e-02 1.73075555e-01] [ 6.31663152e-02 3.03553208e-02 9.97541263e-01 -2.54706186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.003133365 meters Centerline goodness : 0.122607 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.17, Z:-0.25 [[ 9.97987680e-01 -3.01006801e-03 -6.33366413e-02 -2.01829753e+00] [ 1.06502953e-03 9.99527434e-01 -3.07209091e-02 1.74281101e-01] [ 6.33991826e-02 3.05916334e-02 9.97519271e-01 -2.54852184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03313336499997 meters Centerline goodness : 0.126630 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.18, Z:-0.25 [[ 9.97978298e-01 -3.39347100e-03 -6.34649598e-02 -2.01809960e+00] [ 1.39741666e-03 9.99503743e-01 -3.14692623e-02 1.77725396e-01] [ 6.35402549e-02 3.13169538e-02 9.97487787e-01 -2.54618413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.063133365 meters Centerline goodness : 0.103495 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.18, Z:-0.25 [[ 9.97972276e-01 -3.51364620e-03 -6.35530546e-02 -2.01810666e+00] [ 1.48486365e-03 9.99488629e-01 -3.19417640e-02 1.80307716e-01] [ 6.36327874e-02 3.17826273e-02 9.97467159e-01 -2.54284252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09313336499997 meters Centerline goodness : 0.126064 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.18, Z:-0.25 [[ 9.97972454e-01 -3.58499502e-03 -6.35462775e-02 -2.01804890e+00] [ 1.52965736e-03 9.99475006e-01 -3.23631390e-02 1.83296497e-01] [ 6.36289378e-02 3.22003172e-02 9.97454008e-01 -2.54303625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.123133365 meters Centerline goodness : 0.135079 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.19, Z:-0.25 [[ 9.97965543e-01 -3.73411734e-03 -6.36461483e-02 -2.01781544e+00] [ 1.64034853e-03 9.99456723e-01 -3.29175830e-02 1.86398234e-01] [ 6.37344889e-02 3.27462117e-02 9.97429497e-01 -2.54277528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.153133365 meters Centerline goodness : 0.121547 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.19, Z:-0.25 [[ 9.97961821e-01 -4.00525780e-03 -6.36880077e-02 -2.01774335e+00] [ 1.86642470e-03 9.99433380e-01 -3.36070765e-02 1.89799381e-01] [ 6.37865258e-02 3.34197104e-02 9.97403831e-01 -2.54206627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.183133365 meters Centerline goodness : 0.112828 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.19, Z:-0.25 [[ 0.99796996 -0.00436471 -0.06353665 -2.0183301 ] [ 0.00218094 0.9994058 -0.03439913 0.19336717] [ 0.06364904 0.03419073 0.99738648 -0.25384676] [ 0. 0. 0. 1. ]] SLAMing on 327.213133365 meters Centerline goodness : 0.149732 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.20, Z:-0.25 [[ 9.98050860e-01 -2.86001524e-03 -6.23402006e-02 -2.02358698e+00] [ 7.56389603e-04 9.99430297e-01 -3.37418001e-02 2.01003724e-01] [ 6.24011873e-02 3.36288792e-02 9.97484431e-01 -2.51075672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.243133365 meters Centerline goodness : 0.115697 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.20, Z:-0.25 [[ 9.98048379e-01 -3.11312109e-03 -6.23677896e-02 -2.02382450e+00] [ 9.68657357e-04 9.99408194e-01 -3.43849259e-02 2.04481801e-01] [ 6.24379244e-02 3.42574065e-02 9.97460744e-01 -2.50583900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.273133365 meters Centerline goodness : 0.108255 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.21, Z:-0.25 [[ 9.98046731e-01 -3.33842591e-03 -6.23825053e-02 -2.02376293e+00] [ 1.15694831e-03 9.99387594e-01 -3.49728333e-02 2.07834167e-01] [ 6.24610561e-02 3.48323486e-02 9.97439384e-01 -2.50493140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.303133365 meters Centerline goodness : 0.108637 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.21, Z:-0.25 [[ 0.99801894 -0.00985979 -0.06213683 -2.00210703] [ 0.00783737 0.99943422 -0.03270803 0.21417558] [ 0.06242417 0.03215624 0.99753155 -0.24955783] [ 0. 0. 0. 1. ]] SLAMing on 327.333133365 meters Centerline goodness : 0.105080 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.22, Z:-0.25 [[ 0.99800924 -0.01048607 -0.06219004 -2.00141565] [ 0.00838627 0.99938904 -0.03392964 0.22040624] [ 0.06250783 0.03334055 0.99748743 -0.25006343] [ 0. 0. 0. 1. ]] SLAMing on 327.363133365 meters Centerline goodness : 0.134965 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.22, Z:-0.25 [[ 0.99799591 -0.01078513 -0.06235252 -2.00111559] [ 0.00863835 0.999364 -0.03459727 0.22366302] [ 0.062686 0.03398931 0.99745436 -0.24982706] [ 0. 0. 0. 1. ]] SLAMing on 327.393133365 meters Centerline goodness : 0.133332 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.25 [[ 0.99798757 -0.01112193 -0.06242691 -2.00127848] [ 0.00892683 0.99933575 -0.03533219 0.22743812] [ 0.0627784 0.03470381 0.99742394 -0.24929857] [ 0. 0. 0. 1. ]] SLAMing on 327.423133365 meters Centerline goodness : 0.149140 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.23, Z:-0.25 [[ 9.98031373e-01 -1.98002726e-03 -6.26853959e-02 -2.02282983e+00] [-2.85747318e-04 9.99347578e-01 -3.61155928e-02 2.27993535e-01] [ 6.27160085e-02 3.60624068e-02 9.97379669e-01 -2.50194411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.453133365 meters SLAMing on 327.48313336499996 meters SLAMing on 327.513133365 meters Centerline goodness : 0.124108 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.24, Z:-0.25 [[ 0.9981705 -0.0049758 -0.06025696 -1.98182328] [ 0.00270963 0.99928799 -0.03763193 0.24152893] [ 0.06040131 0.03739981 0.99747328 -0.24758267] [ 0. 0. 0. 1. ]] SLAMing on 327.54313336499996 meters Centerline goodness : 0.152588 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.24, Z:-0.25 [[ 0.99814935 -0.00501861 -0.06060271 -1.98055975] [ 0.00273896 0.99928758 -0.0376409 0.24175158] [ 0.06074844 0.03740525 0.99745199 -0.24814027] [ 0. 0. 0. 1. ]] SLAMing on 327.573133365 meters SLAMing on 327.60313336499996 meters SLAMing on 327.633133365 meters Centerline goodness : 0.156029 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.25, Z:-0.25 [[ 0.99803332 -0.01476707 -0.06092147 -1.95836395] [ 0.01248933 0.99921479 -0.03760091 0.24543102] [ 0.06142889 0.03676609 0.99743408 -0.24708228] [ 0. 0. 0. 1. ]] SLAMing on 327.66313336499996 meters SLAMing on 327.693133365 meters SLAMing on 327.72313336499997 meters Centerline goodness : 0.082628 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.25, Z:-0.25 [[ 0.99820394 -0.00453644 -0.05973542 -1.98292849] [ 0.00228515 0.99928641 -0.03770219 0.24709646] [ 0.05986383 0.03749797 0.99750199 -0.24766234] [ 0. 0. 0. 1. ]] SLAMing on 327.753133365 meters Centerline goodness : 0.138923 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.25, Z:-0.25 [[ 9.98134276e-01 -2.58822645e-03 -6.10021929e-02 -1.97770257e+00] [ 3.68335842e-04 9.99338196e-01 -3.63735272e-02 2.51242937e-01] [ 6.10559643e-02 3.62831949e-02 9.97474661e-01 -2.49849874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78313336499997 meters SLAMing on 327.813133365 meters SLAMing on 327.84313336499997 meters Centerline goodness : 0.124305 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.25, Z:-0.25 [[ 9.98142253e-01 1.24911101e-03 -6.09137381e-02 -1.97669750e+00] [-3.28196266e-03 9.99440545e-01 -3.32840091e-02 2.54137117e-01] [ 6.08380842e-02 3.34220924e-02 9.97587937e-01 -2.51247528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.873133365 meters Centerline goodness : 0.137756 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.26, Z:-0.25 [[ 9.98160188e-01 1.33524894e-03 -6.06172892e-02 -1.97754955e+00] [-3.36355413e-03 9.99437368e-01 -3.33711416e-02 2.55037663e-01] [ 6.05386252e-02 3.35136346e-02 9.97603083e-01 -2.51025904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.903133365 meters SLAMing on 327.933133365 meters Centerline goodness : 0.111140 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.25, Z:-0.25 [[ 0.99810719 0.00893322 -0.06084595 -1.95749334] [-0.01107414 0.99932805 -0.03494001 0.25374988] [ 0.06049293 0.03554769 0.99753545 -0.24868115] [ 0. 0. 0. 1. ]] SLAMing on 327.963133365 meters Centerline goodness : 0.104753 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.26, Z:-0.25 [[ 9.98098298e-01 1.33869379e-03 -6.16278729e-02 -1.93953430e+00] [-3.41450948e-03 9.99429861e-01 -3.35900859e-02 2.58914705e-01] [ 6.15477696e-02 3.37366365e-02 9.97533815e-01 -2.45869169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.993133365 meters Centerline goodness : 0.141246 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.26, Z:-0.25 [[ 9.98087642e-01 1.42374097e-03 -6.17983086e-02 -1.93904657e+00] [-3.51494592e-03 9.99424339e-01 -3.37436859e-02 2.60133590e-01] [ 6.17146914e-02 3.38963736e-02 9.97518086e-01 -2.45961568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.023133365 meters Centerline goodness : 0.141531 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.26, Z:-0.25 [[ 9.98082835e-01 1.53988355e-03 -6.18731143e-02 -1.93894355e+00] [-3.64902861e-03 9.99415521e-01 -3.39897113e-02 2.61849428e-01] [ 6.17846106e-02 3.41503242e-02 9.97505096e-01 -2.45842357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.053133365 meters Centerline goodness : 0.110265 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.26, Z:-0.25 [[ 9.98086220e-01 1.67067820e-03 -6.18150956e-02 -1.93901502e+00] [-3.79964586e-03 9.99403006e-01 -3.43394010e-02 2.63934587e-01] [ 6.17208223e-02 3.45085584e-02 9.97496717e-01 -2.45858105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.083133365 meters Centerline goodness : 0.237240 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.27, Z:-0.25 [[ 9.98082378e-01 1.76002614e-03 -6.18746300e-02 -1.93893635e+00] [-3.91464575e-03 9.99389468e-01 -3.47183870e-02 2.66454286e-01] [ 6.17757483e-02 3.48940275e-02 9.97479906e-01 -2.45826392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.113133365 meters Centerline goodness : 0.175560 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.27, Z:-0.25 [[ 0.9980875 0.00552442 -0.06156972 -1.93999121] [-0.00749447 0.99946577 -0.03181219 0.27063771] [ 0.06136109 0.03221278 0.99759569 -0.24549762] [ 0. 0. 0. 1. ]] SLAMing on 328.143133365 meters Centerline goodness : 0.245015 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.27, Z:-0.25 [[ 0.99810254 0.00556203 -0.06132203 -1.94095355] [-0.00753774 0.99945834 -0.03203443 0.27237821] [ 0.06111064 0.03243588 0.99760383 -0.2450525 ] [ 0. 0. 0. 1. ]] SLAMing on 328.173133365 meters Centerline goodness : 0.171250 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.27, Z:-0.24 [[ 0.99810862 0.00553197 -0.06122565 -1.94142844] [-0.00751955 0.99945056 -0.03228066 0.2740866 ] [ 0.06101344 0.03267999 0.99760181 -0.2447263 ] [ 0. 0. 0. 1. ]] SLAMing on 328.203133365 meters Centerline goodness : 0.300915 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.28, Z:-0.25 [[ 9.98189186e-01 -9.40487747e-04 -6.01453613e-02 -1.95858959e+00] [-9.24364491e-04 9.99519874e-01 -3.09704156e-02 2.79683187e-01] [ 6.01456113e-02 3.09699301e-02 9.97709060e-01 -2.48403112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23313336499996 meters Centerline goodness : 0.148360 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.28, Z:-0.25 [[ 9.98182918e-01 -1.03402178e-03 -6.02477646e-02 -1.95816985e+00] [-8.47254448e-04 9.99513060e-01 -3.11917496e-02 2.80729323e-01] [ 6.02506805e-02 3.11861168e-02 9.97695987e-01 -2.48649927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.263133365 meters Centerline goodness : 0.268398 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.28, Z:-0.25 [[ 9.98172367e-01 -1.14384527e-03 -6.04203362e-02 -1.95753431e+00] [-7.55211363e-04 9.99506658e-01 -3.13985687e-02 2.81455511e-01] [ 6.04264435e-02 3.13868138e-02 9.97679063e-01 -2.49003073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29313336499996 meters SLAMing on 328.323133365 meters Centerline goodness : 0.220811 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.28, Z:-0.25 [[ 9.98155541e-01 -1.35954718e-03 -6.06932252e-02 -1.95676137e+00] [-5.70161751e-04 9.99495176e-01 -3.17658347e-02 2.83247056e-01] [ 6.07057729e-02 3.17418489e-02 9.97650873e-01 -2.49115506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35313336499996 meters Centerline goodness : 0.293545 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.28, Z:-0.25 [[ 9.98155207e-01 -1.41993458e-03 -6.06973396e-02 -1.95679980e+00] [-5.12326402e-04 9.99493900e-01 -3.18069495e-02 2.83235787e-01] [ 6.07117844e-02 3.17793691e-02 9.97649313e-01 -2.49062283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.383133365 meters SLAMing on 328.41313336499996 meters SLAMing on 328.443133365 meters Centerline goodness : 0.101969 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.28, Z:-0.25 [[ 9.98247332e-01 -2.14163960e-03 -5.91411638e-02 -1.96107476e+00] [ 2.42276568e-04 9.99484496e-01 -3.21042657e-02 2.82571805e-01] [ 5.91794320e-02 3.20336691e-02 9.97733250e-01 -2.48232166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47313336499997 meters SLAMing on 328.503133365 meters Centerline goodness : 0.102036 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.28, Z:-0.25 [[ 9.98236436e-01 -2.13324258e-03 -5.93251002e-02 -1.96040027e+00] [ 2.14929473e-04 9.99477446e-01 -3.23232057e-02 2.83951374e-01] [ 5.93630529e-02 3.22534509e-02 9.97715261e-01 -2.48597943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53313336499997 meters Centerline goodness : 0.143031 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.29, Z:-0.25 [[ 9.98217527e-01 -2.09948782e-03 -5.96436175e-02 -1.95919125e+00] [ 1.60660601e-04 9.99471947e-01 -3.24930819e-02 2.85176597e-01] [ 5.96803413e-02 3.24255815e-02 9.97690753e-01 -2.49290476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.563133365 meters Centerline goodness : 0.143833 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.29, Z:-0.25 [[ 9.98203614e-01 -2.13476524e-03 -5.98747755e-02 -1.95828109e+00] [ 1.76126093e-04 9.99465246e-01 -3.26984768e-02 2.86374515e-01] [ 5.99125608e-02 3.26291922e-02 9.97670196e-01 -2.49849982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59313336499997 meters SLAMing on 328.623133365 meters Centerline goodness : 0.144414 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.29, Z:-0.25 [[ 0.9981287 0.00696261 -0.0607505 -1.97692875] [-0.00904484 0.9993786 -0.03406772 0.28684357] [ 0.06047555 0.03455345 0.99757143 -0.25307041] [ 0. 0. 0. 1. ]] SLAMing on 328.653133365 meters Centerline goodness : 0.096945 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.29, Z:-0.25 [[ 9.98119812e-01 -1.03784898e-03 -6.12842881e-02 -1.95848829e+00] [-9.92014878e-04 9.99452136e-01 -3.30823796e-02 2.93425234e-01] [ 6.12850472e-02 3.30809735e-02 9.97571948e-01 -2.50839421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.683133365 meters Centerline goodness : 0.098076 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.30, Z:-0.25 [[ 0.99795309 -0.00818609 -0.06342417 -1.97620638] [ 0.00617258 0.99947271 -0.031878 0.29921832] [ 0.06365169 0.03142126 0.9974774 -0.25343838] [ 0. 0. 0. 1. ]] SLAMing on 328.713133365 meters Centerline goodness : 0.134153 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.30, Z:-0.25 [[ 0.99795003 -0.00817655 -0.06347347 -1.9759856 ] [ 0.00616118 0.99947264 -0.03188243 0.29937503] [ 0.06370069 0.031426 0.99747412 -0.2535843 ] [ 0. 0. 0. 1. ]] SLAMing on 328.743133365 meters Centerline goodness : 0.117011 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.30, Z:-0.25 [[ 0.99795364 -0.0081537 -0.0634197 -1.97610003] [ 0.0061431 0.9994743 -0.03183377 0.29924613] [ 0.06364592 0.03137904 0.9974791 -0.25359166] [ 0. 0. 0. 1. ]] SLAMing on 328.773133365 meters Centerline goodness : 0.100276 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.30, Z:-0.25 [[ 0.997953 -0.00813491 -0.06343212 -1.97601842] [ 0.00612759 0.99947624 -0.03177569 0.29891406] [ 0.06365738 0.03132196 0.99748016 -0.2536792 ] [ 0. 0. 0. 1. ]] SLAMing on 328.803133365 meters Centerline goodness : 0.100276 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.30, Z:-0.25 [[ 0.997953 -0.00813491 -0.06343212 -1.97601842] [ 0.00612759 0.99947624 -0.03177569 0.29891406] [ 0.06365738 0.03132196 0.99748016 -0.2536792 ] [ 0. 0. 0. 1. ]] SLAMing on 328.833133365 meters Centerline goodness : 0.114840 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.30, Z:-0.25 [[ 0.9979472 -0.00816718 -0.06351921 -1.9755856 ] [ 0.00615836 0.99947664 -0.03175721 0.29845099] [ 0.06374533 0.03130084 0.99747521 -0.2540045 ] [ 0. 0. 0. 1. ]] SLAMing on 328.863133365 meters Centerline goodness : 0.110147 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.29, Z:-0.26 [[ 9.97917247e-01 -1.11719824e-04 -6.45070234e-02 -1.99329912e+00] [-2.03960148e-03 9.99443874e-01 -3.32833710e-02 2.91128142e-01] [ 6.44748678e-02 3.33456185e-02 9.97362051e-01 -2.56917277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.893133365 meters Centerline goodness : 0.092764 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.29, Z:-0.26 [[ 0.99791915 -0.00845012 -0.06392153 -1.9742009 ] [ 0.00640849 0.99946484 -0.0320774 0.29468637] [ 0.06415838 0.03160101 0.99743926 -0.25509468] [ 0. 0. 0. 1. ]] SLAMing on 328.923133365 meters Centerline goodness : 0.200810 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.29, Z:-0.25 [[ 0.99793627 -0.00835627 -0.0636661 -1.97496503] [ 0.00633308 0.99947056 -0.03191395 0.29399051] [ 0.06389908 0.03144488 0.99746084 -0.25495721] [ 0. 0. 0. 1. ]] SLAMing on 328.953133365 meters Centerline goodness : 0.148535 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99783749 -0.0075681 -0.06529219 -2.02144623] [ 0.00545507 0.99945749 -0.03248039 0.29100392] [ 0.06550258 0.03205398 0.99733743 -0.2564095 ] [ 0. 0. 0. 1. ]] SLAMing on 328.98313336499996 meters Centerline goodness : 0.097718 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99785475 -0.00750776 -0.06503481 -2.02229324] [ 0.00541571 0.99946403 -0.03228492 0.28986576] [ 0.06524234 0.03186345 0.9973606 -0.25613467] [ 0. 0. 0. 1. ]] SLAMing on 329.013133365 meters Centerline goodness : 0.145341 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99787255 -0.00745077 -0.06476774 -2.0231175 ] [ 0.00538103 0.99947107 -0.03207234 0.28841444] [ 0.06497244 0.03165559 0.99738483 -0.25593458] [ 0. 0. 0. 1. ]] SLAMing on 329.04313336499996 meters Centerline goodness : 0.301702 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99788644 -0.0072038 -0.06458135 -2.02371869] [ 0.00517246 0.99948828 -0.03156611 0.28590675] [ 0.06477569 0.03116535 0.99741307 -0.25579854] [ 0. 0. 0. 1. ]] SLAMing on 329.073133365 meters Centerline goodness : 0.145851 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99788998 -0.00709851 -0.0645384 -2.02381609] [ 0.00507969 0.99949426 -0.03139132 0.28509398] [ 0.06472859 0.03099725 0.99742137 -0.25586047] [ 0. 0. 0. 1. ]] SLAMing on 329.10313336499996 meters Centerline goodness : 0.223764 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 0.99789777 -0.0070076 -0.06442777 -2.02380903] [ 0.00499948 0.99949825 -0.03127712 0.28464934] [ 0.06461462 0.03088927 0.9974321 -0.25631295] [ 0. 0. 0. 1. ]] SLAMing on 329.133133365 meters Centerline goodness : 0.331492 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.25 [[ 0.99787813 -0.01495006 -0.06336989 -2.0054247 ] [ 0.01306957 0.99946486 -0.02998624 0.28892816] [ 0.06378427 0.02909439 0.99753951 -0.25476369] [ 0. 0. 0. 1. ]] SLAMing on 329.16313336499996 meters Centerline goodness : 0.098407 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.28, Z:-0.26 [[ 0.99800751 -0.00554394 -0.06285123 -2.02593037] [ 0.00363736 0.99953093 -0.03040868 0.28343891] [ 0.06299033 0.03011948 0.99755954 -0.25765074] [ 0. 0. 0. 1. ]] SLAMing on 329.193133365 meters Centerline goodness : 0.094961 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.28, Z:-0.26 [[ 0.99800238 -0.005422 -0.06294321 -2.02548043] [ 0.0035151 0.99953264 -0.03036684 0.28369233] [ 0.06307844 0.03008493 0.99755502 -0.25804862] [ 0. 0. 0. 1. ]] SLAMing on 329.22313336499997 meters Centerline goodness : 0.314608 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.28, Z:-0.26 [[ 0.99799602 -0.00532154 -0.06305259 -2.02514803] [ 0.003415 0.99953481 -0.03030671 0.28379896] [ 0.06318454 0.03003065 0.99754994 -0.25820952] [ 0. 0. 0. 1. ]] SLAMing on 329.253133365 meters Centerline goodness : 0.238001 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 0.99798488 -0.0052206 -0.06323699 -2.02432439] [ 0.00331555 0.99953859 -0.03019308 0.28354594] [ 0.06336544 0.02992258 0.99754171 -0.2587791 ] [ 0. 0. 0. 1. ]] SLAMing on 329.28313336499997 meters Centerline goodness : 0.166464 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 0.99797093 -0.00515859 -0.06346195 -2.02344783] [ 0.00324944 0.99954011 -0.03014988 0.28347251] [ 0.0635883 0.02988248 0.99752873 -0.25930273] [ 0. 0. 0. 1. ]] SLAMing on 329.313133365 meters Centerline goodness : 0.263265 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 0.99795489 -0.0050221 -0.06372456 -2.02226355] [ 0.00310716 0.99954165 -0.0301138 0.28378341] [ 0.06384659 0.02985421 0.99751308 -0.26016069] [ 0. 0. 0. 1. ]] SLAMing on 329.34313336499997 meters SLAMing on 329.373133365 meters Centerline goodness : 0.260824 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 0.99798356 -0.00492301 -0.0632817 -2.0237643 ] [ 0.00302101 0.99954182 -0.03011673 0.28440989] [ 0.06340097 0.02986483 0.99754118 -0.25965374] [ 0. 0. 0. 1. ]] SLAMing on 329.403133365 meters Centerline goodness : 0.333485 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 0.99798561 -0.00490152 -0.06325107 -2.02389464] [ 0.00300036 0.99954187 -0.03011739 0.28460548] [ 0.06336971 0.02986695 0.9975431 -0.25959179] [ 0. 0. 0. 1. ]] SLAMing on 329.433133365 meters Centerline goodness : 0.099588 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 0.99798361 -0.0049002 -0.06328269 -2.02381163] [ 0.00299489 0.99954036 -0.03016782 0.28498641] [ 0.06340143 0.02991746 0.99753958 -0.25963467] [ 0. 0. 0. 1. ]] SLAMing on 329.463133365 meters Centerline goodness : 0.178865 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.9979714 -0.00489346 -0.06347557 -2.02303066] [ 0.00297553 0.99953719 -0.03027461 0.28573299] [ 0.06359434 0.03002432 0.99752409 -0.26009744] [ 0. 0. 0. 1. ]] SLAMing on 329.493133365 meters Centerline goodness : 0.174276 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99793626 -0.00474535 -0.06403675 -2.02117613] [ 0.00279638 0.99953114 -0.03049051 0.28787166] [ 0.06415141 0.03024851 0.99748164 -0.26093598] [ 0. 0. 0. 1. ]] SLAMing on 329.523133365 meters Centerline goodness : 0.292735 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99792167 -0.00473423 -0.06426446 -2.02039546] [ 0.00276773 0.9995262 -0.03065481 0.28914198] [ 0.06437914 0.03041323 0.99746196 -0.26130589] [ 0. 0. 0. 1. ]] SLAMing on 329.553133365 meters Centerline goodness : 0.097354 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99790214 -0.00472314 -0.06456786 -2.01924842] [ 0.00273906 0.99952235 -0.03078273 0.29015669] [ 0.06468241 0.0305413 0.99743843 -0.26192684] [ 0. 0. 0. 1. ]] SLAMing on 329.583133365 meters Centerline goodness : 0.126353 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99789216 -0.00476304 -0.06471903 -2.01857303] [ 0.00276712 0.99951882 -0.03089442 0.29069794] [ 0.06483504 0.03065021 0.99742518 -0.2623939 ] [ 0. 0. 0. 1. ]] SLAMing on 329.613133365 meters Centerline goodness : 0.293592 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99789147 -0.0048019 -0.06472685 -2.01832227] [ 0.00280414 0.99951793 -0.03092005 0.29060832] [ 0.06484412 0.03067335 0.99742387 -0.2627114 ] [ 0. 0. 0. 1. ]] SLAMing on 329.643133365 meters Centerline goodness : 0.271487 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99790182 -0.00479541 -0.06456752 -2.01897416] [ 0.0028068 0.99951995 -0.03085449 0.29025112] [ 0.06468448 0.03060853 0.99743623 -0.26232145] [ 0. 0. 0. 1. ]] SLAMing on 329.673133365 meters Centerline goodness : 0.225365 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97963466e-01 -1.46310074e-03 -6.37713033e-02 -2.02136503e+00] [-2.84298126e-04 9.99624966e-01 -2.73833382e-02 2.89311098e-01] [ 6.37874515e-02 2.73457012e-02 9.97588780e-01 -2.61611280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.703133365 meters Centerline goodness : 0.269634 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97954477e-01 -1.44170782e-03 -6.39123137e-02 -2.02065747e+00] [-3.13002378e-04 9.99623501e-01 -2.74364523e-02 2.89923469e-01] [ 6.39278061e-02 2.74003351e-02 9.97578296e-01 -2.62125107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73313336499996 meters Centerline goodness : 0.260232 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97928523e-01 -1.52549132e-03 -6.43143520e-02 -2.01893620e+00] [-2.52669328e-04 9.99618166e-01 -2.76307653e-02 2.90654426e-01] [ 6.43319450e-02 2.75897790e-02 9.97547094e-01 -2.63196907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.763133365 meters SLAMing on 329.79313336499996 meters Centerline goodness : 0.153605 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.27 [[ 9.97835863e-01 -1.64856874e-03 -6.57333458e-02 -2.01409167e+00] [-1.93917360e-04 9.99607527e-01 -2.80134747e-02 2.91832069e-01] [ 6.57537294e-02 2.79655965e-02 9.97443919e-01 -2.65388230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.823133365 meters Centerline goodness : 0.167263 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.27 [[ 9.97820005e-01 -1.53237306e-03 -6.59764260e-02 -2.01348128e+00] [-3.11904488e-04 9.99609715e-01 -2.79342130e-02 2.92174912e-01] [ 6.59934820e-02 2.78938949e-02 9.97430093e-01 -2.65459271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85313336499996 meters Centerline goodness : 0.157615 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.27 [[ 9.97814237e-01 -1.45606851e-03 -6.60653340e-02 -2.01333025e+00] [-3.84463096e-04 9.99612374e-01 -2.78380012e-02 2.92072833e-01] [ 6.60802593e-02 2.78025536e-02 9.97426898e-01 -2.65360073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.883133365 meters Centerline goodness : 0.098596 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.27 [[ 9.97815565e-01 -1.43650962e-03 -6.60456957e-02 -2.01346944e+00] [-3.99014836e-04 9.99614255e-01 -2.77701475e-02 2.91681881e-01] [ 6.60601110e-02 2.77358386e-02 9.97430090e-01 -2.65221270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91313336499996 meters Centerline goodness : 0.248419 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.26 [[ 9.97821455e-01 -1.39968367e-03 -6.59574490e-02 -2.01386042e+00] [-4.24011669e-04 9.99618199e-01 -2.76274665e-02 2.90832711e-01] [ 6.59709361e-02 2.75952455e-02 9.97439892e-01 -2.64959869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.943133365 meters Centerline goodness : 0.160183 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.26 [[ 9.97829299e-01 -1.36631358e-03 -6.58393698e-02 -2.01424825e+00] [-4.44892813e-04 9.99622063e-01 -2.74869625e-02 2.89911639e-01] [ 6.58520425e-02 2.74565880e-02 9.97451575e-01 -2.64819722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97313336499997 meters Centerline goodness : 0.169206 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.26 [[ 9.97821485e-01 -1.21593019e-03 -6.59606395e-02 -2.01385609e+00] [-5.75095735e-04 9.99631825e-01 -2.71271687e-02 2.88178297e-01] [ 6.59693392e-02 2.71060054e-02 9.97453413e-01 -2.64929733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.003133365 meters Centerline goodness : 0.244902 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.26 [[ 9.97817467e-01 -1.21145220e-03 -6.60214762e-02 -2.01370058e+00] [-5.79207579e-04 9.99632655e-01 -2.70964952e-02 2.87898083e-01] [ 6.60300497e-02 2.70755964e-02 9.97450222e-01 -2.64928749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03313336499997 meters Centerline goodness : 0.147385 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.29, Z:-0.26 [[ 0.9978026 -0.00960483 -0.06555694 -1.9944617 ] [ 0.00790494 0.99962703 -0.0261403 0.29219579] [ 0.06578357 0.02556463 0.99750638 -0.2628388 ] [ 0. 0. 0. 1. ]] SLAMing on 330.063133365 meters Centerline goodness : 0.154510 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97944755e-01 -3.07085166e-03 -6.40065241e-02 -2.01877999e+00] [ 1.25779449e-03 9.99597346e-01 -2.83472003e-02 2.85997587e-01] [ 6.40678017e-02 2.82084328e-02 9.97546791e-01 -2.63059479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09313336499997 meters Centerline goodness : 0.141725 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97955933e-01 -3.03320915e-03 -6.38338040e-02 -2.01935030e+00] [ 1.23096045e-03 9.99600022e-01 -2.82538645e-02 2.85517866e-01] [ 6.38939718e-02 2.81175348e-02 9.97560507e-01 -2.62801448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.123133365 meters Centerline goodness : 0.093766 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97950352e-01 -2.99407672e-03 -6.39228409e-02 -2.01895525e+00] [ 1.19101007e-03 9.99600846e-01 -2.82264160e-02 2.85591777e-01] [ 6.39818379e-02 2.80924291e-02 9.97555582e-01 -2.63080929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.153133365 meters Centerline goodness : 0.171900 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97940132e-01 -2.95721248e-03 -6.40839181e-02 -2.01812399e+00] [ 1.15015632e-03 9.99601164e-01 -2.82168435e-02 2.85809816e-01] [ 6.41418023e-02 2.80850140e-02 9.97545518e-01 -2.63742115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.183133365 meters Centerline goodness : 0.095210 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97931488e-01 -2.89541831e-03 -6.42211988e-02 -2.01727960e+00] [ 1.08923230e-03 9.99603352e-01 -2.81416521e-02 2.85582614e-01] [ 6.42772075e-02 2.80134890e-02 9.97538814e-01 -2.64512520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.213133365 meters Centerline goodness : 0.095680 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97934693e-01 -2.89698760e-03 -6.41713072e-02 -2.01730603e+00] [ 1.09348121e-03 9.99603904e-01 -2.81218718e-02 2.85343846e-01] [ 6.42273579e-02 2.79936214e-02 9.97542582e-01 -2.64680985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.243133365 meters Centerline goodness : 0.223814 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 9.97924161e-01 -2.84067550e-03 -6.43373908e-02 -2.01703101e+00] [ 1.04228011e-03 9.99608250e-01 -2.79689017e-02 2.84470876e-01] [ 6.43916373e-02 2.78437852e-02 9.97536185e-01 -2.64519761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.273133365 meters Centerline goodness : 0.326332 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 9.97921179e-01 -2.75934483e-03 -6.43871622e-02 -2.01693710e+00] [ 9.65541332e-04 9.99610974e-01 -2.78741471e-02 2.84335939e-01] [ 6.44390283e-02 2.77540332e-02 9.97535626e-01 -2.64475962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.303133365 meters Centerline goodness : 0.161138 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 9.97923147e-01 -2.74975970e-03 -6.43570698e-02 -2.01701278e+00] [ 9.56787542e-04 9.99610986e-01 -2.78740094e-02 2.84423245e-01] [ 6.44086809e-02 2.77545431e-02 9.97537572e-01 -2.64479842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.333133365 meters Centerline goodness : 0.134222 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 9.97930623e-01 -2.74064603e-03 -6.42414175e-02 -2.01731354e+00] [ 9.53386864e-04 9.99612073e-01 -2.78351410e-02 2.84134811e-01] [ 6.42927828e-02 2.77162927e-02 9.97546112e-01 -2.64483724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.363133365 meters Centerline goodness : 0.233211 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 9.97940941e-01 -2.70417542e-03 -6.40824936e-02 -2.01749241e+00] [ 9.32750947e-04 9.99617045e-01 -2.76566873e-02 2.83002700e-01] [ 6.41327415e-02 2.75399676e-02 9.97561297e-01 -2.64794792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.393133365 meters Centerline goodness : 0.217510 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 9.97933058e-01 -2.60883777e-03 -6.42090817e-02 -2.01713564e+00] [ 8.44887919e-04 9.99621892e-01 -2.74838031e-02 2.82342550e-01] [ 6.42565045e-02 2.73727462e-02 9.97557935e-01 -2.64839733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.423133365 meters Centerline goodness : 0.149152 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.27 [[ 9.97923066e-01 -2.49435209e-03 -6.43687310e-02 -2.01662047e+00] [ 7.40304385e-04 9.99628117e-01 -2.72594726e-02 2.81386517e-01] [ 6.44127881e-02 2.71552041e-02 9.97553802e-01 -2.65014450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.453133365 meters Centerline goodness : 0.303265 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.27 [[ 9.97904541e-01 -2.42828543e-03 -6.46577951e-02 -2.01576820e+00] [ 6.80495954e-04 9.99634129e-01 -2.70396939e-02 2.80048988e-01] [ 6.46997988e-02 2.69390339e-02 9.97541089e-01 -2.65234991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48313336499996 meters Centerline goodness : 0.096425 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.28, Z:-0.27 [[ 9.97886975e-01 -2.35254508e-03 -6.49311275e-02 -2.01493231e+00] [ 6.14694964e-04 9.99641389e-01 -2.67715255e-02 2.78356094e-01] [ 6.49708238e-02 2.66750438e-02 9.97530568e-01 -2.65442000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.513133365 meters Centerline goodness : 0.165994 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.28, Z:-0.27 [[ 9.97884156e-01 -2.22524866e-03 -6.49789089e-02 -2.01479936e+00] [ 5.09591008e-04 9.99651119e-01 -2.64079460e-02 2.76341007e-01] [ 6.50150032e-02 2.63189583e-02 9.97537148e-01 -2.65477226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54313336499996 meters Centerline goodness : 0.151332 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.27, Z:-0.26 [[ 9.97911537e-01 -1.94793246e-03 -6.45660091e-02 -2.01625558e+00] [ 3.01563280e-04 9.99674803e-01 -2.54989514e-02 2.71593517e-01] [ 6.45946826e-02 2.54262270e-02 9.97587607e-01 -2.64751454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.573133365 meters Centerline goodness : 0.341301 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.27, Z:-0.26 [[ 0.99787312 -0.01039535 -0.06435188 -1.99606222] [ 0.00884273 0.99966402 -0.02436512 0.27390021] [ 0.06458354 0.02374425 0.99762978 -0.26329022] [ 0. 0. 0. 1. ]] SLAMing on 330.60313336499996 meters SLAMing on 330.633133365 meters Centerline goodness : 0.102820 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.26, Z:-0.27 [[ 9.97866434e-01 -2.14849744e-03 -6.52530711e-02 -2.01285233e+00] [ 4.97550257e-04 9.99679618e-01 -2.53064013e-02 2.63675256e-01] [ 6.52865359e-02 2.52199417e-02 9.97547805e-01 -2.67067397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66313336499996 meters SLAMing on 330.693133365 meters SLAMing on 330.72313336499997 meters Centerline goodness : 0.124389 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.26, Z:-0.27 [[ 9.97837160e-01 -1.77510471e-03 -6.57103598e-02 -2.01081563e+00] [ 1.65070933e-04 9.99699833e-01 -2.44993024e-02 2.59378329e-01] [ 6.57341245e-02 2.44354674e-02 9.97537936e-01 -2.68441200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.753133365 meters SLAMing on 330.78313336499997 meters Centerline goodness : 0.098813 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.26, Z:-0.27 [[ 0.99774326 -0.00981948 -0.06642263 -1.98979395] [ 0.00827628 0.99969032 -0.02346847 0.26219728] [ 0.06663251 0.02286578 0.99751555 -0.2675758 ] [ 0. 0. 0. 1. ]] SLAMing on 330.813133365 meters SLAMing on 330.84313336499997 meters Centerline goodness : 0.126303 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.26, Z:-0.27 [[ 0.9978063 -0.0056919 -0.06595597 -1.99051623] [ 0.0044253 0.99980329 -0.019334 0.25973504] [ 0.06605304 0.01899971 0.99763521 -0.26810567] [ 0. 0. 0. 1. ]] SLAMing on 330.873133365 meters SLAMing on 330.903133365 meters Centerline goodness : 0.100408 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.26, Z:-0.27 [[ 0.99782623 -0.00560651 -0.06566107 -1.99173888] [ 0.00434753 0.99980427 -0.01930101 0.25988284] [ 0.06575643 0.01897359 0.9976553 -0.26746052] [ 0. 0. 0. 1. ]] SLAMing on 330.933133365 meters Centerline goodness : 0.097138 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.26, Z:-0.27 [[ 0.9978256 -0.00560039 -0.06567124 -1.99197646] [ 0.00434043 0.99980407 -0.01931282 0.25995451] [ 0.06576653 0.01898579 0.9976544 -0.2671156 ] [ 0. 0. 0. 1. ]] SLAMing on 330.963133365 meters Centerline goodness : 0.100962 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.26, Z:-0.27 [[ 0.99782836 -0.00555336 -0.06563323 -1.99223614] [ 0.00430135 0.99980638 -0.01920174 0.2594007 ] [ 0.06572716 0.01887773 0.99765905 -0.26688655] [ 0. 0. 0. 1. ]] SLAMing on 330.993133365 meters SLAMing on 331.023133365 meters Centerline goodness : 0.107215 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.25, Z:-0.27 [[ 0.99786502 -0.0057808 -0.06505366 -1.99435959] [ 0.00457398 0.99981496 -0.01868475 0.25361276] [ 0.06514964 0.0183473 0.99770682 -0.26591312] [ 0. 0. 0. 1. ]] SLAMing on 331.053133365 meters SLAMing on 331.083133365 meters Centerline goodness : 0.203495 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.25, Z:-0.27 [[ 0.99789194 -0.00564277 -0.06465159 -1.99569501] [ 0.00449715 0.99983053 -0.01785171 0.24851547] [ 0.06474137 0.01752333 0.99774821 -0.26524594] [ 0. 0. 0. 1. ]] SLAMing on 331.113133365 meters Centerline goodness : 0.112061 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.25, Z:-0.27 [[ 0.99788258 -0.00545399 -0.06481209 -1.99522689] [ 0.00433255 0.99983868 -0.01743098 0.24642422] [ 0.0648967 0.01711327 0.99774524 -0.26531603] [ 0. 0. 0. 1. ]] SLAMing on 331.143133365 meters Centerline goodness : 0.106225 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.24, Z:-0.27 [[ 0.99786061 -0.00522569 -0.06516824 -1.99391282] [ 0.00412693 0.99984725 -0.01698353 0.24413317] [ 0.06524704 0.01667826 0.99772975 -0.26597723] [ 0. 0. 0. 1. ]] SLAMing on 331.173133365 meters SLAMing on 331.203133365 meters SLAMing on 331.23313336499996 meters SLAMing on 331.263133365 meters SLAMing on 331.29313336499996 meters Centerline goodness : 0.147109 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.27 [[ 0.99790378 -0.00450269 -0.06455835 -1.99571862] [ 0.00347486 0.99986556 -0.0160244 0.24093385] [ 0.06462182 0.01576648 0.99778527 -0.26559263] [ 0. 0. 0. 1. ]] SLAMing on 331.323133365 meters SLAMing on 331.35313336499996 meters SLAMing on 331.383133365 meters Centerline goodness : 0.109095 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.27 [[ 0.99793278 -0.00480008 -0.06408679 -1.99702003] [ 0.00381882 0.99987373 -0.01542516 0.23425737] [ 0.06415274 0.01514854 0.99782511 -0.26520377] [ 0. 0. 0. 1. ]] SLAMing on 331.41313336499996 meters Centerline goodness : 0.101933 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.26 [[ 0.99796034 -0.00465729 -0.06366682 -1.99859926] [ 0.0037059 0.99987983 -0.01505323 0.23263741] [ 0.06372927 0.01478658 0.99785767 -0.26429514] [ 0. 0. 0. 1. ]] SLAMing on 331.443133365 meters Centerline goodness : 0.040466 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.26 [[ 0.99797644 -0.00453758 -0.06342266 -1.99929193] [ 0.00360825 0.99988456 -0.01475982 0.23128646] [ 0.06348231 0.01450111 0.9978776 -0.26411101] [ 0. 0. 0. 1. ]] SLAMing on 331.47313336499997 meters SLAMing on 331.503133365 meters Centerline goodness : 0.092222 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.26 [[ 0.99797298 -0.00455454 -0.06347586 -1.99874697] [ 0.00362844 0.9998854 -0.01469733 0.23038588] [ 0.06353553 0.01443721 0.99787514 -0.26467416] [ 0. 0. 0. 1. ]] SLAMing on 331.53313336499997 meters SLAMing on 331.563133365 meters Centerline goodness : 0.105831 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.27 [[ 0.99794876 -0.00445552 -0.06386256 -1.9976706 ] [ 0.00350923 0.9998825 -0.01492207 0.23246437] [ 0.06392154 0.01466736 0.99784714 -0.2650044 ] [ 0. 0. 0. 1. ]] SLAMing on 331.59313336499997 meters SLAMing on 331.623133365 meters Centerline goodness : 0.099922 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.27 [[ 0.99793091 -0.00455558 -0.06413378 -1.99702018] [ 0.00358096 0.99987648 -0.01530349 0.23466213] [ 0.06419558 0.01504216 0.99782396 -0.26507115] [ 0. 0. 0. 1. ]] SLAMing on 331.653133365 meters SLAMing on 331.683133365 meters Centerline goodness : 0.227289 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 0.99791477 -0.00484998 -0.06436289 -1.99650824] [ 0.00385435 0.99987113 -0.01558417 0.23528413] [ 0.06443017 0.0153036 0.99780487 -0.26494386] [ 0. 0. 0. 1. ]] SLAMing on 331.713133365 meters SLAMing on 331.743133365 meters SLAMing on 331.773133365 meters Centerline goodness : 0.146344 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.24, Z:-0.27 [[ 0.9978141 -0.00574494 -0.06583328 -1.99267147] [ 0.00468573 0.99985727 -0.01623246 0.23530824] [ 0.06591714 0.0158885 0.99769859 -0.26537888] [ 0. 0. 0. 1. ]] SLAMing on 331.803133365 meters Centerline goodness : 0.149255 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.23, Z:-0.27 [[ 0.99781997 -0.00578935 -0.06574033 -1.99287781] [ 0.00476049 0.9998639 -0.0157962 0.23278312] [ 0.06582283 0.01544881 0.99771173 -0.26527247] [ 0. 0. 0. 1. ]] SLAMing on 331.833133365 meters Centerline goodness : 0.232091 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.23, Z:-0.26 [[ 0.99784012 -0.00582084 -0.06543094 -1.99402478] [ 0.0048126 0.99986741 -0.01555641 0.23113502] [ 0.06551282 0.01520792 0.99773583 -0.26459666] [ 0. 0. 0. 1. ]] SLAMing on 331.863133365 meters SLAMing on 331.893133365 meters Centerline goodness : 0.121827 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.26 [[ 0.9978666 -0.00608292 -0.06500187 -1.99572194] [ 0.00510081 0.99987048 -0.01526423 0.22768222] [ 0.0650863 0.0149001 0.99776839 -0.26363804] [ 0. 0. 0. 1. ]] SLAMing on 331.923133365 meters Centerline goodness : 0.117203 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.23, Z:-0.26 [[ 0.99784685 -0.00594277 -0.06531727 -1.99479938] [ 0.00497546 0.99987568 -0.014962 0.22622736] [ 0.06539806 0.0146048 0.99775237 -0.26386295] [ 0. 0. 0. 1. ]] SLAMing on 331.953133365 meters Centerline goodness : 0.096001 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.23, Z:-0.26 [[ 0.9978142 -0.00566717 -0.06583841 -1.99314562] [ 0.00471163 0.99988144 -0.01465966 0.22519681] [ 0.06591368 0.01431741 0.99772261 -0.26443375] [ 0. 0. 0. 1. ]] SLAMing on 331.98313336499996 meters Centerline goodness : 0.352734 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.23, Z:-0.26 [[ 0.99781846 -0.00559892 -0.06577978 -1.99353591] [ 0.0046436 0.99988165 -0.01466693 0.22539453] [ 0.06585411 0.01432948 0.99772637 -0.26416106] [ 0. 0. 0. 1. ]] SLAMing on 332.013133365 meters Centerline goodness : 0.227445 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.23, Z:-0.26 [[ 0.99783936 -0.00551565 -0.06546906 -1.9947164 ] [ 0.00456172 0.99988138 -0.01471124 0.22597349] [ 0.06554243 0.0143808 0.99774615 -0.2635916 ] [ 0. 0. 0. 1. ]] SLAMing on 332.04313336499996 meters Centerline goodness : 0.095041 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.26 [[ 0.99784927 -0.00544378 -0.06532377 -1.9952412 ] [ 0.00448378 0.99987992 -0.01483356 0.22710447] [ 0.06539668 0.01450876 0.99775386 -0.26343595] [ 0. 0. 0. 1. ]] SLAMing on 332.073133365 meters Centerline goodness : 0.228161 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.26 [[ 0.99784575 -0.00535391 -0.06538499 -1.99521913] [ 0.00438477 0.99987853 -0.01495653 0.22840293] [ 0.06545713 0.01463761 0.99774802 -0.26334654] [ 0. 0. 0. 1. ]] SLAMing on 332.10313336499996 meters Centerline goodness : 0.097993 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.26 [[ 0.99784231 -0.0052894 -0.06544271 -1.99506318] [ 0.00428934 0.99987202 -0.01541257 0.23146636] [ 0.06551586 0.01509861 0.99773729 -0.26352781] [ 0. 0. 0. 1. ]] SLAMing on 332.133133365 meters SLAMing on 332.16313336499996 meters SLAMing on 332.193133365 meters Centerline goodness : 0.119180 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.24, Z:-0.26 [[ 9.97833503e-01 -1.43628358e-03 -6.57741455e-02 -1.99489743e+00] [ 6.20889314e-04 9.99922730e-01 -1.24156450e-02 2.36013637e-01] [ 6.57868955e-02 1.23479081e-02 9.97757292e-01 -2.62949198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22313336499997 meters SLAMing on 332.253133365 meters SLAMing on 332.28313336499997 meters SLAMing on 332.313133365 meters SLAMing on 332.34313336499997 meters SLAMing on 332.373133365 meters Centerline goodness : 0.155868 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.25, Z:-0.26 [[ 9.97801758e-01 -1.05606676e-03 -6.62611233e-02 -1.99608646e+00] [ 2.05723911e-04 9.99917559e-01 -1.28387201e-02 2.45977065e-01] [ 6.62692192e-02 1.27968659e-02 9.97719716e-01 -2.60236276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.403133365 meters Centerline goodness : 0.109563 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.25, Z:-0.26 [[ 9.97805126e-01 -1.02840798e-03 -6.62108219e-02 -1.99611749e+00] [ 1.81841327e-04 9.99918179e-01 -1.27906828e-02 2.45932034e-01] [ 6.62185585e-02 1.27505690e-02 9.97723672e-01 -2.60345270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.433133365 meters Centerline goodness : 0.251068 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.25, Z:-0.26 [[ 9.97800789e-01 -1.01462618e-03 -6.62763625e-02 -1.99591946e+00] [ 1.70883219e-04 9.99918891e-01 -1.27351055e-02 2.45659707e-01] [ 6.62839083e-02 1.26957728e-02 9.97720031e-01 -2.60387969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.463133365 meters Centerline goodness : 0.124578 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.25, Z:-0.26 [[ 9.97799417e-01 -1.02234546e-03 -6.62969021e-02 -1.99574864e+00] [ 1.83051486e-04 9.99919786e-01 -1.26644649e-02 2.45082220e-01] [ 6.63045316e-02 1.26244600e-02 9.97719566e-01 -2.60521404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.493133365 meters Centerline goodness : 0.203228 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97795074e-01 -1.02052440e-03 -6.63622589e-02 -1.99562415e+00] [ 1.86597162e-04 9.99920961e-01 -1.25712720e-02 2.44387170e-01] [ 6.63698430e-02 1.25311703e-02 9.97716399e-01 -2.60464213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.523133365 meters Centerline goodness : 0.120574 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97784017e-01 -1.02649371e-03 -6.65282051e-02 -1.99536262e+00] [ 2.07418881e-04 9.99924116e-01 -1.23174309e-02 2.42574223e-01] [ 6.65358004e-02 1.22763364e-02 9.97708514e-01 -2.60210342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.553133365 meters SLAMing on 332.583133365 meters Centerline goodness : 0.206014 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97795721e-01 -9.84484857e-04 -6.63530733e-02 -1.99624989e+00] [ 1.88541347e-04 9.99927970e-01 -1.20007734e-02 2.40694085e-01] [ 6.63601085e-02 1.19618100e-02 9.97724036e-01 -2.59491788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.613133365 meters Centerline goodness : 0.206014 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97795721e-01 -9.84484857e-04 -6.63530733e-02 -1.99624989e+00] [ 1.88541347e-04 9.99927970e-01 -1.20007734e-02 2.40694085e-01] [ 6.63601085e-02 1.19618100e-02 9.97724036e-01 -2.59491788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.643133365 meters Centerline goodness : 0.139405 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97798632e-01 -9.44681100e-04 -6.63098665e-02 -1.99645330e+00] [ 1.59712014e-04 9.99929866e-01 -1.18421957e-02 2.39723917e-01] [ 6.63164030e-02 1.18055362e-02 9.97728803e-01 -2.59311144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.673133365 meters Centerline goodness : 0.151610 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97800748e-01 -8.21978038e-04 -6.62796508e-02 -1.99665140e+00] [ 5.25646496e-05 9.99932606e-01 -1.16094998e-02 2.38722700e-01] [ 6.62847267e-02 1.15804836e-02 9.97733545e-01 -2.59140404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.703133365 meters SLAMing on 332.73313336499996 meters SLAMing on 332.763133365 meters Centerline goodness : 0.133667 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97824039e-01 -7.06204396e-04 -6.59294171e-02 -1.99803977e+00] [-5.20551788e-05 9.99933887e-01 -1.14986549e-02 2.38392816e-01] [ 6.59331787e-02 1.14770663e-02 9.97758033e-01 -2.58408205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79313336499996 meters Centerline goodness : 0.095893 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.24, Z:-0.26 [[ 9.97687338e-01 -3.56095784e-04 -6.79694746e-02 -2.04388842e+00] [-4.65240064e-04 9.99927075e-01 -1.20676810e-02 2.35852901e-01] [ 6.79688152e-02 1.20713946e-02 9.97614415e-01 -2.59527730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.823133365 meters SLAMing on 332.85313336499996 meters Centerline goodness : 0.112158 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97736889e-01 -1.68533806e-04 -6.72389228e-02 -1.99901087e+00] [-6.06083183e-04 9.99933691e-01 -1.14998002e-02 2.37337894e-01] [ 6.72364023e-02 1.15145273e-02 9.97670628e-01 -2.57143717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.883133365 meters Centerline goodness : 0.097494 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97722356e-01 -1.46272450e-04 -6.74542662e-02 -1.99835687e+00] [-6.26026190e-04 9.99934503e-01 -1.14279383e-02 2.36800385e-01] [ 6.74515197e-02 1.14441377e-02 9.97656917e-01 -2.57343751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91313336499996 meters Centerline goodness : 0.098942 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97706819e-01 -1.55159501e-04 -6.76836766e-02 -1.99767589e+00] [-6.19177883e-04 9.99934605e-01 -1.14194055e-02 2.36552420e-01] [ 6.76810223e-02 1.14351270e-02 9.97641477e-01 -2.57542529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.943133365 meters Centerline goodness : 0.106839 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97688352e-01 -1.17266450e-04 -6.79554118e-02 -1.99698310e+00] [-6.68791458e-04 9.99933138e-01 -1.15443941e-02 2.37545952e-01] [ 6.79522219e-02 1.15631556e-02 9.97621566e-01 -2.57630360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97313336499997 meters SLAMing on 333.003133365 meters Centerline goodness : 0.225214 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97724109e-01 -1.11855714e-04 -6.74284079e-02 -1.99864152e+00] [-6.87954991e-04 9.99929688e-01 -1.18382912e-02 2.39638377e-01] [ 6.74249911e-02 1.18577363e-02 9.97653880e-01 -2.57153922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03313336499997 meters SLAMing on 333.063133365 meters SLAMing on 333.09313336499997 meters Centerline goodness : 0.096779 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97700655e-01 -5.14302652e-05 -6.77746278e-02 -1.99879807e+00] [-7.39264900e-04 9.99931963e-01 -1.16414043e-02 2.38426140e-01] [ 6.77706153e-02 1.16647401e-02 9.97632737e-01 -2.55779129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.123133365 meters SLAMing on 333.153133365 meters SLAMing on 333.183133365 meters Centerline goodness : 0.123532 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97678668e-01 3.15141018e-05 -6.80975299e-02 -1.99730967e+00] [-7.98863905e-04 9.99936497e-01 -1.12411915e-02 2.35626411e-01] [ 6.80928513e-02 1.12694977e-02 9.97615338e-01 -2.56716091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.213133365 meters SLAMing on 333.243133365 meters SLAMing on 333.273133365 meters SLAMing on 333.303133365 meters SLAMing on 333.333133365 meters SLAMing on 333.363133365 meters Centerline goodness : 0.099672 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97842668e-01 7.17147909e-04 -6.56467549e-02 -2.00778292e+00] [-1.34574427e-03 9.99953667e-01 -9.53171826e-03 2.24198737e-01] [ 6.56368776e-02 9.59949892e-03 9.97797399e-01 -2.51413768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.393133365 meters SLAMing on 333.423133365 meters SLAMing on 333.453133365 meters SLAMing on 333.48313336499996 meters SLAMing on 333.513133365 meters SLAMing on 333.54313336499996 meters SLAMing on 333.573133365 meters SLAMing on 333.60313336499996 meters SLAMing on 333.633133365 meters SLAMing on 333.66313336499996 meters SLAMing on 333.693133365 meters SLAMing on 333.72313336499997 meters SLAMing on 333.753133365 meters Centerline goodness : 0.091006 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.21, Z:-0.25 [[ 9.97869705e-01 -8.62994912e-04 -6.52327219e-02 -2.01135884e+00] [ 2.00051173e-04 9.99948278e-01 -1.01685972e-02 2.14648827e-01] [ 6.52381234e-02 1.01338852e-02 9.97818266e-01 -2.48636981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78313336499997 meters Centerline goodness : 0.098538 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.21, Z:-0.25 [[ 9.97877766e-01 -9.20204377e-04 -6.51085029e-02 -2.01195806e+00] [ 2.59765748e-04 9.99948439e-01 -1.01514002e-02 2.14305789e-01] [ 6.51144872e-02 1.01129436e-02 9.97826554e-01 -2.48173987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.813133365 meters SLAMing on 333.84313336499997 meters SLAMing on 333.873133365 meters SLAMing on 333.903133365 meters SLAMing on 333.933133365 meters SLAMing on 333.963133365 meters Centerline goodness : 0.093185 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97753408e-01 -2.32294275e-03 -6.69532728e-02 -2.00708114e+00] [ 1.55579425e-03 9.99932572e-01 -1.15078334e-02 2.18487552e-01] [ 6.69754903e-02 1.13778145e-02 9.97689746e-01 -2.48696696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.993133365 meters SLAMing on 334.023133365 meters Centerline goodness : 0.111531 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97755192e-01 -2.28739599e-03 -6.69279076e-02 -2.00723468e+00] [ 1.52517573e-03 9.99933426e-01 -1.14375562e-02 2.18747062e-01] [ 6.69496142e-02 1.13098042e-02 9.97692256e-01 -2.48496946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.053133365 meters Centerline goodness : 0.093712 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97761406e-01 -2.57498460e-03 -6.68247453e-02 -2.00764030e+00] [ 1.78799348e-03 9.99928376e-01 -1.18340785e-02 2.19869014e-01] [ 6.68504317e-02 1.16881046e-02 9.97694546e-01 -2.48256978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.083133365 meters Centerline goodness : 0.093824 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97768298e-01 -2.68663709e-03 -6.67173587e-02 -2.00815024e+00] [ 1.89223582e-03 9.99926599e-01 -1.19673050e-02 2.20151573e-01] [ 6.67446134e-02 1.18143525e-02 9.97700144e-01 -2.47920280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.113133365 meters SLAMing on 334.143133365 meters SLAMing on 334.173133365 meters Centerline goodness : 0.093581 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97741541e-01 -2.33728932e-03 -6.71293791e-02 -2.00749784e+00] [ 1.56584838e-03 9.99932161e-01 -1.15421711e-02 2.20117159e-01] [ 6.71518025e-02 1.14109892e-02 9.97677515e-01 -2.47474988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.203133365 meters SLAMing on 334.23313336499996 meters Centerline goodness : 0.092105 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 0.99774573 -0.00285679 -0.06704703 -2.00793299] [ 0.00206987 0.99992819 -0.01180345 0.21881182] [ 0.06707594 0.01163806 0.99768 -0.24710725] [ 0. 0. 0. 1. ]] SLAMing on 334.263133365 meters SLAMing on 334.29313336499996 meters Centerline goodness : 0.100378 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97763111e-01 -2.73307546e-03 -6.67930040e-02 -2.00914337e+00] [ 1.95205450e-03 9.99928995e-01 -1.17556239e-02 2.19355447e-01] [ 6.68203904e-02 1.15989443e-02 9.97697599e-01 -2.46290212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.323133365 meters Centerline goodness : 0.097971 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97761569e-01 -2.73222576e-03 -6.68160625e-02 -2.00908041e+00] [ 1.94412744e-03 9.99927811e-01 -1.18572218e-02 2.20055591e-01] [ 6.68436358e-02 1.17007813e-02 9.97694853e-01 -2.46318371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35313336499996 meters Centerline goodness : 0.092877 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97749215e-01 -2.76712207e-03 -6.69988563e-02 -2.00854464e+00] [ 1.96662141e-03 9.99925932e-01 -1.20109834e-02 2.20806294e-01] [ 6.70271297e-02 1.18521879e-02 9.97680755e-01 -2.46519596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.383133365 meters SLAMing on 334.41313336499996 meters Centerline goodness : 0.093324 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97831808e-01 -2.51147273e-03 -6.57675908e-02 -2.01208181e+00] [ 1.71884638e-03 9.99925246e-01 -1.21057406e-02 2.22113863e-01] [ 6.57930776e-02 1.19664487e-02 9.97761532e-01 -2.45753030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.443133365 meters Centerline goodness : 0.096216 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97856351e-01 -2.45012070e-03 -6.53964850e-02 -2.01330651e+00] [ 1.65629553e-03 9.99924326e-01 -1.21901090e-02 2.23003255e-01] [ 6.54214034e-02 1.20556618e-02 9.97784897e-01 -2.45345251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47313336499997 meters SLAMing on 334.503133365 meters SLAMing on 334.53313336499997 meters Centerline goodness : 0.097597 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.22, Z:-0.24 [[ 9.97899446e-01 -1.95866316e-03 -6.47522891e-02 -2.01545182e+00] [ 1.17948019e-03 9.99926467e-01 -1.20693264e-02 2.24492278e-01] [ 6.47711674e-02 1.19676001e-02 9.97828378e-01 -2.44662536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.563133365 meters SLAMing on 334.59313336499997 meters SLAMing on 334.623133365 meters Centerline goodness : 0.210962 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.23, Z:-0.24 [[ 9.97953373e-01 -1.57729553e-03 -6.39263368e-02 -2.01802810e+00] [ 8.11508716e-04 9.99927627e-01 -1.20034019e-02 2.25495734e-01] [ 6.39406432e-02 1.19269586e-02 9.97882429e-01 -2.43929657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.653133365 meters Centerline goodness : 0.233824 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.23, Z:-0.24 [[ 9.97970739e-01 -1.55766527e-03 -6.36551432e-02 -2.01933946e+00] [ 7.96270746e-04 9.99927862e-01 -1.19848602e-02 2.25507760e-01] [ 6.36692197e-02 1.19098531e-02 9.97899988e-01 -2.43020017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.683133365 meters SLAMing on 334.713133365 meters SLAMing on 334.743133365 meters SLAMing on 334.773133365 meters SLAMing on 334.803133365 meters SLAMing on 334.833133365 meters SLAMing on 334.863133365 meters Centerline goodness : 0.098823 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.23, Z:-0.24 [[ 9.97977277e-01 1.33850114e-03 -6.35575579e-02 -2.02037803e+00] [-2.00458759e-03 9.99943728e-01 -1.04174400e-02 2.34341451e-01] [ 6.35400376e-02 1.05237751e-02 9.97923802e-01 -2.42446191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.893133365 meters SLAMing on 334.923133365 meters SLAMing on 334.953133365 meters SLAMing on 334.98313336499996 meters SLAMing on 335.013133365 meters SLAMing on 335.04313336499996 meters SLAMing on 335.073133365 meters SLAMing on 335.10313336499996 meters Centerline goodness : 0.264584 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.23, Z:-0.24 [[ 0.99795947 -0.02634064 -0.05816417 -2.03976864] [ 0.02566443 0.99959442 -0.01234258 0.22722338] [ 0.05846569 0.01082464 0.99823073 -0.24315335] [ 0. 0. 0. 1. ]] SLAMing on 335.133133365 meters Centerline goodness : 0.130507 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.22, Z:-0.25 [[ 0.99817468 -0.01849104 -0.05749247 -2.05864234] [ 0.01776511 0.99975621 -0.01311209 0.21766558] [ 0.05772091 0.0120668 0.99825983 -0.24561274] [ 0. 0. 0. 1. ]] SLAMing on 335.16313336499996 meters Centerline goodness : 0.295716 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.21, Z:-0.25 [[ 0.99816946 -0.01823685 -0.05766401 -2.05810512] [ 0.01754364 0.99976789 -0.01250516 0.21482474] [ 0.05787868 0.01147064 0.99825772 -0.2457382 ] [ 0. 0. 0. 1. ]] SLAMing on 335.193133365 meters Centerline goodness : 0.131277 Centerline is valid? [False, False] Translation: X:-2.08, Y:0.21, Z:-0.25 [[ 0.99825753 -0.00947377 -0.05824221 -2.07670005] [ 0.00873828 0.999879 -0.0128699 0.206696 ] [ 0.05835709 0.01233853 0.99821952 -0.24791403] [ 0. 0. 0. 1. ]] SLAMing on 335.22313336499997 meters SLAMing on 335.253133365 meters Centerline goodness : 0.104014 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.20, Z:-0.25 [[ 0.99822618 -0.00875101 -0.05888905 -2.07464439] [ 0.0080654 0.99989702 -0.0118701 0.20198612] [ 0.05898686 0.01137408 0.99819396 -0.24864008] [ 0. 0. 0. 1. ]] SLAMing on 335.28313336499997 meters Centerline goodness : 0.224184 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.20, Z:-0.25 [[ 0.99822622 -0.00849047 -0.05892636 -2.07444892] [ 0.00781737 0.99990165 -0.01164389 0.20142578] [ 0.05901943 0.01116259 0.99819442 -0.24888995] [ 0. 0. 0. 1. ]] SLAMing on 335.313133365 meters SLAMing on 335.34313336499997 meters SLAMing on 335.373133365 meters SLAMing on 335.403133365 meters Centerline goodness : 0.100960 Centerline is valid? [False, False] Translation: X:-2.08, Y:0.19, Z:-0.25 [[ 0.99827903 0.01099223 -0.05760343 -2.07828344] [-0.01165992 0.99986853 -0.01126784 0.19395471] [ 0.057472 0.0119201 0.99827595 -0.24767305] [ 0. 0. 0. 1. ]] SLAMing on 335.433133365 meters Centerline goodness : 0.096272 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.20, Z:-0.25 [[ 0.99831082 0.00338756 -0.05800018 -2.0597392 ] [-0.00397839 0.99994134 -0.0100743 0.19865448] [ 0.05796265 0.01028803 0.99826574 -0.24575794] [ 0. 0. 0. 1. ]] SLAMing on 335.463133365 meters Centerline goodness : 0.186588 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.20, Z:-0.25 [[ 0.99830644 0.00344928 -0.0580719 -2.05927224] [-0.00403305 0.99994248 -0.00993829 0.19781434] [ 0.05803428 0.01015567 0.99826293 -0.24617623] [ 0. 0. 0. 1. ]] SLAMing on 335.493133365 meters Centerline goodness : 0.087003 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.20, Z:-0.25 [[ 0.99832003 0.00349648 -0.05783505 -2.05993127] [-0.00406602 0.99994437 -0.00973293 0.19646381] [ 0.0577978 0.00995174 0.99827871 -0.2460684 ] [ 0. 0. 0. 1. ]] SLAMing on 335.523133365 meters Centerline goodness : 0.100300 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.19, Z:-0.24 [[ 9.98369366e-01 -8.74171092e-05 -5.70841536e-02 -2.06287953e+00] [-6.42981720e-04 9.99918169e-01 -1.27766317e-02 1.93671791e-01] [ 5.70805993e-02 1.27925018e-02 9.98287612e-01 -2.44716008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.553133365 meters SLAMing on 335.583133365 meters SLAMing on 335.613133365 meters Centerline goodness : 0.143656 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98416722e-01 -1.95004422e-03 -5.62160648e-02 -2.06572572e+00] [ 1.20153091e-03 9.99910221e-01 -1.33456620e-02 1.84317056e-01] [ 5.62370424e-02 1.32569868e-02 9.98329428e-01 -2.43728247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.643133365 meters Centerline goodness : 0.142231 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98434288e-01 -1.79112678e-03 -5.59085288e-02 -2.06644254e+00] [ 1.07794980e-03 9.99917704e-01 -1.27836907e-02 1.81425579e-01] [ 5.59268250e-02 1.27034086e-02 9.98354052e-01 -2.43606973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.673133365 meters SLAMing on 335.703133365 meters Centerline goodness : 0.104405 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.17, Z:-0.24 [[ 9.98435637e-01 -1.69600589e-03 -5.58874150e-02 -2.06625854e+00] [ 1.02854237e-03 9.99927833e-01 -1.19696024e-02 1.74347461e-01] [ 5.59036823e-02 1.18933950e-02 9.98365327e-01 -2.43758882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73313336499996 meters SLAMing on 335.763133365 meters Centerline goodness : 0.138879 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.17, Z:-0.24 [[ 9.98455480e-01 -1.29590824e-03 -5.55425511e-02 -2.06719863e+00] [ 6.84600044e-04 9.99939002e-01 -1.10237379e-02 1.69874778e-01] [ 5.55534489e-02 1.09686871e-02 9.98395464e-01 -2.43542289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79313336499996 meters Centerline goodness : 0.093255 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.17, Z:-0.24 [[ 9.98449258e-01 -1.19357990e-03 -5.56565769e-02 -2.06676235e+00] [ 5.96433189e-04 9.99942098e-01 -1.07445076e-02 1.68333604e-01] [ 5.56661787e-02 1.06946502e-02 9.98392158e-01 -2.43772608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.823133365 meters Centerline goodness : 0.102401 Centerline is valid? [False, False] Translation: X:-2.08, Y:0.16, Z:-0.25 [[ 0.9983962 0.00666596 -0.05621911 -2.08493863] [-0.00735036 0.99990127 -0.01197595 0.16147686] [ 0.05613373 0.01236997 0.99834663 -0.2465161 ] [ 0. 0. 0. 1. ]] SLAMing on 335.85313336499996 meters SLAMing on 335.883133365 meters Centerline goodness : 0.101436 Centerline is valid? [False, False] Translation: X:-2.10, Y:0.16, Z:-0.25 [[ 9.98397605e-01 -1.28676435e-03 -5.65735579e-02 -2.10496237e+00] [ 6.87350514e-04 9.99943439e-01 -1.06134824e-02 1.62232093e-01] [ 5.65840151e-02 1.05575895e-02 9.98342019e-01 -2.48715085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91313336499996 meters Centerline goodness : 0.292895 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.16, Z:-0.25 [[ 9.98473339e-01 -1.14978689e-03 -5.52238116e-02 -2.05922594e+00] [ 5.77144099e-04 9.99945915e-01 -1.03843196e-02 1.63334875e-01] [ 5.52327645e-02 1.03365942e-02 9.98420000e-01 -2.47133011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.943133365 meters Centerline goodness : 0.218291 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.16, Z:-0.25 [[ 9.98459887e-01 -1.11838723e-03 -5.54671377e-02 -2.05837837e+00] [ 5.44510576e-04 9.99946183e-01 -1.03602799e-02 1.63296559e-01] [ 5.54757394e-02 1.03141214e-02 9.98406761e-01 -2.47530480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97313336499997 meters Centerline goodness : 0.096379 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.16, Z:-0.25 [[ 9.98448828e-01 -1.06341433e-03 -5.56669281e-02 -2.05783325e+00] [ 4.85694100e-04 9.99945898e-01 -1.03906595e-02 1.63811198e-01] [ 5.56749660e-02 1.03475047e-02 9.98395326e-01 -2.47674911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.003133365 meters Centerline goodness : 0.106784 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.16, Z:-0.25 [[ 9.98445542e-01 -9.95626689e-04 -5.57270933e-02 -2.05775122e+00] [ 4.17231792e-04 9.99945938e-01 -1.03897334e-02 1.64268150e-01] [ 5.57344249e-02 1.03503319e-02 9.98391979e-01 -2.47636978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03313336499997 meters Centerline goodness : 0.093952 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.17, Z:-0.25 [[ 9.98447243e-01 -9.62767172e-04 -5.56971833e-02 -2.05781764e+00] [ 3.79914250e-04 9.99945071e-01 -1.04743170e-02 1.65009712e-01] [ 5.57042083e-02 1.04368927e-02 9.98392765e-01 -2.47694122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.063133365 meters Centerline goodness : 0.110790 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.17, Z:-0.25 [[ 9.98446920e-01 -1.18489396e-03 -5.56986874e-02 -2.05750375e+00] [ 5.75063703e-04 9.99939734e-01 -1.09634893e-02 1.66794934e-01] [ 5.57083212e-02 1.09144319e-02 9.98387429e-01 -2.48246126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09313336499997 meters Centerline goodness : 0.101142 Centerline is valid? [False, False] Translation: X:-2.08, Y:0.16, Z:-0.25 [[ 0.99840714 0.00676609 -0.05601261 -2.07722632] [-0.00747058 0.99989549 -0.01237759 0.16274962] [ 0.05592301 0.01277632 0.99835334 -0.25041087] [ 0. 0. 0. 1. ]] SLAMing on 336.123133365 meters Centerline goodness : 0.155725 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.17, Z:-0.25 [[ 9.98456642e-01 -1.71156231e-04 -5.55365162e-02 -2.06046307e+00] [-4.23152856e-04 9.99942778e-01 -1.06892952e-02 1.70042203e-01] [ 5.55351678e-02 1.06962982e-02 9.98399436e-01 -2.47529387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.153133365 meters Centerline goodness : 0.215968 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.17, Z:-0.25 [[ 9.98464185e-01 -1.59938635e-04 -5.54007810e-02 -2.06096596e+00] [-4.43730366e-04 9.99940670e-01 -1.08839264e-02 1.71717195e-01] [ 5.53992349e-02 1.08917937e-02 9.98404875e-01 -2.47349865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.183133365 meters Centerline goodness : 0.109377 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.17, Z:-0.25 [[ 9.98474645e-01 -1.47431662e-04 -5.52119717e-02 -2.06193458e+00] [-4.75897240e-04 9.99936306e-01 -1.12764239e-02 1.74782265e-01] [ 5.52101175e-02 1.12854986e-02 9.98410978e-01 -2.46750290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.213133365 meters Centerline goodness : 0.099170 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.18, Z:-0.25 [[ 9.98475796e-01 -2.63132288e-04 -5.51907225e-02 -2.06210705e+00] [-3.73261885e-04 9.99933571e-01 -1.15201928e-02 1.75902475e-01] [ 5.51900875e-02 1.15232343e-02 9.98409370e-01 -2.46597784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.243133365 meters SLAMing on 336.273133365 meters SLAMing on 336.303133365 meters SLAMing on 336.333133365 meters SLAMing on 336.363133365 meters SLAMing on 336.393133365 meters SLAMing on 336.423133365 meters SLAMing on 336.453133365 meters SLAMing on 336.48313336499996 meters Centerline goodness : 0.108177 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98547746e-01 -2.19311345e-03 -5.38292555e-02 -2.06840281e+00] [ 1.48261554e-03 9.99911308e-01 -1.32354892e-02 1.76788477e-01] [ 5.38535082e-02 1.31364598e-02 9.98462434e-01 -2.43109725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.513133365 meters Centerline goodness : 0.093584 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98539505e-01 -2.14021666e-03 -5.39840463e-02 -2.06788699e+00] [ 1.42862051e-03 9.99911634e-01 -1.32167477e-02 1.76969474e-01] [ 5.40075627e-02 1.31203220e-02 9.98454326e-01 -2.43347349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54313336499996 meters Centerline goodness : 0.096491 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98558398e-01 -2.03621030e-03 -5.36374777e-02 -2.06874279e+00] [ 1.33046036e-03 9.99912120e-01 -1.31901988e-02 1.77365919e-01] [ 5.36596221e-02 1.30998213e-02 9.98473354e-01 -2.43420836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.573133365 meters Centerline goodness : 0.099738 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98574126e-01 -2.01010652e-03 -5.33448629e-02 -2.06964713e+00] [ 1.30886041e-03 9.99912320e-01 -1.31772039e-02 1.77464899e-01] [ 5.33666732e-02 1.30885939e-02 9.98489202e-01 -2.43169650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60313336499996 meters Centerline goodness : 0.098402 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98584451e-01 -1.95504305e-03 -5.31532913e-02 -2.07021801e+00] [ 1.25880736e-03 9.99913019e-01 -1.31289620e-02 1.77469139e-01] [ 5.31743356e-02 1.30434676e-02 9.98500054e-01 -2.43014038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.633133365 meters Centerline goodness : 0.180818 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98590320e-01 -1.96497670e-03 -5.30425427e-02 -2.07034038e+00] [ 1.26798119e-03 9.99912458e-01 -1.31707663e-02 1.77633163e-01] [ 5.30637795e-02 1.30849427e-02 9.98505393e-01 -2.43247123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66313336499996 meters Centerline goodness : 0.158883 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98569762e-01 -2.00808395e-03 -5.34265656e-02 -2.06892736e+00] [ 1.30456680e-03 9.99912031e-01 -1.31995446e-02 1.77318281e-01] [ 5.34483715e-02 1.31109676e-02 9.98484539e-01 -2.44019968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.693133365 meters Centerline goodness : 0.113673 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98561927e-01 -1.89872403e-03 -5.35768014e-02 -2.06841001e+00] [ 1.20257956e-03 9.99914479e-01 -1.30226416e-02 1.76707489e-01] [ 5.35969458e-02 1.29394837e-02 9.98478812e-01 -2.44310498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72313336499997 meters Centerline goodness : 0.099602 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98561715e-01 -1.76261038e-03 -5.35853919e-02 -2.06814107e+00] [ 1.07878174e-03 9.99917652e-01 -1.27877217e-02 1.75977684e-01] [ 5.36035191e-02 1.27115224e-02 9.98481387e-01 -2.44651795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.753133365 meters Centerline goodness : 0.222652 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.17, Z:-0.25 [[ 9.98442450e-01 -1.75586783e-03 -5.57637114e-02 -2.11298872e+00] [ 1.04776605e-03 9.99918486e-01 -1.27249528e-02 1.71527390e-01] [ 5.57815091e-02 1.26467058e-02 9.98362902e-01 -2.46451485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78313336499997 meters Centerline goodness : 0.197704 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.17, Z:-0.25 [[ 9.98441932e-01 -1.73078602e-03 -5.57737631e-02 -2.11296992e+00] [ 1.03190160e-03 9.99920624e-01 -1.25570658e-02 1.70394229e-01] [ 5.57910696e-02 1.24799480e-02 9.98364466e-01 -2.46441856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.813133365 meters Centerline goodness : 0.212846 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.17, Z:-0.25 [[ 9.98437132e-01 -1.81333342e-03 -5.58570005e-02 -2.11292414e+00] [ 1.11776321e-03 9.99921479e-01 -1.24814209e-02 1.69035956e-01] [ 5.58752476e-02 1.23994792e-02 9.98360761e-01 -2.46236826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84313336499997 meters Centerline goodness : 0.238166 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.17, Z:-0.25 [[ 9.98386179e-01 -2.06733531e-03 -5.67517760e-02 -2.11065986e+00] [ 1.37138738e-03 9.99923421e-01 -1.22992238e-02 1.66161132e-01] [ 5.67728566e-02 1.22015464e-02 9.98312559e-01 -2.46416276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.873133365 meters Centerline goodness : 0.224716 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.16, Z:-0.25 [[ 9.98376935e-01 -1.94460053e-03 -5.69184897e-02 -2.10996591e+00] [ 1.26486669e-03 9.99927487e-01 -1.19758237e-02 1.64573367e-01] [ 5.69376506e-02 1.18843918e-02 9.98306999e-01 -2.46805571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.903133365 meters Centerline goodness : 0.108355 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.16, Z:-0.25 [[ 9.98373806e-01 -1.82329997e-03 -5.69773478e-02 -2.10968939e+00] [ 1.15963738e-03 9.99931129e-01 -1.16787256e-02 1.63173028e-01] [ 5.69947175e-02 1.15936607e-02 9.98307162e-01 -2.46956157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.933133365 meters Centerline goodness : 0.208570 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.17, Z:-0.25 [[ 0.99835478 -0.0099525 -0.05646832 -2.09013362] [ 0.00936335 0.99989904 -0.01068835 0.16685589] [ 0.05656899 0.01014203 0.99834718 -0.24518912] [ 0. 0. 0. 1. ]] SLAMing on 336.963133365 meters Centerline goodness : 0.211262 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.16, Z:-0.25 [[ 9.98400667e-01 -2.32194560e-03 -5.64864317e-02 -2.10917354e+00] [ 1.65458865e-03 9.99928318e-01 -1.18583654e-02 1.59059660e-01] [ 5.65099171e-02 1.17459381e-02 9.98332942e-01 -2.47475054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.993133365 meters Centerline goodness : 0.099004 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.16, Z:-0.25 [[ 9.98370548e-01 -2.34302492e-03 -5.70154324e-02 -2.10770382e+00] [ 1.68936974e-03 9.99932330e-01 -1.15100307e-02 1.56476057e-01] [ 5.70385425e-02 1.13949555e-02 9.98306947e-01 -2.47720215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.023133365 meters Centerline goodness : 0.104767 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.16, Z:-0.25 [[ 9.98356984e-01 -2.24829602e-03 -5.72562481e-02 -2.10701521e+00] [ 1.60445049e-03 9.99934996e-01 -1.12884714e-02 1.55327250e-01] [ 5.72779061e-02 1.11780595e-02 9.98295694e-01 -2.47881462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.053133365 meters Centerline goodness : 0.097534 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 9.98358019e-01 -2.14139531e-03 -5.72422899e-02 -2.10710023e+00] [ 1.51109391e-03 9.99937782e-01 -1.10521322e-02 1.54208243e-01] [ 5.72623954e-02 1.09474863e-02 9.98299139e-01 -2.47803446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.083133365 meters Centerline goodness : 0.121084 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 9.98368129e-01 -2.04045785e-03 -5.70693939e-02 -2.10774542e+00] [ 1.42285071e-03 9.99940010e-01 -1.08605787e-02 1.53397823e-01] [ 5.70881309e-02 1.07616544e-02 9.98311140e-01 -2.47465271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.113133365 meters Centerline goodness : 0.067174 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99849709 0.00437294 -0.05463006 -2.13155054] [-0.00507813 0.99990549 -0.01277628 0.14687487] [ 0.05456902 0.0130345 0.99842492 -0.24849682] [ 0. 0. 0. 1. ]] SLAMing on 337.143133365 meters Centerline goodness : 0.153336 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99850912 0.00442325 -0.05440564 -2.13244135] [-0.00512622 0.99990509 -0.0127882 0.14715391] [ 0.05434391 0.01304803 0.99843702 -0.24801884] [ 0. 0. 0. 1. ]] SLAMing on 337.173133365 meters Centerline goodness : 0.177579 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99852905 0.00454831 -0.05402814 -2.13374111] [-0.00524723 0.99990429 -0.01280139 0.14794926] [ 0.05396474 0.01306605 0.99845735 -0.24749371] [ 0. 0. 0. 1. ]] SLAMing on 337.203133365 meters Centerline goodness : 0.109191 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99854813 0.00467498 -0.05366346 -2.13478794] [-0.00537404 0.99990248 -0.01288974 0.1492577 ] [ 0.05359797 0.01315942 0.99847588 -0.24731158] [ 0. 0. 0. 1. ]] SLAMing on 337.23313336499996 meters Centerline goodness : 0.090504 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99854349 0.00472942 -0.053745 -2.13446987] [-0.00543976 0.99989968 -0.01307836 0.1508053 ] [ 0.05367776 0.01335167 0.99846904 -0.24759345] [ 0. 0. 0. 1. ]] SLAMing on 337.263133365 meters Centerline goodness : 0.090578 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99853676 0.00466965 -0.05387525 -2.13378468] [-0.00539555 0.99989651 -0.01333614 0.15214286] [ 0.0538074 0.01360731 0.99845861 -0.24821793] [ 0. 0. 0. 1. ]] SLAMing on 337.29313336499996 meters Centerline goodness : 0.104985 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99853537 0.0044993 -0.05391547 -2.13343675] [-0.00524636 0.99989208 -0.01372262 0.1537197 ] [ 0.05384791 0.01398538 0.99845121 -0.24870609] [ 0. 0. 0. 1. ]] SLAMing on 337.323133365 meters Centerline goodness : 0.091403 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99853931 0.00449667 -0.05384261 -2.13389226] [-0.00524481 0.99989155 -0.01376184 0.1540927 ] [ 0.05377489 0.01402413 0.9984546 -0.24831239] [ 0. 0. 0. 1. ]] SLAMing on 337.35313336499996 meters Centerline goodness : 0.096648 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99854478 0.00452445 -0.0537387 -2.13437157] [-0.00527032 0.99989163 -0.01374591 0.15432092] [ 0.05367068 0.01400913 0.99846042 -0.24799448] [ 0. 0. 0. 1. ]] SLAMing on 337.383133365 meters Centerline goodness : 0.103275 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.9985485 0.00450354 -0.05367124 -2.13469899] [-0.00525137 0.99989098 -0.01380072 0.15465167] [ 0.05360323 0.01406254 0.99846329 -0.24775418] [ 0. 0. 0. 1. ]] SLAMing on 337.41313336499996 meters Centerline goodness : 0.109077 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.16, Z:-0.25 [[ 0.9985509 0.00444349 -0.05363172 -2.13457992] [-0.00519735 0.99988954 -0.01392483 0.15531118] [ 0.05356392 0.01418339 0.99846369 -0.24808674] [ 0. 0. 0. 1. ]] SLAMing on 337.443133365 meters Centerline goodness : 0.091054 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.16, Z:-0.25 [[ 0.99855039 0.00443039 -0.05364229 -2.13425269] [-0.00518604 0.99988917 -0.01395571 0.1555546 ] [ 0.05357451 0.01421367 0.99846269 -0.24853631] [ 0. 0. 0. 1. ]] SLAMing on 337.47313336499997 meters Centerline goodness : 0.200671 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.16, Z:-0.25 [[ 0.9985499 0.00441715 -0.05365243 -2.1340176 ] [-0.00517398 0.99988895 -0.01397555 0.15564716] [ 0.05358474 0.01423288 0.99846187 -0.24882543] [ 0. 0. 0. 1. ]] SLAMing on 337.503133365 meters Centerline goodness : 0.113483 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.16, Z:-0.25 [[ 0.99854106 0.0044081 -0.05381746 -2.13360453] [-0.00516796 0.99988881 -0.01398819 0.15565065] [ 0.05374982 0.0142459 0.99845281 -0.24887096] [ 0. 0. 0. 1. ]] SLAMing on 337.53313336499997 meters Centerline goodness : 0.107265 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.16, Z:-0.25 [[ 0.99853559 0.00438692 -0.05392053 -2.13354279] [-0.00514812 0.99988893 -0.01398637 0.15547439] [ 0.05385318 0.01424348 0.99844727 -0.24860577] [ 0. 0. 0. 1. ]] SLAMing on 337.563133365 meters Centerline goodness : 0.092008 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.16, Z:-0.25 [[ 0.99854157 -0.00331249 -0.05388656 -2.11568657] [ 0.00262875 0.9999152 -0.01275449 0.16071728] [ 0.05392424 0.01259423 0.9984656 -0.24567825] [ 0. 0. 0. 1. ]] SLAMing on 337.59313336499997 meters Centerline goodness : 0.108177 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.16, Z:-0.25 [[ 0.99853495 -0.00333764 -0.0540075 -2.11539317] [ 0.00265062 0.99991472 -0.01278741 0.16088383] [ 0.05404557 0.01262552 0.99845865 -0.24566873] [ 0. 0. 0. 1. ]] SLAMing on 337.623133365 meters Centerline goodness : 0.212873 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.16, Z:-0.25 [[ 0.9985353 -0.00330604 -0.05400303 -2.11516647] [ 0.00262373 0.9999159 -0.01270062 0.16046447] [ 0.05404047 0.01254032 0.99846 -0.24603668] [ 0. 0. 0. 1. ]] SLAMing on 337.653133365 meters SLAMing on 337.683133365 meters Centerline goodness : 0.167571 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.16, Z:-0.25 [[ 0.99849528 -0.01207888 -0.05349089 -2.09425759] [ 0.01144179 0.99986011 -0.01220056 0.16279315] [ 0.05363077 0.01157017 0.9984938 -0.24500157] [ 0. 0. 0. 1. ]] SLAMing on 337.713133365 meters Centerline goodness : 0.196237 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.16, Z:-0.25 [[ 0.99852742 -0.00574409 -0.05394448 -2.11535811] [ 0.00496053 0.99988041 -0.01464809 0.15642348] [ 0.05402217 0.01435893 0.99843649 -0.24620202] [ 0. 0. 0. 1. ]] SLAMing on 337.743133365 meters Centerline goodness : 0.219298 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.9984596 -0.00590697 -0.05516824 -2.11242531] [ 0.00512612 0.99988483 -0.01428479 0.15309984] [ 0.05524627 0.01397998 0.99837488 -0.24620535] [ 0. 0. 0. 1. ]] SLAMing on 337.773133365 meters Centerline goodness : 0.207115 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99844649 -0.00577104 -0.0554194 -2.11175964] [ 0.00500887 0.9998911 -0.01388188 0.1510844 ] [ 0.05549348 0.01358273 0.99836666 -0.24628074] [ 0. 0. 0. 1. ]] SLAMing on 337.803133365 meters Centerline goodness : 0.188402 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99844026 -0.00564987 -0.05554386 -2.11135156] [ 0.00490486 0.9998963 -0.01354019 0.14940451] [ 0.0556146 0.01324664 0.99836443 -0.24641549] [ 0. 0. 0. 1. ]] SLAMing on 337.833133365 meters Centerline goodness : 0.053854 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.14, Z:-0.25 [[ 0.99845286 0.00250818 -0.05554806 -2.13071824] [-0.00330534 0.99989281 -0.01426352 0.14160113] [ 0.05550633 0.01442506 0.99835413 -0.24903048] [ 0. 0. 0. 1. ]] SLAMing on 337.863133365 meters Centerline goodness : 0.100028 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99843379 -0.00490499 -0.0557307 -2.11188208] [ 0.0041882 0.9999071 -0.01297118 0.14690407] [ 0.05578914 0.01271745 0.99836158 -0.24685421] [ 0. 0. 0. 1. ]] SLAMing on 337.893133365 meters Centerline goodness : 0.092672 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99843681 -0.00483989 -0.05568232 -2.11199188] [ 0.00412557 0.99990781 -0.01293645 0.14710379] [ 0.0557398 0.0126865 0.99836473 -0.24688164] [ 0. 0. 0. 1. ]] SLAMing on 337.92313336499996 meters Centerline goodness : 0.104732 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99844241 -0.00479217 -0.05558593 -2.11235895] [ 0.00407961 0.99990814 -0.01292546 0.14734984] [ 0.05564276 0.01267856 0.99837024 -0.24674031] [ 0. 0. 0. 1. ]] SLAMing on 337.953133365 meters Centerline goodness : 0.091694 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99844477 -0.00475155 -0.05554694 -2.1125802 ] [ 0.00403994 0.99990842 -0.01291629 0.14740833] [ 0.05560322 0.01267179 0.99837253 -0.24658473] [ 0. 0. 0. 1. ]] SLAMing on 337.98313336499996 meters Centerline goodness : 0.208175 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99845195 -0.00479279 -0.05541414 -2.11286118] [ 0.00407891 0.99990733 -0.01298859 0.14746848] [ 0.05547125 0.01274245 0.99837897 -0.24668645] [ 0. 0. 0. 1. ]] SLAMing on 338.013133365 meters Centerline goodness : 0.052388 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99846374 -0.00474814 -0.05520521 -2.1136725 ] [ 0.00404879 0.99991022 -0.01277316 0.14588491] [ 0.0552609 0.01253003 0.99839332 -0.2463078 ] [ 0. 0. 0. 1. ]] SLAMing on 338.04313336499996 meters Centerline goodness : 0.060090 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99846082 -0.00460426 -0.05527017 -2.11349392] [ 0.0039208 0.99991459 -0.01246788 0.14455039] [ 0.05532286 0.01223198 0.99839359 -0.24632 ] [ 0. 0. 0. 1. ]] SLAMing on 338.073133365 meters Centerline goodness : 0.133848 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99845795 -0.00449736 -0.05533079 -2.11310815] [ 0.00383021 0.99991876 -0.01215766 0.14295198] [ 0.05538097 0.01192698 0.99839406 -0.24664552] [ 0. 0. 0. 1. ]] SLAMing on 338.10313336499996 meters Centerline goodness : 0.220074 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99845597 -0.00441906 -0.05537285 -2.11280854] [ 0.00376776 0.99992256 -0.01186098 0.14113436] [ 0.05542098 0.01163404 0.99839529 -0.24693043] [ 0. 0. 0. 1. ]] SLAMing on 338.133133365 meters Centerline goodness : 0.221481 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.998453 -0.00438254 -0.05542921 -2.1124962 ] [ 0.00374304 0.9999253 -0.01163582 0.13959855] [ 0.05547606 0.01141034 0.99839482 -0.24714194] [ 0. 0. 0. 1. ]] SLAMing on 338.16313336499996 meters Centerline goodness : 0.214324 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99844883 -0.00415001 -0.05552215 -2.11235228] [ 0.00353955 0.99993225 -0.01108878 0.13700232] [ 0.05556441 0.01087505 0.99839588 -0.24700716] [ 0. 0. 0. 1. ]] SLAMing on 338.193133365 meters Centerline goodness : 0.164249 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99847924 0.00407229 -0.05497832 -2.13189882] [-0.00472584 0.99991965 -0.01176266 0.13093881] [ 0.054926 0.01200459 0.99841826 -0.24925642] [ 0. 0. 0. 1. ]] SLAMing on 338.22313336499997 meters Centerline goodness : 0.204008 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99848546 0.0041112 -0.05486249 -2.13214912] [-0.00476161 0.99991987 -0.01172976 0.13089525] [ 0.05480987 0.01197323 0.99842502 -0.24931534] [ 0. 0. 0. 1. ]] SLAMing on 338.253133365 meters Centerline goodness : 0.220764 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99848949 0.00406149 -0.0547928 -2.13216147] [-0.00471729 0.99991872 -0.01184482 0.13132514] [ 0.05474024 0.0120854 0.99842749 -0.2495758 ] [ 0. 0. 0. 1. ]] SLAMing on 338.28313336499997 meters Centerline goodness : 0.184147 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99849662 0.00398669 -0.05466814 -2.13238913] [-0.00464979 0.99991709 -0.01200778 0.13193626] [ 0.05461573 0.01224393 0.99843238 -0.24970623] [ 0. 0. 0. 1. ]] SLAMing on 338.313133365 meters Centerline goodness : 0.184147 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99849662 0.00398669 -0.05466814 -2.13238913] [-0.00464979 0.99991709 -0.01200778 0.13193626] [ 0.05461573 0.01224393 0.99843238 -0.24970623] [ 0. 0. 0. 1. ]] SLAMing on 338.34313336499997 meters Centerline goodness : 0.111140 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99850583 0.00396557 -0.05450127 -2.13253631] [-0.0046358 0.99991512 -0.01217669 0.13322158] [ 0.05444836 0.01241115 0.99843945 -0.25010727] [ 0. 0. 0. 1. ]] SLAMing on 338.373133365 meters Centerline goodness : 0.112388 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99850113 0.00397122 -0.05458684 -2.13224348] [-0.00464516 0.99991449 -0.01222477 0.13367224] [ 0.05453362 0.01246001 0.99843419 -0.25024564] [ 0. 0. 0. 1. ]] SLAMing on 338.403133365 meters Centerline goodness : 0.112332 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99849495 0.00395399 -0.05470093 -2.13183633] [-0.00463144 0.99991407 -0.01226355 0.13375838] [ 0.05464774 0.01249844 0.99842747 -0.25044834] [ 0. 0. 0. 1. ]] SLAMing on 338.433133365 meters Centerline goodness : 0.180464 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99848318 0.00387731 -0.05492088 -2.13120345] [-0.00456291 0.99991316 -0.01236341 0.13390677] [ 0.05486818 0.01259526 0.99841416 -0.25064273] [ 0. 0. 0. 1. ]] SLAMing on 338.463133365 meters Centerline goodness : 0.104142 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99844204 -0.00371234 -0.05567498 -2.112624 ] [ 0.00307821 0.99992946 -0.01147137 0.13965552] [ 0.05571364 0.01128212 0.99838304 -0.24828884] [ 0. 0. 0. 1. ]] SLAMing on 338.493133365 meters Centerline goodness : 0.105078 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99844674 -0.00373879 -0.05558893 -2.11285151] [ 0.00310075 0.99992838 -0.01155962 0.14023866] [ 0.05562817 0.0113693 0.99838682 -0.24829109] [ 0. 0. 0. 1. ]] SLAMing on 338.523133365 meters Centerline goodness : 0.115905 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.14, Z:-0.25 [[ 0.99849003 -0.00355401 -0.0548181 -2.11501228] [ 0.00292088 0.99992816 -0.01162534 0.1420981 ] [ 0.05485548 0.01144767 0.99842868 -0.24785413] [ 0. 0. 0. 1. ]] SLAMing on 338.553133365 meters SLAMing on 338.583133365 meters Centerline goodness : 0.101281 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.14, Z:-0.25 [[ 0.9985042 -0.00361457 -0.05455548 -2.11591108] [ 0.00296858 0.99992458 -0.01191742 0.1439056 ] [ 0.05459444 0.01173764 0.99843962 -0.2475556 ] [ 0. 0. 0. 1. ]] SLAMing on 338.613133365 meters Centerline goodness : 0.109722 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.14, Z:-0.25 [[ 0.99849351 -0.00368973 -0.0547457 -2.11527385] [ 0.00303641 0.99992324 -0.01201212 0.14409182] [ 0.05478582 0.0118278 0.99842807 -0.24781819] [ 0. 0. 0. 1. ]] SLAMing on 338.643133365 meters Centerline goodness : 0.093244 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.14, Z:-0.25 [[ 0.99844948 0.0041978 -0.05550684 -2.13360744] [-0.00493781 0.99990067 -0.01320139 0.1379809 ] [ 0.05544591 0.01345501 0.99837103 -0.25043078] [ 0. 0. 0. 1. ]] SLAMing on 338.67313336499996 meters Centerline goodness : 0.124358 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99842765 -0.00349659 -0.05594643 -2.1137895 ] [ 0.00282012 0.99992202 -0.01216589 0.14301041] [ 0.05598461 0.01198899 0.99835965 -0.24881754] [ 0. 0. 0. 1. ]] SLAMing on 338.703133365 meters Centerline goodness : 0.188418 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99842374 -0.00347917 -0.05601728 -2.11333054] [ 0.00280352 0.99992243 -0.01213555 0.14291252] [ 0.05605516 0.01195937 0.99835605 -0.24923859] [ 0. 0. 0. 1. ]] SLAMing on 338.73313336499996 meters Centerline goodness : 0.104973 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99841718 -0.00353512 -0.0561305 -2.11306878] [ 0.0028483 0.99992015 -0.01231154 0.14391009] [ 0.05616954 0.01213218 0.99834753 -0.24924919] [ 0. 0. 0. 1. ]] SLAMing on 338.763133365 meters Centerline goodness : 0.059287 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99841775 -0.00354011 -0.05612 -2.11310085] [ 0.00284878 0.99991913 -0.0123941 0.14458813] [ 0.05615934 0.01221462 0.9983471 -0.24926358] [ 0. 0. 0. 1. ]] SLAMing on 338.79313336499996 meters Centerline goodness : 0.126662 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99841924 -0.00354121 -0.05609346 -2.11315167] [ 0.00284461 0.99991791 -0.01249363 0.14543497] [ 0.0561331 0.01231431 0.99834735 -0.24929122] [ 0. 0. 0. 1. ]] SLAMing on 338.823133365 meters Centerline goodness : 0.192619 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99843134 -0.00356528 -0.0558761 -2.11372977] [ 0.00286538 0.9999165 -0.01260109 0.14608106] [ 0.05591637 0.01242122 0.99835819 -0.24924991] [ 0. 0. 0. 1. ]] SLAMing on 338.85313336499996 meters SLAMing on 338.883133365 meters Centerline goodness : 0.199554 Centerline is valid? [False, False] Translation: X:-2.14, Y:0.14, Z:-0.25 [[ 0.99851896 0.00283557 -0.05433088 -2.13701762] [-0.00365809 0.99988012 -0.01504565 0.1422053 ] [ 0.0542817 0.01522211 0.99840963 -0.25039682] [ 0. 0. 0. 1. ]] SLAMing on 338.91313336499996 meters Centerline goodness : 0.198939 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.15, Z:-0.25 [[ 0.99850188 -0.00480791 -0.05450579 -2.11764666] [ 0.0040598 0.99989615 -0.01382788 0.14724924] [ 0.05456661 0.01358588 0.9984177 -0.24813202] [ 0. 0. 0. 1. ]] SLAMing on 338.943133365 meters Centerline goodness : 0.157574 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.15, Z:-0.25 [[ 0.99849047 -0.00471289 -0.0547226 -2.11700747] [ 0.00397246 0.9998992 -0.01363151 0.14645287] [ 0.05478132 0.01339355 0.99840854 -0.24826028] [ 0. 0. 0. 1. ]] SLAMing on 338.97313336499997 meters Centerline goodness : 0.066687 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99836498 -0.00468225 -0.05696873 -2.16248375] [ 0.00392686 0.99990298 -0.01336446 0.14212849] [ 0.05702578 0.0131189 0.99828651 -0.24963893] [ 0. 0. 0. 1. ]] SLAMing on 339.003133365 meters Centerline goodness : 0.100098 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99837149 -0.00465834 -0.05685652 -2.16294013] [ 0.00391088 0.99990456 -0.01325073 0.14143757] [ 0.05691282 0.01300679 0.99829442 -0.24934167] [ 0. 0. 0. 1. ]] SLAMing on 339.03313336499997 meters Centerline goodness : 0.100633 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99837937 -0.00467777 -0.0567164 -2.16358092] [ 0.00393474 0.99990506 -0.01320543 0.14091212] [ 0.05677279 0.01296086 0.99830299 -0.2488949 ] [ 0. 0. 0. 1. ]] SLAMing on 339.063133365 meters Centerline goodness : 0.104074 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99838231 -0.00474901 -0.05665873 -2.16402004] [ 0.00400012 0.99990323 -0.0133238 0.14126414] [ 0.05671652 0.01307561 0.9983047 -0.24852126] [ 0. 0. 0. 1. ]] SLAMing on 339.09313336499997 meters Centerline goodness : 0.128296 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99838248 -0.0048046 -0.05665105 -2.1641292 ] [ 0.00404742 0.99990104 -0.01347299 0.14204071] [ 0.05671017 0.01322191 0.99830313 -0.24840788] [ 0. 0. 0. 1. ]] SLAMing on 339.123133365 meters Centerline goodness : 0.109177 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99838349 -0.00487594 -0.05662708 -2.16437993] [ 0.00410512 0.99989744 -0.01372047 0.14351606] [ 0.05668818 0.01346583 0.99830112 -0.24820415] [ 0. 0. 0. 1. ]] SLAMing on 339.153133365 meters Centerline goodness : 0.096560 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 0.99838637 -0.00489435 -0.05657474 -2.16457992] [ 0.00411029 0.99989401 -0.01396694 0.14545534] [ 0.05663711 0.01371186 0.99830067 -0.24817878] [ 0. 0. 0. 1. ]] SLAMing on 339.183133365 meters Centerline goodness : 0.095558 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98381835e-01 -1.16548348e-03 -5.68537920e-02 -2.16337608e+00] [ 5.56823195e-04 9.99942380e-01 -1.07203783e-02 1.47737241e-01] [ 5.68630105e-02 1.06713734e-02 9.98324957e-01 -2.48841685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.213133365 meters Centerline goodness : 0.113726 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98379580e-01 -1.33790879e-03 -5.68895791e-02 -2.16317384e+00] [ 7.08356873e-04 9.99938309e-01 -1.10849338e-02 1.49285426e-01] [ 5.69009002e-02 1.10266734e-02 9.98318937e-01 -2.49050442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.243133365 meters Centerline goodness : 0.051059 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98371035e-01 -1.50718236e-03 -5.70351269e-02 -2.16278387e+00] [ 8.58044797e-04 9.99934603e-01 -1.14041427e-02 1.50578959e-01] [ 5.70485851e-02 1.13366270e-02 9.98307037e-01 -2.49150986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.273133365 meters Centerline goodness : 0.092900 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98352615e-01 -1.58599544e-03 -5.73545203e-02 -2.16200453e+00] [ 9.20787065e-04 9.99932030e-01 -1.16227538e-02 1.51789335e-01] [ 5.73690555e-02 1.15507953e-02 9.98286217e-01 -2.49215712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.303133365 meters Centerline goodness : 0.103775 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98332437e-01 -1.65082352e-03 -5.77028583e-02 -2.16108983e+00] [ 9.68428946e-04 9.99929294e-01 -1.18519739e-02 1.53257911e-01] [ 5.77183439e-02 1.17763288e-02 9.98263448e-01 -2.49381084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.333133365 meters Centerline goodness : 0.098072 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98315976e-01 -1.68721942e-03 -5.79859077e-02 -2.16041326e+00] [ 9.92050734e-04 9.99927322e-01 -1.20152763e-02 1.54456179e-01] [ 5.80019658e-02 1.19375173e-02 9.98245094e-01 -2.49400133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.363133365 meters Centerline goodness : 0.052174 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98319016e-01 -1.93617314e-03 -5.79257580e-02 -2.16067938e+00] [ 1.21296337e-03 9.99920915e-01 -1.25176717e-02 1.56963772e-01] [ 5.79454133e-02 1.24263678e-02 9.98242413e-01 -2.49246610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.393133365 meters Centerline goodness : 0.096864 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98333135e-01 -2.04908189e-03 -5.76780149e-02 -2.16165920e+00] [ 1.31622981e-03 9.99917963e-01 -1.27410411e-02 1.58119509e-01] [ 5.76993907e-02 1.26438860e-02 9.98253932e-01 -2.48742720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42313336499996 meters Centerline goodness : 0.197796 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98342639e-01 -2.11428787e-03 -5.75109131e-02 -2.16256413e+00] [ 1.37348125e-03 9.99915621e-01 -1.29176279e-02 1.59403647e-01] [ 5.75333719e-02 1.28172285e-02 9.98261303e-01 -2.48025421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.453133365 meters Centerline goodness : 0.101004 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98350400e-01 -2.12187321e-03 -5.73757489e-02 -2.16328451e+00] [ 1.37869133e-03 9.99914684e-01 -1.29893754e-02 1.60240166e-01] [ 5.73984157e-02 1.28888446e-02 9.98268150e-01 -2.47468164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48313336499996 meters Centerline goodness : 0.160982 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98340275e-01 -2.54183690e-03 -5.75346425e-02 -2.16343839e+00] [ 1.77955133e-03 9.99910014e-01 -1.32965178e-02 1.60449445e-01] [ 5.75632628e-02 1.31720634e-02 9.98254961e-01 -2.46649653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.513133365 meters Centerline goodness : 0.089858 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98325439e-01 -2.72134072e-03 -5.77833155e-02 -2.16289556e+00] [ 1.95433870e-03 9.99909293e-01 -1.33261277e-02 1.59536351e-01] [ 5.78143391e-02 1.31908841e-02 9.98240203e-01 -2.46518914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54313336499996 meters Centerline goodness : 0.091239 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98323238e-01 -2.75534497e-03 -5.78197241e-02 -2.16283427e+00] [ 1.99580531e-03 9.99911017e-01 -1.31899793e-02 1.58473850e-01] [ 5.78509221e-02 1.30524660e-02 9.98239903e-01 -2.46452420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.573133365 meters Centerline goodness : 0.091870 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98318162e-01 -2.62679846e-03 -5.79132824e-02 -2.16269356e+00] [ 1.88350057e-03 9.99915204e-01 -1.28855222e-02 1.57263365e-01] [ 5.79422193e-02 1.27547711e-02 9.98238456e-01 -2.46269964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60313336499996 meters Centerline goodness : 0.097809 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98312541e-01 -2.54441575e-03 -5.80137626e-02 -2.16232336e+00] [ 1.81249308e-03 9.99918147e-01 -1.26654931e-02 1.56254343e-01] [ 5.80412403e-02 1.25389711e-02 9.98235437e-01 -2.46381655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.633133365 meters Centerline goodness : 0.051672 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98292713e-01 -2.58542806e-03 -5.83521548e-02 -2.16151241e+00] [ 1.86860231e-03 9.99922166e-01 -1.23357014e-02 1.53414815e-01] [ 5.83795061e-02 1.22056039e-02 9.98219844e-01 -2.46307130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66313336499996 meters Centerline goodness : 0.144570 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98280649e-01 -2.48630594e-03 -5.85624753e-02 -2.16110968e+00] [ 1.78353714e-03 9.99925811e-01 -1.20495396e-02 1.51732969e-01] [ 5.85880895e-02 1.19243739e-02 9.98211022e-01 -2.46134717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.693133365 meters Centerline goodness : 0.124764 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98272781e-01 -2.35046612e-03 -5.87020502e-02 -2.16076905e+00] [ 1.66240758e-03 9.99929381e-01 -1.17672873e-02 1.50356685e-01] [ 5.87255634e-02 1.16493759e-02 9.98206191e-01 -2.46150445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72313336499997 meters Centerline goodness : 0.060016 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98274587e-01 -2.12584805e-03 -5.86798907e-02 -2.16061635e+00] [ 1.45999099e-03 9.99934091e-01 -1.13878200e-02 1.48285842e-01] [ 5.87002320e-02 1.12824992e-02 9.98211895e-01 -2.46439496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.753133365 meters Centerline goodness : 0.220147 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98280525e-01 -2.04625378e-03 -5.85816134e-02 -2.16092286e+00] [ 1.38752931e-03 9.99935382e-01 -1.12830293e-02 1.47614630e-01] [ 5.86009159e-02 1.11823447e-02 9.98218858e-01 -2.46361528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78313336499997 meters Centerline goodness : 0.108258 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98282387e-01 -1.92229363e-03 -5.85540893e-02 -2.16098914e+00] [ 1.26759604e-03 9.99936293e-01 -1.12161656e-02 1.47585880e-01] [ 5.85719198e-02 1.11226776e-02 9.98221226e-01 -2.46428481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.813133365 meters Centerline goodness : 0.090982 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98280140e-01 -1.65608296e-03 -5.86004996e-02 -2.16091466e+00] [ 1.00882845e-03 9.99938183e-01 -1.10730655e-02 1.47892804e-01] [ 5.86152150e-02 1.09949036e-02 9.98220100e-01 -2.46464696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84313336499997 meters Centerline goodness : 0.095855 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98280562e-01 -1.42376661e-03 -5.85994308e-02 -2.16077000e+00] [ 7.82516386e-04 9.99939583e-01 -1.09644357e-02 1.48336172e-01] [ 5.86115012e-02 1.08997281e-02 9.98221362e-01 -2.46751871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.873133365 meters Centerline goodness : 0.093193 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98282040e-01 -1.31616389e-03 -5.85767644e-02 -2.16063176e+00] [ 6.73124215e-04 9.99939314e-01 -1.09961042e-02 1.48840754e-01] [ 5.85876823e-02 1.09377839e-02 9.98222344e-01 -2.47120295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.903133365 meters Centerline goodness : 0.091544 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98301295e-01 -1.18574066e-03 -5.82504762e-02 -2.16113349e+00] [ 5.32636934e-04 9.99936842e-01 -1.12262366e-02 1.50121311e-01] [ 5.82601087e-02 1.11761402e-02 9.98238876e-01 -2.47682586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.933133365 meters Centerline goodness : 0.098303 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98298262e-01 -1.13945805e-03 -5.83033630e-02 -2.16081365e+00] [ 4.74904973e-04 9.99934782e-01 -1.14107813e-02 1.51473634e-01] [ 5.83125627e-02 1.13636746e-02 9.98233696e-01 -2.48086217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.963133365 meters Centerline goodness : 0.106955 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98279728e-01 -1.09937666e-03 -5.86206143e-02 -2.15978644e+00] [ 4.16355072e-04 9.99931904e-01 -1.16625009e-02 1.53305310e-01] [ 5.86294439e-02 1.16180312e-02 9.98212207e-01 -2.48598122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.993133365 meters Centerline goodness : 0.178643 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.15, Z:-0.25 [[ 9.98111060e-01 -4.87730624e-04 -6.14334967e-02 -2.20335136e+00] [-2.10186573e-04 9.99935524e-01 -1.13535572e-02 1.51340738e-01] [ 6.14350732e-02 1.13450235e-02 9.98046603e-01 -2.50825590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.023133365 meters Centerline goodness : 0.179848 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.16, Z:-0.25 [[ 0.99806558 -0.00604251 -0.06187557 -2.18194296] [ 0.00550895 0.99994619 -0.00879004 0.15828445] [ 0.06192535 0.00843217 0.99804516 -0.24926762] [ 0. 0. 0. 1. ]] SLAMing on 340.053133365 meters Centerline goodness : 0.174400 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.16, Z:-0.25 [[ 0.99806832 -0.00616276 -0.06181945 -2.1822073 ] [ 0.00561095 0.99994289 -0.00909584 0.15996035] [ 0.06187198 0.00873141 0.9980459 -0.24912847] [ 0. 0. 0. 1. ]] SLAMing on 340.083133365 meters Centerline goodness : 0.176395 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.16, Z:-0.25 [[ 0.9980764 -0.00624254 -0.06168083 -2.18271993] [ 0.00567589 0.99994011 -0.0093578 0.16161516] [ 0.06173555 0.00898971 0.99805206 -0.24894138] [ 0. 0. 0. 1. ]] SLAMing on 340.113133365 meters Centerline goodness : 0.126596 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98177541e-01 1.62460155e-03 -6.03237657e-02 -2.16331285e+00] [-2.26330222e-03 9.99942091e-01 -1.05210603e-02 1.62261507e-01] [ 6.03031799e-02 1.06384170e-02 9.98123415e-01 -2.46812605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.143133365 meters Centerline goodness : 0.096020 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98184181e-01 1.50276517e-03 -6.02169588e-02 -2.16375123e+00] [-2.15664154e-03 9.99939405e-01 -1.07951542e-02 1.63739645e-01] [ 6.01970874e-02 1.09054185e-02 9.98126937e-01 -2.46597410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17313336499996 meters Centerline goodness : 0.176948 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.17, Z:-0.25 [[ 9.98179772e-01 1.38341034e-03 -6.02928560e-02 -2.16353690e+00] [-2.05339109e-03 9.99936821e-01 -1.10515665e-02 1.65130561e-01] [ 6.02737580e-02 1.11552550e-02 9.98119549e-01 -2.46660801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.203133365 meters SLAMing on 340.23313336499996 meters SLAMing on 340.263133365 meters Centerline goodness : 0.094783 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.17, Z:-0.25 [[ 9.98134139e-01 1.12642707e-03 -6.10489306e-02 -2.16143906e+00] [-1.84034659e-03 9.99930568e-01 -1.16392522e-02 1.69311194e-01] [ 6.10315811e-02 1.17298862e-02 9.98066910e-01 -2.46900082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29313336499996 meters Centerline goodness : 0.203286 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.17, Z:-0.25 [[ 9.98144499e-01 1.05315016e-03 -6.08806191e-02 -2.16226035e+00] [-1.77225538e-03 9.99929291e-01 -1.17589354e-02 1.70016663e-01] [ 6.08639304e-02 1.18450127e-02 9.98075788e-01 -2.46294375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.323133365 meters Centerline goodness : 0.196116 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.17, Z:-0.24 [[ 9.98173465e-01 7.50241222e-04 -6.04083654e-02 -2.16428399e+00] [-1.49015155e-03 9.99924414e-01 -1.22043565e-02 1.71988258e-01] [ 6.03946431e-02 1.22720824e-02 9.98099135e-01 -2.44982652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35313336499996 meters Centerline goodness : 0.096039 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.17, Z:-0.25 [[ 9.98169488e-01 6.59562195e-04 -6.04751093e-02 -2.16401315e+00] [-1.41324472e-03 9.99921861e-01 -1.24207646e-02 1.73191720e-01] [ 6.04621915e-02 1.24834944e-02 9.98092423e-01 -2.45147770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.383133365 meters Centerline goodness : 0.196740 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.17, Z:-0.25 [[ 9.98155876e-01 5.45850100e-04 -6.07004820e-02 -2.16311382e+00] [-1.31900663e-03 9.99918508e-01 -1.26978992e-02 1.74672223e-01] [ 6.06886043e-02 1.27545471e-02 9.98075255e-01 -2.45676895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41313336499996 meters Centerline goodness : 0.207323 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.25 [[ 9.98145511e-01 4.81227084e-04 -6.08712382e-02 -2.16244015e+00] [-1.26932220e-03 9.99915871e-01 -1.29089153e-02 1.75965808e-01] [ 6.08599051e-02 1.29622411e-02 9.98062148e-01 -2.46078114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.443133365 meters SLAMing on 340.47313336499997 meters Centerline goodness : 0.096214 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.25 [[ 9.98154247e-01 4.67859263e-04 -6.07279146e-02 -2.16311674e+00] [-1.25836201e-03 9.99914971e-01 -1.29795318e-02 1.76635173e-01] [ 6.07166783e-02 1.30319925e-02 9.98069964e-01 -2.45578531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.503133365 meters Centerline goodness : 0.091826 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.24 [[ 9.98166114e-01 3.33041890e-04 -6.05334392e-02 -2.16429546e+00] [-1.13248957e-03 9.99912592e-01 -1.31728834e-02 1.77151336e-01] [ 6.05237610e-02 1.32172793e-02 9.98079244e-01 -2.44547719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53313336499997 meters SLAMing on 340.563133365 meters Centerline goodness : 0.192967 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.24 [[ 9.98154390e-01 2.14949494e-04 -6.07269985e-02 -2.16385593e+00] [-1.03431825e-03 9.99908854e-01 -1.34615479e-02 1.78584858e-01] [ 6.07185699e-02 1.34995142e-02 9.98063634e-01 -2.44556050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59313336499997 meters Centerline goodness : 0.157780 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.25 [[ 9.98144701e-01 1.69705501e-04 -6.08861847e-02 -2.16317104e+00] [-1.00199586e-03 9.99906478e-01 -1.36393376e-02 1.79701631e-01] [ 6.08781758e-02 1.36750403e-02 9.98051522e-01 -2.45007248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.623133365 meters Centerline goodness : 0.180477 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.25 [[ 9.98142009e-01 2.22361502e-04 -6.09301346e-02 -2.16300749e+00] [-1.06616778e-03 9.99903978e-01 -1.38165902e-02 1.81628842e-01] [ 6.09212117e-02 1.38558809e-02 9.98046402e-01 -2.45149849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.653133365 meters Centerline goodness : 0.122242 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.25 [[ 9.98146036e-01 2.13879168e-04 -6.08641534e-02 -2.16328589e+00] [-1.06162613e-03 9.99902875e-01 -1.38965133e-02 1.82228307e-01] [ 6.08552698e-02 1.39353646e-02 9.98049318e-01 -2.45026381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.683133365 meters Centerline goodness : 0.093130 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.24 [[ 9.98143303e-01 1.67713654e-04 -6.09090989e-02 -2.16333644e+00] [-1.02024381e-03 9.99901951e-01 -1.39659317e-02 1.82401132e-01] [ 6.09007845e-02 1.40021434e-02 9.98045607e-01 -2.44841898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.713133365 meters Centerline goodness : 0.209593 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.24 [[ 9.98130485e-01 1.08508486e-04 -6.11189222e-02 -2.16281623e+00] [-9.65529721e-04 9.99901629e-01 -1.39928324e-02 1.82071858e-01] [ 6.11113916e-02 1.40256848e-02 9.98032403e-01 -2.44879499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.743133365 meters Centerline goodness : 0.240621 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.24 [[ 9.98109063e-01 1.67372290e-04 -6.14676296e-02 -2.16205660e+00] [-1.01056929e-03 9.99905819e-01 -1.36869088e-02 1.80302814e-01] [ 6.14595497e-02 1.37231450e-02 9.98015230e-01 -2.44746617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.773133365 meters Centerline goodness : 0.098041 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.24 [[ 9.98123305e-01 2.15248042e-04 -6.12357905e-02 -2.16289485e+00] [-1.03873234e-03 9.99909459e-01 -1.34162456e-02 1.78844695e-01] [ 6.12273583e-02 1.34546750e-02 9.98033157e-01 -2.44279431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.803133365 meters Centerline goodness : 0.173636 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.24 [[ 9.98151393e-01 1.90834641e-04 -6.07763152e-02 -2.16431255e+00] [-9.95352270e-04 9.99912284e-01 -1.32073547e-02 1.77376137e-01] [ 6.07684637e-02 1.32434334e-02 9.98064029e-01 -2.43750553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.833133365 meters Centerline goodness : 0.182160 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.18, Z:-0.24 [[ 0.99823403 -0.00811129 -0.05884753 -2.14532563] [ 0.0074074 0.99989851 -0.01216944 0.18008371] [ 0.05894027 0.01171204 0.9981928 -0.24177221] [ 0. 0. 0. 1. ]] SLAMing on 340.863133365 meters Centerline goodness : 0.301622 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.17, Z:-0.24 [[ 9.98389715e-01 -1.46246625e-03 -5.67083631e-02 -2.16709034e+00] [ 6.85613549e-04 9.99905695e-01 -1.37161218e-02 1.72746274e-01] [ 5.67230745e-02 1.36551549e-02 9.98296564e-01 -2.44044126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.893133365 meters Centerline goodness : 0.114224 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.17, Z:-0.24 [[ 9.98392077e-01 -1.39917380e-03 -5.66683507e-02 -2.16709004e+00] [ 6.50886483e-04 9.99912387e-01 -1.32209832e-02 1.69653064e-01] [ 5.66818842e-02 1.31628402e-02 9.98305516e-01 -2.44083298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92313336499996 meters Centerline goodness : 0.262370 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.17, Z:-0.24 [[ 9.98380682e-01 -1.28939847e-03 -5.68713487e-02 -2.16648228e+00] [ 5.54038961e-04 9.99916068e-01 -1.29441004e-02 1.68192497e-01] [ 5.68832655e-02 1.28916309e-02 9.98297601e-01 -2.44229614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.953133365 meters Centerline goodness : 0.109651 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.17, Z:-0.24 [[ 9.98373944e-01 -1.22769699e-03 -5.69908882e-02 -2.16613596e+00] [ 5.03170288e-04 9.99918899e-01 -1.27256364e-02 1.66823684e-01] [ 5.70018894e-02 1.26762676e-02 9.98293593e-01 -2.44311116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98313336499996 meters Centerline goodness : 0.095847 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.17, Z:-0.24 [[ 9.98367099e-01 -1.15110541e-03 -5.71122620e-02 -2.16595234e+00] [ 4.40676618e-04 9.99922396e-01 -1.24501992e-02 1.65034029e-01] [ 5.71221613e-02 1.24047012e-02 9.98290129e-01 -2.44126436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.013133365 meters Centerline goodness : 0.189653 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.16, Z:-0.24 [[ 9.98353461e-01 -9.23840597e-04 -5.73542738e-02 -2.16535344e+00] [ 2.45477146e-04 9.99929951e-01 -1.18335196e-02 1.61709625e-01] [ 5.73611885e-02 1.17999561e-02 9.98283755e-01 -2.44122418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04313336499996 meters Centerline goodness : 0.257637 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.24 [[ 9.98345371e-01 -8.31045024e-04 -5.74963405e-02 -2.16482733e+00] [ 1.65950691e-04 9.99933035e-01 -1.15714020e-02 1.60230874e-01] [ 5.75021067e-02 1.15427140e-02 9.98278655e-01 -2.44343832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.073133365 meters Centerline goodness : 0.041094 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.24 [[ 9.98331702e-01 -7.62238581e-04 -5.77341500e-02 -2.16394828e+00] [ 1.08078712e-04 9.99935776e-01 -1.13328285e-02 1.58698696e-01] [ 5.77390804e-02 1.13076822e-02 9.98267667e-01 -2.44759609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10313336499996 meters Centerline goodness : 0.175683 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98313875e-01 -6.92896414e-04 -5.80424629e-02 -2.16280744e+00] [ 4.63095105e-05 9.99937942e-01 -1.11404988e-02 1.57556002e-01] [ 5.80465801e-02 1.11190266e-02 9.98251953e-01 -2.45320679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.133133365 meters Centerline goodness : 0.259326 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98307613e-01 -6.02551716e-04 -5.81510705e-02 -2.16223278e+00] [-3.16636679e-05 9.99940540e-01 -1.09048030e-02 1.56380609e-01] [ 5.81541835e-02 1.08881892e-02 9.98248235e-01 -2.45774042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16313336499996 meters Centerline goodness : 0.146992 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98332013e-01 -6.83460342e-04 -5.77297639e-02 -2.16324613e+00] [ 7.89572785e-05 9.99945155e-01 -1.04728867e-02 1.53357823e-01] [ 5.77337555e-02 1.04508599e-02 9.98277313e-01 -2.45656462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.193133365 meters Centerline goodness : 0.141158 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98337710e-01 -6.48489323e-04 -5.76315609e-02 -2.16363063e+00] [ 6.41595820e-05 9.99948583e-01 -1.01403301e-02 1.51202888e-01] [ 5.76351735e-02 1.01197763e-02 9.98286420e-01 -2.45363315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22313336499997 meters Centerline goodness : 0.271764 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98328003e-01 -6.83545722e-04 -5.77990530e-02 -2.16332771e+00] [ 1.14120304e-04 9.99951436e-01 -9.85453916e-03 1.49013407e-01] [ 5.78029821e-02 9.83146636e-03 9.98279599e-01 -2.45204816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.253133365 meters Centerline goodness : 0.099173 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98288521e-01 -1.12063228e-03 -5.84702696e-02 -2.16115664e+00] [ 5.57843351e-04 9.99953372e-01 -9.64065019e-03 1.45218383e-01] [ 5.84783469e-02 9.59153317e-03 9.98242598e-01 -2.45862427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28313336499997 meters Centerline goodness : 0.108468 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98283329e-01 -1.07335022e-03 -5.85597309e-02 -2.16070668e+00] [ 5.26140374e-04 9.99956064e-01 -9.35909182e-03 1.43423249e-01] [ 5.85672036e-02 9.31221470e-03 9.98240034e-01 -2.46179337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.313133365 meters Centerline goodness : 0.098016 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98295811e-01 -1.05231707e-03 -5.83469436e-02 -2.16130154e+00] [ 5.18678000e-04 9.99957909e-01 -9.16035472e-03 1.42126404e-01] [ 5.83541273e-02 9.11448047e-03 9.98254337e-01 -2.46034504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34313336499997 meters Centerline goodness : 0.101669 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98312365e-01 -1.07723455e-03 -5.80625721e-02 -2.16213704e+00] [ 5.52503568e-04 9.99958871e-01 -9.05263203e-03 1.41250336e-01] [ 5.80699358e-02 9.00527471e-03 9.98271901e-01 -2.45805347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.373133365 meters Centerline goodness : 0.090280 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98330967e-01 -1.04925198e-03 -5.77423453e-02 -2.16317804e+00] [ 5.32386844e-04 9.99959664e-01 -8.96588765e-03 1.41272946e-01] [ 5.77494237e-02 8.92018203e-03 9.98291257e-01 -2.45389637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.403133365 meters Centerline goodness : 0.100552 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98332609e-01 -1.03887940e-03 -5.77141373e-02 -2.16318005e+00] [ 5.21846975e-04 9.99959607e-01 -8.97285491e-03 1.41615473e-01] [ 5.77211278e-02 8.92777571e-03 9.98292826e-01 -2.45491220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.433133365 meters Centerline goodness : 0.101959 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98335716e-01 -1.11290215e-03 -5.76590000e-02 -2.16321302e+00] [ 5.93699225e-04 9.99959133e-01 -9.02106400e-03 1.41529407e-01] [ 5.76666832e-02 8.97181828e-03 9.98295578e-01 -2.45639809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.463133365 meters Centerline goodness : 0.114763 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.14, Z:-0.25 [[ 9.98207958e-01 -2.42133317e-03 -5.97913841e-02 -2.20838943e+00] [ 1.80695297e-03 9.99945039e-01 -1.03273283e-02 1.39983595e-01] [ 5.98131038e-02 1.02007811e-02 9.98157471e-01 -2.47419756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.493133365 meters Centerline goodness : 0.103016 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.14, Z:-0.25 [[ 0.99818421 -0.01133759 -0.05915857 -2.18820514] [ 0.0107823 0.99989485 -0.00969734 0.14171824] [ 0.05926229 0.00904187 0.9982015 -0.24537658] [ 0. 0. 0. 1. ]] SLAMing on 341.523133365 meters Centerline goodness : 0.099932 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.13, Z:-0.25 [[ 0.99829652 -0.00423824 -0.05819015 -2.20829461] [ 0.0036188 0.99993571 -0.01074629 0.13377336] [ 0.05823195 0.01051741 0.99824768 -0.24760168] [ 0. 0. 0. 1. ]] SLAMing on 341.553133365 meters Centerline goodness : 0.100335 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.13, Z:-0.25 [[ 0.99824264 -0.01385885 -0.05761559 -2.18758698] [ 0.01330615 0.99986181 -0.00996562 0.13036149] [ 0.05774574 0.00918146 0.9982891 -0.24559812] [ 0. 0. 0. 1. ]] SLAMing on 341.583133365 meters Centerline goodness : 0.148392 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.13, Z:-0.25 [[ 0.99822811 -0.01409253 -0.05781032 -2.18704329] [ 0.01355352 0.99986105 -0.00970526 0.12740557] [ 0.05793906 0.00890453 0.99828041 -0.24564396] [ 0. 0. 0. 1. ]] SLAMing on 341.613133365 meters Centerline goodness : 0.116148 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.12, Z:-0.25 [[ 0.99840811 -0.00853721 -0.05575262 -2.20282436] [ 0.00790801 0.99990264 -0.01149645 0.1195725 ] [ 0.05584534 0.01103726 0.99837842 -0.24986925] [ 0. 0. 0. 1. ]] SLAMing on 341.643133365 meters Centerline goodness : 0.092015 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.12, Z:-0.25 [[ 0.99840365 -0.00849429 -0.05583897 -2.20254051] [ 0.00788447 0.99990695 -0.01113232 0.11720771] [ 0.05592834 0.01067429 0.99837772 -0.24999615] [ 0. 0. 0. 1. ]] SLAMing on 341.67313336499996 meters Centerline goodness : 0.104517 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.11, Z:-0.25 [[ 0.99840776 -0.00824231 -0.05580338 -2.20272463] [ 0.00766713 0.99991534 -0.01051349 0.1142325 ] [ 0.05588531 0.0100689 0.99838642 -0.24982187] [ 0. 0. 0. 1. ]] SLAMing on 341.703133365 meters Centerline goodness : 0.108114 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.11, Z:-0.25 [[ 0.99839728 -0.00815631 -0.05600302 -2.20228029] [ 0.00758901 0.99991779 -0.01033513 0.11328753] [ 0.05608271 0.00989356 0.99837711 -0.24979641] [ 0. 0. 0. 1. ]] SLAMing on 341.73313336499996 meters Centerline goodness : 0.108939 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.11, Z:-0.25 [[ 9.98375442e-01 -6.08760859e-04 -5.69746054e-02 -2.18220204e+00] [-2.99335684e-05 9.99937181e-01 -1.12086350e-02 1.07935567e-01] [ 5.69778497e-02 1.11921314e-02 9.98312707e-01 -2.47422230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.763133365 meters Centerline goodness : 0.101865 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.11, Z:-0.25 [[ 9.98357300e-01 -5.04113848e-04 -5.72926550e-02 -2.18130649e+00] [-1.28971769e-04 9.99938985e-01 -1.10457963e-02 1.07144325e-01] [ 5.72947276e-02 1.10350405e-02 9.98296320e-01 -2.47659892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79313336499996 meters Centerline goodness : 0.106310 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.11, Z:-0.25 [[ 9.98358096e-01 -2.14645721e-04 -5.72805922e-02 -2.18145988e+00] [-3.93718766e-04 9.99943642e-01 -1.06092817e-02 1.05419362e-01] [ 5.72796413e-02 1.06144148e-02 9.98301746e-01 -2.47522718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.823133365 meters Centerline goodness : 0.110649 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98371142e-01 -1.45453636e-04 -5.70529758e-02 -2.18229537e+00] [-4.48398785e-04 9.99945861e-01 -1.03958498e-02 1.03829630e-01] [ 5.70513992e-02 1.04044989e-02 9.98317026e-01 -2.47178050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85313336499996 meters Centerline goodness : 0.145545 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 0.99841401 -0.00829305 -0.05568388 -2.16327843] [ 0.00778495 0.99992612 -0.00933552 0.10559895] [ 0.05575719 0.00888721 0.9984048 -0.24515239] [ 0. 0. 0. 1. ]] SLAMing on 341.883133365 meters Centerline goodness : 0.099157 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.10, Z:-0.24 [[ 0.99842614 -0.00819334 -0.05548073 -2.16403161] [ 0.00770002 0.99992895 -0.00909964 0.10430946] [ 0.05555134 0.00865811 0.99841829 -0.24482839] [ 0. 0. 0. 1. ]] SLAMing on 341.91313336499996 meters Centerline goodness : 0.145743 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.10, Z:-0.24 [[ 0.99843182 -0.00802607 -0.05540286 -2.16420028] [ 0.00755008 0.99993282 -0.00879534 0.10302348] [ 0.05546973 0.00836325 0.99842534 -0.24489666] [ 0. 0. 0. 1. ]] SLAMing on 341.943133365 meters Centerline goodness : 0.088504 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98498074e-01 4.51281075e-05 -5.47868001e-02 -2.18299264e+00] [-5.73339095e-04 9.99953509e-01 -9.62552973e-03 9.73848759e-02] [ 5.47838186e-02 9.64248432e-03 9.98451679e-01 -2.47883018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97313336499997 meters Centerline goodness : 0.129826 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98478258e-01 4.40448583e-05 -5.51467765e-02 -2.18192599e+00] [-5.60884447e-04 9.99956068e-01 -9.35663034e-03 9.52757797e-02] [ 5.51439417e-02 9.37332293e-03 9.98434418e-01 -2.48254112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.003133365 meters Centerline goodness : 0.102932 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98471970e-01 4.89283712e-05 -5.52605014e-02 -2.18168753e+00] [-5.54803629e-04 9.99958084e-01 -9.13906931e-03 9.35645711e-02] [ 5.52577379e-02 9.15576326e-03 9.98430145e-01 -2.48260354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03313336499997 meters Centerline goodness : 0.091105 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98497434e-01 -1.62013023e-04 -5.47982416e-02 -2.18314960e+00] [-3.17458484e-04 9.99961747e-01 -8.74094302e-03 8.99302508e-02] [ 5.47975616e-02 8.74520535e-03 9.98459187e-01 -2.47761821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.063133365 meters Centerline goodness : 0.104418 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98497689e-01 -1.08895338e-04 -5.47937327e-02 -2.18313913e+00] [-3.50517849e-04 9.99964870e-01 -8.37473106e-03 8.77393980e-02] [ 5.47927197e-02 8.38135579e-03 9.98462574e-01 -2.47803923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09313336499997 meters Centerline goodness : 0.106300 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.09, Z:-0.25 [[ 0.99846199 -0.00866514 -0.05475926 -2.1621158 ] [ 0.00826221 0.99993714 -0.00758033 0.08858214] [ 0.0548215 0.00711624 0.99847081 -0.24608978] [ 0. 0. 0. 1. ]] SLAMing on 342.123133365 meters Centerline goodness : 0.106300 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.09, Z:-0.25 [[ 0.99846199 -0.00866514 -0.05475926 -2.1621158 ] [ 0.00826221 0.99993714 -0.00758033 0.08858214] [ 0.0548215 0.00711624 0.99847081 -0.24608978] [ 0. 0. 0. 1. ]] SLAMing on 342.153133365 meters Centerline goodness : 0.103424 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.09, Z:-0.25 [[ 0.99846559 -0.00868507 -0.05469028 -2.16211932] [ 0.0082951 0.99993856 -0.00735359 0.08667773] [ 0.05475079 0.00688865 0.99847629 -0.2463015 ] [ 0. 0. 0. 1. ]] SLAMing on 342.183133365 meters Centerline goodness : 0.113237 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.08, Z:-0.25 [[ 0.9984818 -0.00863106 -0.05440219 -2.16276262] [ 0.00826405 0.99994158 -0.00696758 0.08429765] [ 0.05445915 0.00650742 0.99849479 -0.24636518] [ 0. 0. 0. 1. ]] SLAMing on 342.213133365 meters Centerline goodness : 0.107171 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.08, Z:-0.25 [[ 0.99848893 -0.00856446 -0.05428181 -2.16311311] [ 0.00820798 0.99994328 -0.00678678 0.08338581] [ 0.05433685 0.00633098 0.99850259 -0.24630457] [ 0. 0. 0. 1. ]] SLAMing on 342.243133365 meters Centerline goodness : 0.106632 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.08, Z:-0.25 [[ 0.99849179 -0.00851181 -0.05423747 -2.16322493] [ 0.00816475 0.99994477 -0.0066174 0.08241767] [ 0.0542908 0.00616458 0.99850614 -0.24628846] [ 0. 0. 0. 1. ]] SLAMing on 342.273133365 meters Centerline goodness : 0.107336 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.08, Z:-0.25 [[ 0.9984822 -0.00849581 -0.05441611 -2.16264367] [ 0.00815406 0.99994563 -0.00649925 0.08156616] [ 0.05446837 0.00604568 0.99849719 -0.24652699] [ 0. 0. 0. 1. ]] SLAMing on 342.303133365 meters Centerline goodness : 0.106185 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.08, Z:-0.25 [[ 0.99846884 -0.00851941 -0.054657 -2.16196533] [ 0.00817689 0.99994552 -0.00648739 0.08119134] [ 0.05470929 0.00603053 0.99848411 -0.24668146] [ 0. 0. 0. 1. ]] SLAMing on 342.333133365 meters Centerline goodness : 0.112701 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.08, Z:-0.25 [[ 0.9984609 -0.00851064 -0.05480324 -2.1615723 ] [ 0.00816721 0.9999456 -0.00648749 0.08131405] [ 0.05485547 0.00602991 0.9984761 -0.2467678 ] [ 0. 0. 0. 1. ]] SLAMing on 342.363133365 meters Centerline goodness : 0.096051 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.08, Z:-0.25 [[ 9.98501062e-01 3.28437530e-04 -5.47313637e-02 -2.18247222e+00] [-7.17980215e-04 9.99974552e-01 -7.09784680e-03 7.95018675e-02] [ 5.47276397e-02 7.12650360e-03 9.98475888e-01 -2.48511460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.393133365 meters Centerline goodness : 0.096514 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.08, Z:-0.25 [[ 9.98501100e-01 3.18337609e-04 -5.47307261e-02 -2.18246181e+00] [-7.14713933e-04 9.99973659e-01 -7.22287922e-03 8.07341103e-02] [ 5.47269851e-02 7.25116965e-03 9.98475026e-01 -2.48508698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42313336499996 meters Centerline goodness : 0.115090 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.08, Z:-0.25 [[ 9.98504257e-01 2.72410098e-04 -5.46733498e-02 -2.18259823e+00] [-6.77089918e-04 9.99972513e-01 -7.38338801e-03 8.17326384e-02] [ 5.46698357e-02 7.40936313e-03 9.98476995e-01 -2.48531163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.453133365 meters Centerline goodness : 0.101773 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.08, Z:-0.25 [[ 9.98505893e-01 2.78568747e-04 -5.46434338e-02 -2.18257139e+00] [-6.87354841e-04 9.99971920e-01 -7.46232267e-03 8.25927411e-02] [ 5.46398207e-02 7.48873258e-03 9.98478046e-01 -2.48679631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48313336499996 meters Centerline goodness : 0.091866 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.08, Z:-0.25 [[ 9.98523578e-01 2.64823667e-04 -5.43193653e-02 -2.18341098e+00] [-6.81043435e-04 9.99970552e-01 -7.64408895e-03 8.40922812e-02] [ 5.43157413e-02 7.66979690e-03 9.98494354e-01 -2.48580053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.513133365 meters Centerline goodness : 0.097676 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98534226e-01 1.62829819e-04 -5.41236798e-02 -2.18400193e+00] [-5.90787891e-04 9.99968690e-01 -7.89113397e-03 8.54149488e-02] [ 5.41207003e-02 7.91154296e-03 9.98503058e-01 -2.48366182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54313336499996 meters Centerline goodness : 0.108231 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98539339e-01 6.14768105e-05 -5.40294801e-02 -2.18422009e+00] [-5.03404726e-04 9.99966532e-01 -8.16581372e-03 8.70255730e-02] [ 5.40271698e-02 8.18108493e-03 9.98505951e-01 -2.48368347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.573133365 meters Centerline goodness : 0.096910 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98530203e-01 -1.53958333e-04 -5.41978863e-02 -2.18355607e+00] [-3.24464379e-04 9.99961064e-01 -8.81842177e-03 9.09066309e-02] [ 5.41971338e-02 8.82304576e-03 9.98491274e-01 -2.48719712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60313336499996 meters Centerline goodness : 0.098597 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98524080e-01 -2.75696398e-04 -5.43100798e-02 -2.18307793e+00] [-2.20888222e-04 9.99958230e-01 -9.13729261e-03 9.27831676e-02] [ 5.43103303e-02 9.13580316e-03 9.98482311e-01 -2.49009186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.633133365 meters Centerline goodness : 0.108998 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98523462e-01 -3.85290239e-04 -5.43207790e-02 -2.18289261e+00] [-1.27852884e-04 9.99955408e-01 -9.44274312e-03 9.46483832e-02] [ 5.43219950e-02 9.43574562e-03 9.98478887e-01 -2.49217699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66313336499996 meters Centerline goodness : 0.109560 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98525632e-01 -4.76041504e-04 -5.42801544e-02 -2.18301515e+00] [-4.98508195e-05 9.99953081e-01 -9.68671691e-03 9.61908411e-02] [ 5.42822190e-02 9.67514103e-03 9.98478759e-01 -2.49208309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.693133365 meters Centerline goodness : 0.110914 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98530006e-01 -5.73624361e-04 -5.41986894e-02 -2.18334550e+00] [ 3.71207910e-05 9.99951000e-01 -9.89931741e-03 9.73982941e-02] [ 5.42017121e-02 9.88275358e-03 9.98481099e-01 -2.49005033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72313336499997 meters Centerline goodness : 0.100806 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98540490e-01 -7.82434076e-04 -5.40025692e-02 -2.18387426e+00] [ 2.30561145e-04 9.99947698e-01 -1.02248564e-02 9.87649634e-02] [ 5.40077450e-02 1.01974822e-02 9.98488445e-01 -2.48896021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.753133365 meters Centerline goodness : 0.110804 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98538450e-01 -8.62999326e-04 -5.40390595e-02 -2.18368154e+00] [ 3.04514295e-04 9.99946471e-01 -1.03422211e-02 9.92760091e-02] [ 5.40450922e-02 1.03106497e-02 9.98485262e-01 -2.49080376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78313336499997 meters Centerline goodness : 0.109172 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98540664e-01 -9.12773410e-04 -5.39973038e-02 -2.18356052e+00] [ 3.48612465e-04 9.99945269e-01 -1.04564430e-02 1.00051668e-01] [ 5.40038928e-02 1.04223594e-02 9.98486331e-01 -2.49404720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.813133365 meters Centerline goodness : 0.110283 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98533382e-01 -9.61426663e-04 -5.41309665e-02 -2.18315517e+00] [ 3.88235615e-04 9.99943759e-01 -1.05984875e-02 1.01151990e-01] [ 5.41381118e-02 1.05619280e-02 9.98477596e-01 -2.49554688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84313336499997 meters Centerline goodness : 0.109217 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98530912e-01 -1.03685808e-03 -5.41751058e-02 -2.18305772e+00] [ 4.49581029e-04 9.99941021e-01 -1.08514116e-02 1.02898909e-01] [ 5.41831620e-02 1.08111138e-02 9.98472486e-01 -2.49524555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.873133365 meters Centerline goodness : 0.107096 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.11, Z:-0.25 [[ 9.98525959e-01 -1.29802710e-03 -5.42606989e-02 -2.18295799e+00] [ 6.66891412e-04 9.99931937e-01 -1.16480321e-02 1.07719299e-01] [ 5.42721252e-02 1.15946765e-02 9.98458862e-01 -2.49319303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.903133365 meters Centerline goodness : 0.110091 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.11, Z:-0.25 [[ 9.98516405e-01 -1.47992041e-03 -5.44315921e-02 -2.18247134e+00] [ 8.18896772e-04 9.99925675e-01 -1.21644164e-02 1.10605977e-01] [ 5.44455489e-02 1.21017955e-02 9.98443403e-01 -2.49384527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.933133365 meters Centerline goodness : 0.113564 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.11, Z:-0.25 [[ 9.98510213e-01 -1.67523247e-03 -5.45394141e-02 -2.18222663e+00] [ 9.84871200e-04 9.99919090e-01 -1.26824423e-02 1.13402494e-01] [ 5.45562473e-02 1.26098338e-02 9.98431073e-01 -2.49346184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.963133365 meters Centerline goodness : 0.109229 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.12, Z:-0.25 [[ 9.98494666e-01 -2.00729098e-03 -5.48121535e-02 -2.18156400e+00] [ 1.26342972e-03 9.99906685e-01 -1.36023817e-02 1.19061195e-01] [ 5.48343426e-02 1.35126543e-02 9.98404028e-01 -2.49330815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.993133365 meters Centerline goodness : 0.129438 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.12, Z:-0.25 [[ 9.98482468e-01 -2.17400785e-03 -5.50275773e-02 -2.18085077e+00] [ 1.40148653e-03 9.99899981e-01 -1.40735012e-02 1.21906953e-01] [ 5.50526694e-02 1.39750238e-02 9.98385648e-01 -2.49555340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.023133365 meters Centerline goodness : 0.110991 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.12, Z:-0.25 [[ 9.98473229e-01 -2.28358233e-03 -5.51905382e-02 -2.18023570e+00] [ 1.49055978e-03 9.99895121e-01 -1.44057081e-02 1.24099888e-01] [ 5.52176465e-02 1.43014491e-02 9.98371915e-01 -2.49809352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.053133365 meters Centerline goodness : 0.109412 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.13, Z:-0.25 [[ 9.98468869e-01 -2.39242888e-03 -5.52647592e-02 -2.18000382e+00] [ 1.58522826e-03 9.99891495e-01 -1.46452865e-02 1.25590616e-01] [ 5.52938005e-02 1.45352554e-02 9.98364323e-01 -2.49856370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.083133365 meters Centerline goodness : 0.061368 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.13, Z:-0.25 [[ 9.98472181e-01 -2.78142648e-03 -5.51866522e-02 -2.18018894e+00] [ 1.95474630e-03 9.99885162e-01 -1.50280408e-02 1.26312753e-01] [ 5.52221141e-02 1.48972047e-02 9.98362956e-01 -2.49781556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.113133365 meters Centerline goodness : 0.146647 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.13, Z:-0.25 [[ 9.98474728e-01 -2.86286052e-03 -5.51363966e-02 -2.18020860e+00] [ 2.03706059e-03 9.99885001e-01 -1.50277824e-02 1.25765524e-01] [ 5.51730784e-02 1.48925448e-02 9.98365736e-01 -2.49946418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.143133365 meters SLAMing on 343.17313336499996 meters SLAMing on 343.203133365 meters SLAMing on 343.23313336499996 meters SLAMing on 343.263133365 meters Centerline goodness : 0.108041 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.12, Z:-0.25 [[ 0.99853372 -0.00364584 -0.05401029 -2.18332236] [ 0.00281849 0.99987764 -0.01538675 0.12460055] [ 0.05405978 0.01521197 0.99842182 -0.24933029] [ 0. 0. 0. 1. ]] SLAMing on 343.29313336499996 meters SLAMing on 343.323133365 meters Centerline goodness : 0.116072 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.13, Z:-0.25 [[ 9.98574355e-01 -5.28329308e-04 -5.33758293e-02 -2.18570965e+00] [-1.49877598e-04 9.99919322e-01 -1.27014534e-02 1.26868329e-01] [ 5.33782336e-02 1.26913455e-02 9.98493713e-01 -2.48424490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35313336499996 meters Centerline goodness : 0.113415 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.13, Z:-0.25 [[ 0.99858112 -0.00502579 -0.05301398 -2.16623598] [ 0.00455771 0.99994959 -0.00894644 0.13345891] [ 0.05305627 0.00869212 0.99855369 -0.24668559] [ 0. 0. 0. 1. ]] SLAMing on 343.383133365 meters Centerline goodness : 0.137491 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99857972 -0.00513733 -0.05302965 -2.16613233] [ 0.0046475 0.99994543 -0.00935604 0.13598281] [ 0.05307482 0.00909629 0.99854911 -0.24675922] [ 0. 0. 0. 1. ]] SLAMing on 343.41313336499996 meters Centerline goodness : 0.151928 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99857865 -0.00523265 -0.05304047 -2.16616515] [ 0.0047248 0.99994183 -0.00969559 0.13804137] [ 0.05308812 0.0094312 0.99854529 -0.24669953] [ 0. 0. 0. 1. ]] SLAMing on 343.443133365 meters Centerline goodness : 0.112241 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99858184 -0.00534198 -0.05296958 -2.1663546 ] [ 0.0048174 0.99993813 -0.01002624 0.14001998] [ 0.05301986 0.00975685 0.99854579 -0.24665323] [ 0. 0. 0. 1. ]] SLAMing on 343.47313336499997 meters Centerline goodness : 0.052276 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99857365 -0.00560523 -0.05309666 -2.16603735] [ 0.00504991 0.9999312 -0.01058699 0.14294068] [ 0.05315235 0.01030375 0.99853325 -0.24663109] [ 0. 0. 0. 1. ]] SLAMing on 343.503133365 meters Centerline goodness : 0.156056 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99856793 -0.00574326 -0.05318926 -2.16581863] [ 0.00517744 0.9999286 -0.01076967 0.14364227] [ 0.05324731 0.01047886 0.99852637 -0.24660292] [ 0. 0. 0. 1. ]] SLAMing on 343.53313336499997 meters Centerline goodness : 0.140298 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99856622 -0.00585986 -0.05320875 -2.1657404 ] [ 0.00528851 0.99992691 -0.01087239 0.14385764] [ 0.05326857 0.0105754 0.99852422 -0.24659878] [ 0. 0. 0. 1. ]] SLAMing on 343.563133365 meters Centerline goodness : 0.144924 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99856796 -0.00609099 -0.05314999 -2.16612977] [ 0.00551356 0.99992425 -0.01100414 0.14417162] [ 0.05321299 0.01069534 0.99852591 -0.24612918] [ 0. 0. 0. 1. ]] SLAMing on 343.59313336499997 meters Centerline goodness : 0.142227 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99856561 -0.0060816 -0.05319523 -2.16609218] [ 0.00550471 0.99992451 -0.01098474 0.1443994 ] [ 0.05325802 0.01067616 0.99852371 -0.24597695] [ 0. 0. 0. 1. ]] SLAMing on 343.623133365 meters Centerline goodness : 0.131390 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.15, Z:-0.24 [[ 0.99848979 -0.01428409 -0.05304814 -2.14685582] [ 0.01377025 0.99985479 -0.01003927 0.14925039] [ 0.05318384 0.00929362 0.99854149 -0.24384745] [ 0. 0. 0. 1. ]] SLAMing on 343.653133365 meters Centerline goodness : 0.131670 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.15, Z:-0.25 [[ 0.99855431 -0.00590098 -0.05342729 -2.16584028] [ 0.00531705 0.99992464 -0.01106501 0.14586452] [ 0.05348856 0.01076494 0.99851044 -0.2459886 ] [ 0. 0. 0. 1. ]] SLAMing on 343.683133365 meters Centerline goodness : 0.087234 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.15, Z:-0.25 [[ 0.99855179 -0.00598167 -0.05346528 -2.16542014] [ 0.00539412 0.99992354 -0.01112692 0.14609397] [ 0.05352775 0.01082241 0.99850771 -0.24646371] [ 0. 0. 0. 1. ]] SLAMing on 343.713133365 meters Centerline goodness : 0.150676 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.15, Z:-0.25 [[ 0.99855725 -0.0059535 -0.05336648 -2.16550648] [ 0.0053702 0.99992434 -0.01106695 0.14584262] [ 0.05342833 0.01076439 0.99851367 -0.24668393] [ 0. 0. 0. 1. ]] SLAMing on 343.743133365 meters Centerline goodness : 0.138085 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.15, Z:-0.25 [[ 0.99856385 -0.00594437 -0.05324372 -2.16568056] [ 0.00536418 0.99992474 -0.01103325 0.14575769] [ 0.0533053 0.01073179 0.99852059 -0.24689613] [ 0. 0. 0. 1. ]] SLAMing on 343.773133365 meters Centerline goodness : 0.130636 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.15, Z:-0.25 [[ 0.99857025 -0.00595549 -0.05312248 -2.16583842] [ 0.00537809 0.99992497 -0.01100559 0.14546237] [ 0.05318403 0.01070416 0.99852736 -0.24709973] [ 0. 0. 0. 1. ]] SLAMing on 343.803133365 meters Centerline goodness : 0.122503 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.15, Z:-0.25 [[ 0.99856218 -0.00613591 -0.05325347 -2.16548759] [ 0.00554816 0.99992213 -0.0111778 0.14546484] [ 0.05331791 0.01086627 0.99851846 -0.24715604] [ 0. 0. 0. 1. ]] SLAMing on 343.833133365 meters Centerline goodness : 0.158750 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 0.99855136 -0.00606936 -0.05346357 -2.16495139] [ 0.00548396 0.99992347 -0.01108948 0.14542105] [ 0.05352678 0.01078023 0.99850822 -0.24726357] [ 0. 0. 0. 1. ]] SLAMing on 343.863133365 meters Centerline goodness : 0.089334 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 0.99853342 -0.00598407 -0.05380713 -2.16393886] [ 0.00540097 0.99992518 -0.01097584 0.14536811] [ 0.05386879 0.01066914 0.99849102 -0.24753628] [ 0. 0. 0. 1. ]] SLAMing on 343.893133365 meters Centerline goodness : 0.091550 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99850515 -0.00595551 -0.05433232 -2.16202306] [ 0.00537613 0.99992719 -0.01080372 0.14443457] [ 0.0543927 0.01049548 0.99846446 -0.2485615 ] [ 0. 0. 0. 1. ]] SLAMing on 343.92313336499996 meters Centerline goodness : 0.137049 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99850318 -0.00598563 -0.05436511 -2.16171122] [ 0.00541142 0.99992808 -0.01070321 0.14336872] [ 0.05442526 0.010393 0.99846376 -0.24894549] [ 0. 0. 0. 1. ]] SLAMing on 343.953133365 meters Centerline goodness : 0.138688 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.9985118 -0.00597187 -0.05420821 -2.16225257] [ 0.00540767 0.99992974 -0.01054886 0.14223496] [ 0.05426739 0.01024002 0.99847393 -0.24875066] [ 0. 0. 0. 1. ]] SLAMing on 343.98313336499996 meters Centerline goodness : 0.137061 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99851907 -0.00587461 -0.05408468 -2.16279263] [ 0.00532427 0.99993263 -0.01031402 0.1411101 ] [ 0.05414163 0.01001078 0.99848308 -0.24845331] [ 0. 0. 0. 1. ]] SLAMing on 344.013133365 meters Centerline goodness : 0.135794 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99851934 -0.00574916 -0.0540933 -2.1628919 ] [ 0.00521189 0.99993573 -0.01006804 0.14017995] [ 0.0541477 0.0097712 0.99848513 -0.24833152] [ 0. 0. 0. 1. ]] SLAMing on 344.04313336499996 meters Centerline goodness : 0.135794 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99851934 -0.00574916 -0.0540933 -2.1628919 ] [ 0.00521189 0.99993573 -0.01006804 0.14017995] [ 0.0541477 0.0097712 0.99848513 -0.24833152] [ 0. 0. 0. 1. ]] SLAMing on 344.073133365 meters Centerline goodness : 0.138514 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99851909 -0.0056152 -0.05411192 -2.16281151] [ 0.00509104 0.99993883 -0.00981952 0.13920303] [ 0.05416375 0.0095295 0.99848659 -0.24841324] [ 0. 0. 0. 1. ]] SLAMing on 344.10313336499996 meters Centerline goodness : 0.143000 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99851891 -0.00560911 -0.05411584 -2.16275372] [ 0.0050841 0.99993872 -0.00983435 0.13938474] [ 0.05416769 0.00954465 0.99848623 -0.24849572] [ 0. 0. 0. 1. ]] SLAMing on 344.133133365 meters Centerline goodness : 0.200035 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99851176 -0.00559914 -0.05424862 -2.16239572] [ 0.00506982 0.99993824 -0.00989012 0.13992214] [ 0.05430065 0.00960037 0.99847848 -0.24855496] [ 0. 0. 0. 1. ]] SLAMing on 344.16313336499996 meters Centerline goodness : 0.137899 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98530466e-01 -2.33067330e-03 -5.41431103e-02 -2.16266118e+00] [ 1.97037231e-03 9.99975566e-01 -6.70703193e-03 1.39440474e-01] [ 5.41574193e-02 6.59049363e-03 9.98510661e-01 -2.48644257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.193133365 meters Centerline goodness : 0.148989 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98551247e-01 -2.23614556e-03 -5.37624988e-02 -2.16405764e+00] [ 1.87363418e-03 9.99975177e-01 -6.79228676e-03 1.40575713e-01] [ 5.37763528e-02 6.68171516e-03 9.98530650e-01 -2.47926288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22313336499997 meters Centerline goodness : 0.158663 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 9.98567551e-01 -2.28542027e-03 -5.34567351e-02 -2.16505884e+00] [ 1.91977370e-03 9.99974418e-01 -6.89039618e-03 1.40845986e-01] [ 5.34711150e-02 6.77790121e-03 9.98546393e-01 -2.47561349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.253133365 meters Centerline goodness : 0.132265 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 9.98583292e-01 -2.32742076e-03 -5.31600633e-02 -2.16598610e+00] [ 1.96224565e-03 9.99974128e-01 -6.92051155e-03 1.40677132e-01] [ 5.31747949e-02 6.80639410e-03 9.98562023e-01 -2.47284943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28313336499997 meters Centerline goodness : 0.114765 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 9.98592698e-01 -2.34504478e-03 -5.29823025e-02 -2.16661717e+00] [ 1.98213154e-03 9.99974222e-01 -6.90121480e-03 1.40296419e-01] [ 5.29971203e-02 6.78648481e-03 9.98571604e-01 -2.47050702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.313133365 meters Centerline goodness : 0.133137 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 9.98594042e-01 -2.17617954e-03 -5.29641700e-02 -2.16647330e+00] [ 1.83848667e-03 9.99977677e-01 -6.42376015e-03 1.37746099e-01] [ 5.29769670e-02 6.31735470e-03 9.98575752e-01 -2.47441243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34313336499997 meters Centerline goodness : 0.118491 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 9.98589613e-01 -2.05826105e-03 -5.30523225e-02 -2.16606983e+00] [ 1.73757113e-03 9.99979945e-01 -6.09020051e-03 1.36024148e-01] [ 5.30637938e-02 5.98942879e-03 9.98573162e-01 -2.47797175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.373133365 meters Centerline goodness : 0.093480 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.13, Z:-0.25 [[ 9.98588519e-01 -1.93379914e-03 -5.30775796e-02 -2.16578619e+00] [ 1.63319783e-03 9.99982386e-01 -5.70622244e-03 1.34004405e-01] [ 5.30876793e-02 5.61148203e-03 9.98574088e-01 -2.48233801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.403133365 meters Centerline goodness : 0.087953 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.13, Z:-0.25 [[ 9.98578710e-01 -2.00589395e-03 -5.32591495e-02 -2.16487198e+00] [ 1.73455481e-03 9.99985284e-01 -5.14042998e-03 1.29330240e-01] [ 5.32686768e-02 5.04074303e-03 9.98567493e-01 -2.49050358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.433133365 meters Centerline goodness : 0.120078 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.13, Z:-0.25 [[ 9.98579371e-01 -1.89467949e-03 -5.32508263e-02 -2.16465993e+00] [ 1.64538252e-03 9.99987483e-01 -4.72501085e-03 1.26804913e-01] [ 5.32591121e-02 4.63068038e-03 9.98569989e-01 -2.49516204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.463133365 meters Centerline goodness : 0.097104 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.12, Z:-0.25 [[ 9.98575969e-01 -1.73017424e-03 -5.33201634e-02 -2.16450477e+00] [ 1.50428281e-03 9.99989725e-01 -4.27635223e-03 1.24442553e-01] [ 5.33270144e-02 4.19005397e-03 9.98568312e-01 -2.49596164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.493133365 meters Centerline goodness : 0.116834 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.12, Z:-0.25 [[ 9.98578955e-01 -1.55894763e-03 -5.32695066e-02 -2.16464479e+00] [ 1.35467984e-03 9.99991592e-01 -3.87050223e-03 1.22450606e-01] [ 5.32750927e-02 3.79283895e-03 9.98572671e-01 -2.49648757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.523133365 meters Centerline goodness : 0.133184 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.12, Z:-0.25 [[ 9.98583455e-01 -1.38708781e-03 -5.31898426e-02 -2.16491960e+00] [ 1.20338805e-03 9.99993201e-01 -3.48553354e-03 1.20548656e-01] [ 5.31943157e-02 3.41658811e-03 9.98578335e-01 -2.49593959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.553133365 meters Centerline goodness : 0.135821 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.12, Z:-0.25 [[ 9.98585081e-01 -1.11574513e-03 -5.31656959e-02 -2.16481729e+00] [ 9.62545347e-04 9.99995311e-01 -2.90707145e-03 1.17695904e-01] [ 5.31686902e-02 2.85178378e-03 9.98581473e-01 -2.49921063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.583133365 meters Centerline goodness : 0.132941 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.12, Z:-0.25 [[ 9.98580236e-01 -9.59275770e-04 -5.32596714e-02 -2.16440527e+00] [ 8.20781286e-04 9.99996225e-01 -2.62217499e-03 1.16402941e-01] [ 5.32619857e-02 2.57473758e-03 9.98577254e-01 -2.50234847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.613133365 meters Centerline goodness : 0.121609 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.12, Z:-0.25 [[ 9.98578833e-01 -7.69040953e-04 -5.32890553e-02 -2.16418023e+00] [ 6.47872899e-04 9.99997166e-01 -2.29102599e-03 1.15030638e-01] [ 5.32906662e-02 2.25324552e-03 9.98576501e-01 -2.50500970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.643133365 meters Centerline goodness : 0.046617 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98574473e-01 -5.74497957e-04 -5.33731419e-02 -2.16375949e+00] [ 4.70265593e-04 9.99997958e-01 -1.96543736e-03 1.13736939e-01] [ 5.33741621e-02 1.93753603e-03 9.98572704e-01 -2.50874622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67313336499996 meters Centerline goodness : 0.135968 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98575199e-01 -4.29967761e-04 -5.33609149e-02 -2.16363086e+00] [ 3.38645845e-04 9.99998463e-01 -1.72043075e-03 1.12739734e-01] [ 5.33615726e-02 1.69990902e-03 9.98573809e-01 -2.51137644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.703133365 meters Centerline goodness : 0.044339 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98576743e-01 -2.48622275e-04 -5.33331641e-02 -2.16375819e+00] [ 1.77282960e-04 9.99999083e-01 -1.34234313e-03 1.10560151e-01] [ 5.33334489e-02 1.33097757e-03 9.98575872e-01 -2.51128434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73313336499996 meters SLAMing on 344.763133365 meters Centerline goodness : 0.149395 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98558589e-01 -8.68780993e-05 -5.36724930e-02 -2.16295642e+00] [ 3.40597259e-05 9.99999514e-01 -9.85000367e-04 1.08838861e-01] [ 5.36725525e-02 9.81752507e-04 9.98558107e-01 -2.51187275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79313336499996 meters Centerline goodness : 0.139489 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98551260e-01 1.99616601e-05 -5.38087482e-02 -2.16240676e+00] [-5.87628655e-05 9.99999739e-01 -7.19512714e-04 1.07627734e-01] [ 5.38087198e-02 7.21632283e-04 9.98551001e-01 -2.51588555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.823133365 meters SLAMing on 344.85313336499996 meters Centerline goodness : 0.110704 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98581447e-01 -1.12585376e-04 -5.32454719e-02 -2.16404139e+00] [ 7.50299170e-05 9.99999747e-01 -7.07325202e-04 1.06787489e-01] [ 5.32455380e-02 7.02326821e-04 9.98581203e-01 -2.51223827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.883133365 meters Centerline goodness : 0.144389 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98594100e-01 -1.20980083e-04 -5.30076214e-02 -2.16478589e+00] [ 8.62645105e-05 9.99999780e-01 -6.57204089e-04 1.06403445e-01] [ 5.30076892e-02 6.51707450e-04 9.98593892e-01 -2.50984547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91313336499996 meters SLAMing on 344.943133365 meters Centerline goodness : 0.130666 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98601403e-01 -1.75468049e-04 -5.28697197e-02 -2.16473086e+00] [ 1.42197543e-04 9.99999790e-01 -6.33053216e-04 1.06162821e-01] [ 5.28698196e-02 6.24649886e-04 9.98601218e-01 -2.51580096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97313336499997 meters Centerline goodness : 0.249734 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.11, Z:-0.25 [[ 9.98611532e-01 -1.31814854e-04 -5.26781855e-02 -2.16524793e+00] [ 1.07903099e-04 9.99999890e-01 -4.56765179e-04 1.05147584e-01] [ 5.26782399e-02 4.50446836e-04 9.98611436e-01 -2.51554132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.003133365 meters Centerline goodness : 0.130274 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.10, Z:-0.25 [[ 9.98628407e-01 -1.20186976e-04 -5.23573419e-02 -2.16613607e+00] [ 1.06036996e-04 9.99999957e-01 -2.73035521e-04 1.03865845e-01] [ 5.23573725e-02 2.67109212e-04 9.98628376e-01 -2.51423764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03313336499997 meters Centerline goodness : 0.105308 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.10, Z:-0.25 [[ 9.98622633e-01 -2.84370329e-04 -5.24667084e-02 -2.16581242e+00] [ 2.94214033e-04 9.99999941e-01 1.79894648e-04 1.00068735e-01] [ 5.24666541e-02 -1.95083309e-04 9.98622658e-01 -2.51699671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.063133365 meters Centerline goodness : 0.120557 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.10, Z:-0.25 [[ 9.98598069e-01 -2.76284906e-04 -5.29322268e-02 -2.16431875e+00] [ 3.05273432e-04 9.99999808e-01 5.39569345e-04 9.74381735e-02] [ 5.29320675e-02 -5.54971708e-04 9.98597961e-01 -2.52330674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09313336499997 meters Centerline goodness : 0.131598 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.09, Z:-0.25 [[ 9.98576748e-01 -1.81122903e-04 -5.33333447e-02 -2.16309957e+00] [ 2.35479670e-04 9.99999459e-01 1.01290699e-03 9.44511334e-02] [ 5.33331324e-02 -1.02402428e-03 9.98576251e-01 -2.52812789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.123133365 meters SLAMing on 345.153133365 meters Centerline goodness : 0.131163 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.09, Z:-0.25 [[ 9.98554820e-01 3.04765794e-05 -5.37426402e-02 -2.16166720e+00] [ 6.78409994e-05 9.99998328e-01 1.82758951e-03 8.92043019e-02] [ 5.37426061e-02 -1.82859426e-03 9.98553148e-01 -2.53593601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.183133365 meters Centerline goodness : 0.128814 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.09, Z:-0.25 [[ 9.98491064e-01 8.77547611e-04 -5.49074256e-02 -2.20929397e+00] [-7.59625189e-04 9.99997360e-01 2.16849232e-03 8.76417679e-02] [ 5.49091836e-02 -2.12351114e-03 9.98489095e-01 -2.54323120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.213133365 meters Centerline goodness : 0.271185 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.09, Z:-0.25 [[ 9.98513624e-01 9.78085253e-04 -5.44939063e-02 -2.21082355e+00] [-8.51215211e-04 9.99996873e-01 2.35131262e-03 8.65358332e-02] [ 5.44960357e-02 -2.30143165e-03 9.98511335e-01 -2.53564560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.243133365 meters Centerline goodness : 0.105220 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.09, Z:-0.25 [[ 9.98523250e-01 1.09448880e-03 -5.43150205e-02 -2.21165790e+00] [-9.59012512e-04 9.99996364e-01 2.52027018e-03 8.57168969e-02] [ 5.43175814e-02 -2.46445959e-03 9.98520669e-01 -2.53004421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.273133365 meters Centerline goodness : 0.127688 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.09, Z:-0.25 [[ 9.98520346e-01 1.21152704e-03 -5.43658926e-02 -2.21156400e+00] [-1.06812626e-03 9.99995874e-01 2.66667633e-03 8.51864209e-02] [ 5.43688991e-02 -2.60466094e-03 9.98517520e-01 -2.52992406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.303133365 meters Centerline goodness : 0.105823 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98517530e-01 1.42636729e-03 -5.44123845e-02 -2.21117199e+00] [-1.26111193e-03 9.99994488e-01 3.07130542e-03 8.31373861e-02] [ 5.44164654e-02 -2.99813219e-03 9.98513825e-01 -2.53444656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.333133365 meters Centerline goodness : 0.101923 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98513380e-01 1.52441692e-03 -5.44858349e-02 -2.21089134e+00] [-1.34556305e-03 9.99993586e-01 3.31910918e-03 8.17508701e-02] [ 5.44905451e-02 -3.24086080e-03 9.98509027e-01 -2.53631144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.363133365 meters Centerline goodness : 0.104663 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98506205e-01 1.67139199e-03 -5.46128698e-02 -2.21044616e+00] [-1.47503677e-03 9.99992304e-01 3.63551235e-03 8.02542950e-02] [ 5.46185258e-02 -3.54952565e-03 9.98500985e-01 -2.53894616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.393133365 meters Centerline goodness : 0.094838 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98497679e-01 1.84047667e-03 -5.47631068e-02 -2.21004010e+00] [-1.62511106e-03 9.99990771e-01 3.97694871e-03 7.86718996e-02] [ 5.47699209e-02 -3.88197792e-03 9.98491455e-01 -2.54010205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42313336499996 meters Centerline goodness : 0.252369 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98496975e-01 1.96328266e-03 -5.47716669e-02 -2.21044630e+00] [-1.73445895e-03 9.99989570e-01 4.22499758e-03 7.71656136e-02] [ 5.47793905e-02 -4.12364810e-03 9.98489967e-01 -2.53439806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.453133365 meters Centerline goodness : 0.247895 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98498609e-01 1.98745931e-03 -5.47409991e-02 -2.21056551e+00] [-1.75724239e-03 9.99989410e-01 4.25337848e-03 7.69849137e-02] [ 5.47488729e-02 -4.15079929e-03 9.98491528e-01 -2.53395416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48313336499996 meters Centerline goodness : 0.108682 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98496624e-01 2.04906728e-03 -5.47749253e-02 -2.21031242e+00] [-1.81741456e-03 9.99989195e-01 4.27865180e-03 7.72564350e-02] [ 5.47831007e-02 -4.17267064e-03 9.98489560e-01 -2.53646196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.513133365 meters Centerline goodness : 0.251501 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98491610e-01 2.09477422e-03 -5.48645309e-02 -2.20976554e+00] [-1.86691232e-03 9.99989420e-01 4.20409622e-03 7.83055645e-02] [ 5.48727571e-02 -4.09532754e-03 9.98484957e-01 -2.54112025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54313336499996 meters Centerline goodness : 0.253794 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98482011e-01 2.05290175e-03 -5.50405284e-02 -2.20894863e+00] [-1.84065137e-03 9.99990675e-01 3.90667258e-03 8.02507487e-02] [ 5.50480351e-02 -3.79943187e-03 9.98476479e-01 -2.54632978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.573133365 meters Centerline goodness : 0.243926 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98481961e-01 1.95434901e-03 -5.50450199e-02 -2.20893083e+00] [-1.75071091e-03 9.99991446e-01 3.74746050e-03 8.08268978e-02] [ 5.50518728e-02 -3.64540379e-03 9.98476841e-01 -2.54690540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60313336499996 meters Centerline goodness : 0.154816 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98479921e-01 1.94745028e-03 -5.50822593e-02 -2.20890953e+00] [-1.74346145e-03 9.99991445e-01 3.75116001e-03 8.08896525e-02] [ 5.50890932e-02 -3.64942415e-03 9.98474774e-01 -2.54638474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.633133365 meters Centerline goodness : 0.233813 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98474519e-01 1.99896699e-03 -5.51782476e-02 -2.20867006e+00] [-1.78675624e-03 9.99990818e-01 3.89497790e-03 8.04814767e-02] [ 5.51855269e-02 -3.79044611e-03 9.98468923e-01 -2.54733984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66313336499996 meters Centerline goodness : 0.105861 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.26 [[ 9.98457831e-01 1.70406999e-03 -5.54892334e-02 -2.20751600e+00] [-1.48557890e-03 9.99990982e-01 3.97855068e-03 7.91675854e-02] [ 5.54955128e-02 -3.88998145e-03 9.98451359e-01 -2.55497426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.693133365 meters Centerline goodness : 0.135951 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.26 [[ 9.98459977e-01 1.43896411e-03 -5.54581335e-02 -2.20752559e+00] [-1.22042725e-03 9.99991358e-01 3.97423966e-03 7.78944894e-02] [ 5.54633730e-02 -3.90043662e-03 9.98453104e-01 -2.55683223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72313336499997 meters SLAMing on 345.753133365 meters Centerline goodness : 0.099570 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98454356e-01 -2.63172408e-03 -5.55155198e-02 -2.20833540e+00] [ 2.65559612e-03 9.99996410e-01 3.56240584e-04 7.65558636e-02] [ 5.55143829e-02 -5.03116762e-04 9.98457761e-01 -2.54581251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78313336499997 meters Centerline goodness : 0.127245 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.07, Z:-0.25 [[ 9.98453336e-01 -2.62454934e-03 -5.55341950e-02 -2.20857013e+00] [ 2.66735722e-03 9.99996200e-01 6.96730272e-04 7.45401377e-02] [ 5.55321554e-02 -8.43782201e-04 9.98456543e-01 -2.54248395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.813133365 meters Centerline goodness : 0.125454 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.07, Z:-0.25 [[ 9.98451284e-01 -2.59131444e-03 -5.55726448e-02 -2.20831610e+00] [ 2.64256152e-03 9.99996148e-01 8.48699738e-04 7.35849050e-02] [ 5.55702315e-02 -9.94239476e-04 9.98454286e-01 -2.54537014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84313336499997 meters Centerline goodness : 0.136075 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.07, Z:-0.25 [[ 9.98447265e-01 -2.60873050e-03 -5.56439958e-02 -2.20790512e+00] [ 2.66324944e-03 9.99996043e-01 9.05649223e-04 7.28582435e-02] [ 5.56414130e-02 -1.05243683e-03 9.98450262e-01 -2.54922245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.873133365 meters Centerline goodness : 0.128001 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.07, Z:-0.26 [[ 9.98437478e-01 -2.55712117e-03 -5.58217132e-02 -2.20730533e+00] [ 2.61601791e-03 9.99996096e-01 9.82039736e-04 7.24492057e-02] [ 5.58189841e-02 -1.12653588e-03 9.98440270e-01 -2.55170848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.903133365 meters SLAMing on 345.933133365 meters SLAMing on 345.963133365 meters Centerline goodness : 0.117687 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.07, Z:-0.25 [[ 9.98427096e-01 -2.31008657e-03 -5.60178278e-02 -2.20695395e+00] [ 2.38085113e-03 9.99996450e-01 1.19654610e-03 7.23375562e-02] [ 5.60148648e-02 -1.32803416e-03 9.98429052e-01 -2.54987042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.993133365 meters Centerline goodness : 0.106886 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.07, Z:-0.25 [[ 9.98396727e-01 -1.95485070e-03 -5.65698984e-02 -2.20559101e+00] [ 2.03313207e-03 9.99997054e-01 1.32627891e-03 7.30435179e-02] [ 5.65671391e-02 -1.43916660e-03 9.98397760e-01 -2.54973602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.023133365 meters Centerline goodness : 0.104383 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.07, Z:-0.25 [[ 9.98366911e-01 5.52804991e-03 -5.68590556e-02 -2.18742217e+00] [-5.53887906e-03 9.99984660e-01 -3.28614099e-05 6.87930126e-02] [ 5.68580017e-02 3.47743177e-04 9.98382215e-01 -2.52105558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.053133365 meters Centerline goodness : 0.104370 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.07, Z:-0.25 [[ 9.98370141e-01 5.53531316e-03 -5.68015943e-02 -2.18778547e+00] [-5.55225868e-03 9.99984576e-01 -1.40515407e-04 6.94862699e-02] [ 5.67999404e-02 4.55663532e-04 9.98385476e-01 -2.51782715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.083133365 meters Centerline goodness : 0.106627 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.07, Z:-0.25 [[ 9.98371262e-01 5.54325332e-03 -5.67811194e-02 -2.18777165e+00] [-5.56346037e-03 9.99984504e-01 -1.97803946e-04 6.98605064e-02] [ 5.67791431e-02 5.13381283e-04 9.98386631e-01 -2.51884623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.113133365 meters Centerline goodness : 0.104828 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.07, Z:-0.25 [[ 9.98356531e-01 5.47387210e-03 -5.70462471e-02 -2.18674252e+00] [-5.51266561e-03 9.99984669e-01 -5.22690492e-04 7.13898117e-02] [ 5.70425113e-02 8.36308350e-04 9.98371400e-01 -2.52388254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.143133365 meters Centerline goodness : 0.106137 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.08, Z:-0.25 [[ 9.98372816e-01 -1.71382816e-03 -5.69980947e-02 -2.20484528e+00] [ 1.76404577e-03 9.99998099e-01 8.30737376e-04 7.81883011e-02] [ 5.69965626e-02 -9.29932862e-04 9.98373942e-01 -2.54873246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17313336499996 meters Centerline goodness : 0.105823 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98378651e-01 -1.65411279e-03 -5.68975600e-02 -2.20523973e+00] [ 1.69471144e-03 9.99998343e-01 6.65295186e-04 7.98429867e-02] [ 5.68963652e-02 -7.60641456e-04 9.98379800e-01 -2.54596458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.203133365 meters Centerline goodness : 0.104000 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98390241e-01 -1.58427574e-03 -5.66958184e-02 -2.20604816e+00] [ 1.61474925e-03 9.99998575e-01 4.91683679e-04 8.17021761e-02] [ 5.66949586e-02 -5.82441717e-04 9.98391377e-01 -2.54123539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23313336499996 meters Centerline goodness : 0.105338 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98406667e-01 -1.60622399e-03 -5.64051978e-02 -2.20700698e+00] [ 1.62508716e-03 9.99998638e-01 2.88556009e-04 8.32001480e-02] [ 5.64046575e-02 -3.79759606e-04 9.98407918e-01 -2.53713177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.263133365 meters Centerline goodness : 0.106083 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98425516e-01 -1.72899198e-03 -5.60669278e-02 -2.20804813e+00] [ 1.73361223e-03 9.99998497e-01 3.37687157e-05 8.43212026e-02] [ 5.60667851e-02 -1.30913859e-04 9.98427012e-01 -2.53391041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29313336499996 meters Centerline goodness : 0.102599 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.09, Z:-0.25 [[ 9.98447461e-01 -2.00994901e-03 -5.56653173e-02 -2.20922454e+00] [ 1.99491087e-03 9.99997957e-01 -3.25718290e-04 8.51740311e-02] [ 5.56658583e-02 2.14165253e-04 9.98449431e-01 -2.53133490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.323133365 meters Centerline goodness : 0.166927 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.09, Z:-0.25 [[ 9.98435478e-01 -2.00094053e-03 -5.58801552e-02 -2.20858238e+00] [ 1.98933318e-03 9.99997987e-01 -2.63343548e-04 8.50939145e-02] [ 5.58805696e-02 1.51767295e-04 9.98437449e-01 -2.53400574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35313336499996 meters Centerline goodness : 0.106525 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98406775e-01 -1.93024633e-03 -5.63931363e-02 -2.20698118e+00] [ 1.92755608e-03 9.99998137e-01 -1.02098918e-04 8.48757402e-02] [ 5.63932283e-02 -6.76468109e-06 9.98408636e-01 -2.53945935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.383133365 meters Centerline goodness : 0.124811 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.09, Z:-0.26 [[ 9.98178016e-01 -2.35708605e-03 -6.02917360e-02 -2.24668469e+00] [ 2.32888487e-03 9.99997143e-01 -5.38011367e-04 8.75203734e-02] [ 6.02928320e-02 3.96618607e-04 9.98180654e-01 -2.57164259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41313336499996 meters Centerline goodness : 0.125211 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.09, Z:-0.26 [[ 9.98172910e-01 -2.52966067e-03 -6.03692188e-02 -2.24653627e+00] [ 2.49735272e-03 9.99996695e-01 -6.10617056e-04 8.70454259e-02] [ 6.03705640e-02 4.58738170e-04 9.98175929e-01 -2.57220897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.443133365 meters Centerline goodness : 0.105523 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.09, Z:-0.26 [[ 9.98176861e-01 -2.58872581e-03 -6.03013481e-02 -2.24695974e+00] [ 2.55018889e-03 9.99996492e-01 -7.16023515e-04 8.75238219e-02] [ 6.03029902e-02 5.60938277e-04 9.98179961e-01 -2.56870577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47313336499997 meters Centerline goodness : 0.106436 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.09, Z:-0.26 [[ 9.98186344e-01 -2.59099932e-03 -6.01440728e-02 -2.24764822e+00] [ 2.54423962e-03 9.99996399e-01 -8.54028277e-04 8.87429620e-02] [ 6.01460690e-02 6.99458431e-04 9.98189341e-01 -2.56437670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.503133365 meters Centerline goodness : 0.137169 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.09, Z:-0.26 [[ 9.98197967e-01 -2.65353796e-03 -5.99481159e-02 -2.24812788e+00] [ 2.58866670e-03 9.99995977e-01 -1.15976038e-03 9.08552292e-02] [ 5.99509522e-02 1.00248476e-03 9.98200821e-01 -2.56332538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53313336499997 meters Centerline goodness : 0.122296 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 9.98208568e-01 -2.89620743e-03 -5.97600749e-02 -2.24857337e+00] [ 2.78151134e-03 9.99994127e-01 -2.00237315e-03 9.57371826e-02] [ 5.97655232e-02 1.83256270e-03 9.98210761e-01 -2.56193954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.563133365 meters Centerline goodness : 0.098512 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 9.98208173e-01 -3.07768330e-03 -5.97576051e-02 -2.24861644e+00] [ 2.93894594e-03 9.99992779e-01 -2.40942088e-03 9.76801048e-02] [ 5.97645890e-02 2.22947924e-03 9.98210010e-01 -2.56135824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59313336499997 meters Centerline goodness : 0.245251 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99820924 -0.00317869 -0.05973447 -2.24876408] [ 0.00302416 0.99999184 -0.00267723 0.09918416] [ 0.05974249 0.00249179 0.99821071 -0.25600991] [ 0. 0. 0. 1. ]] SLAMing on 346.623133365 meters SLAMing on 346.653133365 meters Centerline goodness : 0.117753 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99822142 -0.00330838 -0.0595235 -2.24939464] [ 0.00313297 0.99999047 -0.00303997 0.10152331] [ 0.05953299 0.00284808 0.99822228 -0.2557868 ] [ 0. 0. 0. 1. ]] SLAMing on 346.683133365 meters Centerline goodness : 0.124352 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99821831 -0.00335055 -0.05957323 -2.24922049] [ 0.00317402 0.99999029 -0.00305754 0.10145168] [ 0.0595829 0.00286301 0.99821926 -0.25588731] [ 0. 0. 0. 1. ]] SLAMing on 346.713133365 meters Centerline goodness : 0.126825 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99821569 -0.00338215 -0.05961543 -2.24909407] [ 0.00320459 0.99999014 -0.00307369 0.10142973] [ 0.05962524 0.00287716 0.99821669 -0.25597626] [ 0. 0. 0. 1. ]] SLAMing on 346.743133365 meters Centerline goodness : 0.126162 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99820387 -0.0033893 -0.05981256 -2.2484608 ] [ 0.00321369 0.99999024 -0.00303191 0.10116083] [ 0.05982226 0.00283424 0.99820502 -0.25621096] [ 0. 0. 0. 1. ]] SLAMing on 346.773133365 meters Centerline goodness : 0.136209 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99818927 -0.00332315 -0.06005953 -2.24769663] [ 0.00315497 0.99999083 -0.00289484 0.10064359] [ 0.0600686 0.00270011 0.9981906 -0.25648141] [ 0. 0. 0. 1. ]] SLAMing on 346.803133365 meters Centerline goodness : 0.128919 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99817264 -0.00325906 -0.06033871 -2.24674827] [ 0.00309791 0.99999138 -0.00276413 0.10016634] [ 0.0603472 0.00257215 0.99817413 -0.25690905] [ 0. 0. 0. 1. ]] SLAMing on 346.833133365 meters Centerline goodness : 0.124717 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.9981692 -0.00322057 -0.06039757 -2.2464988 ] [ 0.00306463 0.99999173 -0.00267424 0.09950761] [ 0.06040569 0.00248424 0.99817082 -0.2570761 ] [ 0. 0. 0. 1. ]] SLAMing on 346.863133365 meters SLAMing on 346.893133365 meters Centerline goodness : 0.096156 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99819309 -0.0030923 -0.06000828 -2.24796098] [ 0.00294076 0.99999226 -0.00261349 0.09944456] [ 0.0600159 0.0024323 0.99819446 -0.25628384] [ 0. 0. 0. 1. ]] SLAMing on 346.92313336499996 meters Centerline goodness : 0.134892 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99818043 -0.00281853 -0.06023192 -2.24739033] [ 0.00267595 0.99999342 -0.00244776 0.09947953] [ 0.06023843 0.00228213 0.99818141 -0.25629994] [ 0. 0. 0. 1. ]] SLAMing on 346.953133365 meters Centerline goodness : 0.087647 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99816644 -0.00279873 -0.06046428 -2.2466839 ] [ 0.0026529 0.99999338 -0.00249197 0.09956872] [ 0.06047085 0.00232699 0.99816725 -0.25654037] [ 0. 0. 0. 1. ]] SLAMing on 346.98313336499996 meters Centerline goodness : 0.087421 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99815683 -0.00276785 -0.06062416 -2.24624635] [ 0.00262141 0.99999345 -0.00249493 0.09963012] [ 0.06063067 0.00233141 0.99815755 -0.25662917] [ 0. 0. 0. 1. ]] SLAMing on 347.013133365 meters Centerline goodness : 0.133542 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99815093 -0.00272005 -0.06072339 -2.24630831] [ 0.00257081 0.99999348 -0.00253562 0.10011634] [ 0.06072989 0.00237482 0.99815141 -0.25621569] [ 0. 0. 0. 1. ]] SLAMing on 347.04313336499996 meters Centerline goodness : 0.107067 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99817135 -0.00256877 -0.06039332 -2.24745221] [ 0.00242135 0.99999391 -0.00251403 0.10072052] [ 0.06039941 0.0023632 0.99817149 -0.25565487] [ 0. 0. 0. 1. ]] SLAMing on 347.073133365 meters Centerline goodness : 0.113970 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.25 [[ 0.9982073 -0.00241595 -0.05980265 -2.24947112] [ 0.00226697 0.99999416 -0.00255892 0.10168903] [ 0.05980848 0.00241876 0.99820694 -0.25470074] [ 0. 0. 0. 1. ]] SLAMing on 347.10313336499996 meters Centerline goodness : 0.103402 Centerline is valid? [False, False] Translation: X:-2.23, Y:0.10, Z:-0.25 [[ 0.99833061 0.00542329 -0.05750282 -2.23162085] [-0.005667 0.99997564 -0.00407589 0.09989736] [ 0.05747932 0.00439496 0.99833702 -0.25199898] [ 0. 0. 0. 1. ]] SLAMing on 347.133133365 meters Centerline goodness : 0.100941 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.25 [[ 9.98367595e-01 -2.53097244e-04 -5.71146308e-02 -2.25268635e+00] [ 1.74357820e-04 9.99999028e-01 -1.38359996e-03 1.04884420e-01] [ 5.71149254e-02 1.37138298e-03 9.98366668e-01 -2.54076594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16313336499996 meters Centerline goodness : 0.105645 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.11, Z:-0.25 [[ 9.98372775e-01 -1.37182025e-04 -5.70244136e-02 -2.25276508e+00] [ 6.01679395e-05 9.99999084e-01 -1.35226057e-03 1.05581471e-01] [ 5.70245468e-02 1.34662910e-03 9.98371868e-01 -2.54262947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.193133365 meters Centerline goodness : 0.100735 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.11, Z:-0.25 [[ 9.98379581e-01 -9.71618760e-05 -5.69052122e-02 -2.25309817e+00] [ 1.72454751e-05 9.99999013e-01 -1.40486692e-03 1.06518521e-01] [ 5.69052925e-02 1.40160909e-03 9.98378597e-01 -2.54205186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22313336499997 meters Centerline goodness : 0.100648 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.11, Z:-0.25 [[ 9.98390606e-01 -1.34964298e-04 -5.67113630e-02 -2.25409981e+00] [ 3.99594338e-05 9.99998594e-01 -1.67636572e-03 1.08339437e-01] [ 5.67115095e-02 1.67140163e-03 9.98389208e-01 -2.53393821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.253133365 meters Centerline goodness : 0.098602 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.11, Z:-0.25 [[ 9.98392107e-01 -2.16801889e-04 -5.66846897e-02 -2.25430440e+00] [ 1.07085052e-04 9.99998115e-01 -1.93859418e-03 1.09853225e-01] [ 5.66850031e-02 1.92940705e-03 9.98390248e-01 -2.53157769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28313336499997 meters Centerline goodness : 0.104879 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.11, Z:-0.25 [[ 9.98386159e-01 -3.00884464e-04 -5.67889718e-02 -2.25407466e+00] [ 1.69215495e-04 9.99997287e-01 -2.32336023e-03 1.12212110e-01] [ 5.67895168e-02 2.31000112e-03 9.98383501e-01 -2.53103180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.313133365 meters Centerline goodness : 0.096868 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.12, Z:-0.25 [[ 9.98369004e-01 -2.89661165e-04 -5.70898244e-02 -2.25315520e+00] [ 1.35240936e-04 9.99996322e-01 -2.70870934e-03 1.15170978e-01] [ 5.70903991e-02 2.69657056e-03 9.98365371e-01 -2.53368762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34313336499997 meters Centerline goodness : 0.103748 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.12, Z:-0.25 [[ 9.98341741e-01 -2.66664762e-04 -5.75647252e-02 -2.25168350e+00] [ 8.31000992e-05 9.99994905e-01 -3.19120964e-03 1.18777787e-01] [ 5.75652829e-02 3.18113415e-03 9.98336676e-01 -2.53819250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.373133365 meters Centerline goodness : 0.103341 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.13, Z:-0.25 [[ 9.98327845e-01 3.07598239e-03 -5.77239380e-02 -2.25088447e+00] [-3.13727367e-03 9.99994607e-01 -9.71206482e-04 1.25914511e-01] [ 5.77206393e-02 1.15067826e-03 9.98332111e-01 -2.54261215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.403133365 meters Centerline goodness : 0.107093 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.13, Z:-0.25 [[ 9.98330957e-01 3.05733341e-03 -5.76710821e-02 -2.25120484e+00] [-3.14892718e-03 9.99993921e-01 -1.49739976e-03 1.29735923e-01] [ 5.76661535e-02 1.67650257e-03 9.98334515e-01 -2.53981669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.433133365 meters Centerline goodness : 0.112122 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.14, Z:-0.26 [[ 9.98373673e-01 -3.84395252e-03 -5.68791072e-02 -2.27024653e+00] [ 3.84950241e-03 9.99992591e-01 -1.19934119e-05 1.39488759e-01] [ 5.68787319e-02 -2.06982354e-04 9.98381073e-01 -2.56429305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.463133365 meters Centerline goodness : 0.101400 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.14, Z:-0.25 [[ 9.98414099e-01 3.91918609e-03 -5.61598335e-02 -2.25041167e+00] [-3.99932346e-03 9.99991139e-01 -1.31463305e-03 1.38451640e-01] [ 5.61541836e-02 1.53714951e-03 9.98420926e-01 -2.54745687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.493133365 meters Centerline goodness : 0.104748 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.14, Z:-0.26 [[ 9.98418993e-01 3.71326515e-03 -5.60867745e-02 -2.25033339e+00] [-3.81555480e-03 9.99991247e-01 -1.71679929e-03 1.40065020e-01] [ 5.60799086e-02 1.92808718e-03 9.98424422e-01 -2.55129507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.523133365 meters Centerline goodness : 0.107744 Centerline is valid? [False, False] Translation: X:-2.23, Y:0.15, Z:-0.25 [[ 9.98319961e-01 -4.20839911e-03 -5.77887999e-02 -2.22970711e+00] [ 4.11909601e-03 9.99990131e-01 -1.66436760e-03 1.45559898e-01] [ 5.77952339e-02 1.42353379e-03 9.98327444e-01 -2.54127767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.553133365 meters Centerline goodness : 0.103570 Centerline is valid? [False, False] Translation: X:-2.23, Y:0.14, Z:-0.25 [[ 9.98312045e-01 -4.15858053e-03 -5.79289747e-02 -2.22911381e+00] [ 4.07710899e-03 9.99990526e-01 -1.52452403e-03 1.44759158e-01] [ 5.79347658e-02 1.28576796e-03 9.98319543e-01 -2.54489095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.583133365 meters Centerline goodness : 0.107616 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.14, Z:-0.25 [[ 0.99831002 0.00310737 -0.05802965 -2.21018672] [-0.00326594 0.99999119 -0.00263789 0.13914109] [ 0.05802094 0.00282295 0.99831137 -0.25224037] [ 0. 0. 0. 1. ]] SLAMing on 347.613133365 meters Centerline goodness : 0.114138 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.14, Z:-0.25 [[ 0.99832874 0.0031591 -0.05770402 -2.21119545] [-0.00331597 0.99999106 -0.00262299 0.138787 ] [ 0.05769522 0.00280995 0.99833029 -0.25207193] [ 0. 0. 0. 1. ]] SLAMing on 347.643133365 meters Centerline goodness : 0.104982 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.14, Z:-0.25 [[ 9.98323181e-01 -3.75457650e-03 -5.77644377e-02 -2.19443862e+00] [ 3.68305797e-03 9.99992314e-01 -1.34452087e-03 1.43950269e-01] [ 5.77690419e-02 1.12951658e-03 9.98329335e-01 -2.49726407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67313336499996 meters Centerline goodness : 0.099039 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.14, Z:-0.25 [[ 9.98315529e-01 5.03459295e-03 -5.77992895e-02 -2.21441926e+00] [-5.16013098e-03 9.99984640e-01 -2.02291882e-03 1.39843845e-01] [ 5.77882172e-02 2.31776318e-03 9.98326174e-01 -2.52081741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.703133365 meters Centerline goodness : 0.109810 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.14, Z:-0.25 [[ 9.98317322e-01 5.17469795e-03 -5.77559273e-02 -2.21442452e+00] [-5.29617149e-03 9.99984073e-01 -1.95034891e-03 1.39892000e-01] [ 5.77449150e-02 2.25295240e-03 9.98328828e-01 -2.52337358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73313336499996 meters Centerline goodness : 0.094637 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.14, Z:-0.25 [[ 9.98311294e-01 -2.13483335e-03 -5.80517297e-02 -2.19670761e+00] [ 2.07029666e-03 9.99997170e-01 -1.17183022e-03 1.44632722e-01] [ 5.80540671e-02 1.04966704e-03 9.98312889e-01 -2.50550787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.763133365 meters Centerline goodness : 0.099600 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.14, Z:-0.25 [[ 9.98323186e-01 -2.06218359e-03 -5.78494832e-02 -2.19731202e+00] [ 2.00240245e-03 9.99997400e-01 -1.09133968e-03 1.44063435e-01] [ 5.78515833e-02 9.73671757e-04 9.98324720e-01 -2.50419759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79313336499996 meters Centerline goodness : 0.097616 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.14, Z:-0.25 [[ 9.98331401e-01 -1.45967373e-03 -5.77259395e-02 -2.19753149e+00] [ 1.43172895e-03 9.99998837e-01 -5.25449423e-04 1.42707402e-01] [ 5.77266393e-02 4.41924760e-04 9.98332329e-01 -2.50572722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.823133365 meters Centerline goodness : 0.113886 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.14, Z:-0.25 [[ 9.98320802e-01 -1.33696389e-03 -5.79119045e-02 -2.19690288e+00] [ 1.31456915e-03 9.99999046e-01 -4.24798365e-04 1.42173850e-01] [ 5.79124172e-02 3.47955841e-04 9.98321607e-01 -2.50842841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85313336499996 meters Centerline goodness : 0.113886 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.14, Z:-0.25 [[ 9.98320813e-01 -1.35086400e-03 -5.79113963e-02 -2.19693160e+00] [ 1.32773910e-03 9.99999023e-01 -4.37791307e-04 1.42165716e-01] [ 5.79119311e-02 3.60164948e-04 9.98321631e-01 -2.50829836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.883133365 meters Centerline goodness : 0.099454 Centerline is valid? [False, False] Translation: X:-2.22, Y:0.14, Z:-0.25 [[ 9.98264920e-01 6.53259584e-03 -5.85190165e-02 -2.21531164e+00] [-6.65241819e-03 9.99976156e-01 -1.85299830e-03 1.36523635e-01] [ 5.85055163e-02 2.23907617e-03 9.98284574e-01 -2.53612528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91313336499996 meters Centerline goodness : 0.103407 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.13, Z:-0.25 [[ 9.98236418e-01 6.62541015e-03 -5.89928675e-02 -2.21425261e+00] [-6.73294481e-03 9.99976014e-01 -1.62425520e-03 1.34767093e-01] [ 5.89806912e-02 2.01858641e-03 9.98257083e-01 -2.53555582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.943133365 meters Centerline goodness : 0.101807 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.13, Z:-0.25 [[ 9.98228210e-01 6.73908687e-03 -5.91187327e-02 -2.21402895e+00] [-6.83826097e-03 9.99975530e-01 -1.47538757e-03 1.34395899e-01] [ 5.91073433e-02 1.87704281e-03 9.98249868e-01 -2.53489260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97313336499997 meters Centerline goodness : 0.122572 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.13, Z:-0.25 [[ 9.98222452e-01 6.84801004e-03 -5.92033910e-02 -2.21387644e+00] [-6.94151556e-03 9.99974964e-01 -1.37387555e-03 1.34218762e-01] [ 5.91925005e-02 1.78239468e-03 9.98244995e-01 -2.53435053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.003133365 meters Centerline goodness : 0.045423 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.13, Z:-0.25 [[ 9.98223906e-01 6.83798799e-03 -5.91800195e-02 -2.21410545e+00] [-6.93388330e-03 9.99974959e-01 -1.41519577e-03 1.34093181e-01] [ 5.91688605e-02 1.82302960e-03 9.98246324e-01 -2.53239768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03313336499997 meters Centerline goodness : 0.138342 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.13, Z:-0.25 [[ 9.98232584e-01 6.72949495e-03 -5.90459409e-02 -2.21463962e+00] [-6.83200835e-03 9.99975484e-01 -1.53445553e-03 1.33861079e-01] [ 5.90341672e-02 1.93514586e-03 9.98254087e-01 -2.52991644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.063133365 meters Centerline goodness : 0.173394 Centerline is valid? [False, False] Translation: X:-2.22, Y:0.13, Z:-0.25 [[ 9.98242181e-01 6.58948387e-03 -5.88992986e-02 -2.21533869e+00] [-6.69555523e-03 9.99976299e-01 -1.60371974e-03 1.32873996e-01] [ 5.88873349e-02 1.99526420e-03 9.98262641e-01 -2.52636983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09313336499997 meters Centerline goodness : 0.096576 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.14, Z:-0.25 [[ 9.98253168e-01 -1.19950014e-03 -5.90692257e-02 -2.19627515e+00] [ 1.18243234e-03 9.99999248e-01 -3.23898095e-04 1.35968132e-01] [ 5.90695699e-02 2.53486937e-04 9.98253836e-01 -2.50134924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.123133365 meters Centerline goodness : 0.117115 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.13, Z:-0.25 [[ 9.98244115e-01 -1.05745489e-03 -5.92247272e-02 -2.19574203e+00] [ 1.05672104e-03 9.99999441e-01 -4.37103923e-05 1.34736571e-01] [ 5.92247403e-02 -1.89503733e-05 9.98244674e-01 -2.50336839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.153133365 meters Centerline goodness : 0.093941 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98081107e-01 -1.20439622e-03 -6.19084210e-02 -2.23966932e+00] [ 1.19103348e-03 9.99999259e-01 -2.52749470e-04 1.32063237e-01] [ 6.19086795e-02 1.78529469e-04 9.98081802e-01 -2.52379055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.183133365 meters Centerline goodness : 0.090687 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98078954e-01 -1.12052484e-03 -6.19447035e-02 -2.23965305e+00] [ 1.13493113e-03 9.99999336e-01 1.97382151e-04 1.28487233e-01] [ 6.19444412e-02 -2.67305944e-04 9.98079563e-01 -2.52270918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.213133365 meters Centerline goodness : 0.162472 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98088234e-01 -1.03490466e-03 -6.17964838e-02 -2.24014156e+00] [ 1.06420392e-03 9.99999336e-01 4.41213405e-04 1.27010598e-01] [ 6.17959862e-02 -5.06133968e-04 9.98088673e-01 -2.52093092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.243133365 meters Centerline goodness : 0.106820 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98096525e-01 -9.03743442e-04 -6.16645037e-02 -2.24053868e+00] [ 9.45333735e-04 9.99999345e-01 6.45289635e-04 1.26112794e-01] [ 6.16638801e-02 -7.02354878e-04 9.98096725e-01 -2.52006013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.273133365 meters Centerline goodness : 0.052714 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98104224e-01 -7.64310985e-04 -6.15416391e-02 -2.24085360e+00] [ 8.18296014e-04 9.99999302e-01 8.52012674e-04 1.25273819e-01] [ 6.15409450e-02 -9.00756727e-04 9.98104153e-01 -2.51977640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.303133365 meters Centerline goodness : 0.163740 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.12, Z:-0.25 [[ 9.98135482e-01 -4.51788929e-04 -6.10356953e-02 -2.24197337e+00] [ 5.25235757e-04 9.99999157e-01 1.18730354e-03 1.24086766e-01] [ 6.10351074e-02 -1.21714792e-03 9.98134878e-01 -2.52152847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.333133365 meters Centerline goodness : 0.060377 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.12, Z:-0.25 [[ 9.98152445e-01 -3.55179820e-04 -6.07582913e-02 -2.24266302e+00] [ 4.30725319e-04 9.99999150e-01 1.23028496e-03 1.24037832e-01] [ 6.07578027e-02 -1.25418207e-03 9.98151750e-01 -2.52150259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.363133365 meters Centerline goodness : 0.063119 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.12, Z:-0.25 [[ 9.98165304e-01 -2.61588964e-04 -6.05471465e-02 -2.24334879e+00] [ 3.35018296e-04 9.99999221e-01 1.20261455e-03 1.24558587e-01] [ 6.05467847e-02 -1.22069252e-03 9.98164614e-01 -2.51992223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.393133365 meters Centerline goodness : 0.112359 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.12, Z:-0.25 [[ 9.98027144e-01 1.12731970e-03 -6.27737978e-02 -2.28859757e+00] [-1.00411876e-03 9.99997508e-01 1.99413000e-03 1.23513271e-01] [ 6.27758894e-02 -1.92716352e-03 9.98025788e-01 -2.53930761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42313336499996 meters Centerline goodness : 0.076029 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.12, Z:-0.25 [[ 9.98003661e-01 9.39534320e-03 -6.24533487e-02 -2.26833346e+00] [-9.34794871e-03 9.99955755e-01 1.05103207e-03 1.22233116e-01] [ 6.24604602e-02 -4.65123150e-04 9.98047331e-01 -2.51994249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.453133365 meters Centerline goodness : 0.139886 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.26 [[ 9.98103006e-01 2.19595628e-03 -6.15269636e-02 -2.28590735e+00] [-2.06575375e-03 9.99995491e-01 2.17971666e-03 1.27672272e-01] [ 6.15314728e-02 -2.04848219e-03 9.98103042e-01 -2.55575537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48313336499996 meters Centerline goodness : 0.065461 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.26 [[ 9.98101692e-01 2.14813451e-03 -6.15499571e-02 -2.28580341e+00] [-2.04321267e-03 9.99996351e-01 1.76755033e-03 1.30111465e-01] [ 6.15535294e-02 -1.63843533e-03 9.98102439e-01 -2.55796495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.513133365 meters Centerline goodness : 0.085763 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.26 [[ 9.98109061e-01 2.15164430e-03 -6.14302326e-02 -2.28631621e+00] [-2.05033514e-03 9.99996432e-01 1.71216243e-03 1.30645247e-01] [ 6.14336974e-02 -1.58297227e-03 9.98109911e-01 -2.55548002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54313336499996 meters Centerline goodness : 0.101678 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.26 [[ 9.98112950e-01 2.16830167e-03 -6.13664190e-02 -2.28659849e+00] [-2.06462191e-03 9.99996332e-01 1.75287807e-03 1.30564362e-01] [ 6.13699947e-02 -1.62287185e-03 9.98113766e-01 -2.55362628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.573133365 meters Centerline goodness : 0.085617 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.26 [[ 9.98103700e-01 1.84568587e-03 -6.15272014e-02 -2.28621325e+00] [-1.74103514e-03 9.99996945e-01 1.75445365e-03 1.29106016e-01] [ 6.15302517e-02 -1.64400566e-03 9.98103865e-01 -2.55332310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60313336499996 meters Centerline goodness : 0.105836 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.26 [[ 9.98107252e-01 1.71185067e-03 -6.14734293e-02 -2.28633684e+00] [-1.60149299e-03 9.99997017e-01 1.84443580e-03 1.27709738e-01] [ 6.14764033e-02 -1.74249548e-03 9.98107016e-01 -2.55279139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.633133365 meters Centerline goodness : 0.084313 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.13, Z:-0.25 [[ 0.99809041 -0.00650274 -0.06142676 -2.26671029] [ 0.00669614 0.99997325 0.00294308 0.13018973] [ 0.06140598 -0.00334878 0.99810725 -0.25277866] [ 0. 0. 0. 1. ]] SLAMing on 348.66313336499996 meters Centerline goodness : 0.109580 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.13, Z:-0.25 [[ 0.99808499 -0.00639805 -0.06152575 -2.26641928] [ 0.0066136 0.99997268 0.0033004 0.1284147 ] [ 0.06150295 -0.00370098 0.99810004 -0.25279167] [ 0. 0. 0. 1. ]] SLAMing on 348.693133365 meters Centerline goodness : 0.061414 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.13, Z:-0.25 [[ 0.99807143 -0.00627238 -0.06175826 -2.26562873] [ 0.00650771 0.99997231 0.00361008 0.12699099] [ 0.06173391 -0.00400502 0.99808461 -0.25306854] [ 0. 0. 0. 1. ]] SLAMing on 348.72313336499997 meters Centerline goodness : 0.212529 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.12, Z:-0.25 [[ 0.9980587 -0.00628465 -0.06196231 -2.26496091] [ 0.00653733 0.99997112 0.00387609 0.12444146] [ 0.06193616 -0.00427364 0.99807096 -0.25321872] [ 0. 0. 0. 1. ]] SLAMing on 348.753133365 meters Centerline goodness : 0.052192 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.12, Z:-0.25 [[ 0.9980635 -0.00628873 -0.06188455 -2.26505056] [ 0.00654552 0.99997079 0.00394768 0.12358954] [ 0.06185792 -0.0043451 0.99807551 -0.25337027] [ 0. 0. 0. 1. ]] SLAMing on 348.78313336499997 meters Centerline goodness : 0.092774 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.12, Z:-0.25 [[ 9.98107800e-01 1.39194374e-03 -6.14726146e-02 -2.24585403e+00] [-1.22627570e-03 9.99995514e-01 2.73263400e-03 1.20119222e-01] [ 6.14761426e-02 -2.65208094e-03 9.98105030e-01 -2.50985976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.813133365 meters Centerline goodness : 0.093262 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.12, Z:-0.25 [[ 9.98112290e-01 1.44823789e-03 -6.13983700e-02 -2.24598709e+00] [-1.28393980e-03 9.99995489e-01 2.71530430e-03 1.20571632e-01] [ 6.14020255e-02 -2.63134678e-03 9.98109647e-01 -2.51102518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84313336499997 meters Centerline goodness : 0.099954 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.12, Z:-0.25 [[ 9.98111030e-01 1.47613827e-03 -6.14181879e-02 -2.24583173e+00] [-1.31906213e-03 9.99995755e-01 2.59795264e-03 1.21684048e-01] [ 6.14217621e-02 -2.51203078e-03 9.98108740e-01 -2.51287716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.873133365 meters Centerline goodness : 0.059168 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.12, Z:-0.25 [[ 9.98094637e-01 1.75179548e-03 -6.16767985e-02 -2.24495955e+00] [-1.61112951e-03 9.99995987e-01 2.33035323e-03 1.24426795e-01] [ 6.16806333e-02 -2.22654375e-03 9.98093454e-01 -2.51789447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.903133365 meters Centerline goodness : 0.062599 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98090805e-01 1.72138383e-03 -6.17396338e-02 -2.24462475e+00] [-1.59781048e-03 9.99996621e-01 2.05083929e-03 1.26088837e-01] [ 6.17429555e-02 -1.94827560e-03 9.98090182e-01 -2.52151114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.933133365 meters Centerline goodness : 0.125720 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98092376e-01 1.65884561e-03 -6.17159332e-02 -2.24454931e+00] [-1.55424068e-03 9.99997273e-01 1.74291002e-03 1.27870706e-01] [ 6.17186561e-02 -1.64366379e-03 9.98092233e-01 -2.52418112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.963133365 meters Centerline goodness : 0.096953 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98093253e-01 1.70430594e-03 -6.17005201e-02 -2.24451873e+00] [-1.62527933e-03 9.99997793e-01 1.33097488e-03 1.30862304e-01] [ 6.17026523e-02 -1.22815647e-03 9.98093820e-01 -2.52672687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.993133365 meters Centerline goodness : 0.072978 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98090408e-01 1.64295732e-03 -6.17481804e-02 -2.24448266e+00] [-1.57433810e-03 9.99998088e-01 1.15991142e-03 1.31742957e-01] [ 6.17499681e-02 -1.06048395e-03 9.98091086e-01 -2.52607089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.023133365 meters Centerline goodness : 0.096236 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98086968e-01 1.58904173e-03 -6.18051694e-02 -2.24441362e+00] [-1.52587102e-03 9.99998264e-01 1.06927935e-03 1.32058369e-01] [ 6.18067612e-02 -9.72927069e-04 9.98087660e-01 -2.52556053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.053133365 meters Centerline goodness : 0.101375 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.97938559e-01 1.41937663e-03 -6.41608722e-02 -2.28916520e+00] [-1.35621668e-03 9.99998552e-01 1.02794200e-03 1.29625660e-01] [ 6.41622383e-02 -9.38806912e-04 9.97939039e-01 -2.54765365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.083133365 meters Centerline goodness : 0.062256 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.97952121e-01 1.40442255e-03 -6.39499222e-02 -2.28949363e+00] [-1.32499610e-03 9.99998297e-01 1.28440327e-03 1.27780015e-01] [ 6.39516172e-02 -1.19703957e-03 9.97952282e-01 -2.54947560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.113133365 meters Centerline goodness : 0.101018 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.97973543e-01 1.39957547e-03 -6.36148524e-02 -2.29049556e+00] [-1.31117495e-03 9.99998116e-01 1.43134699e-03 1.26672516e-01] [ 6.36167358e-02 -1.34503623e-03 9.97973498e-01 -2.54626406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.143133365 meters Centerline goodness : 0.056468 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.97994106e-01 1.43994587e-03 -6.32905225e-02 -2.29161275e+00] [-1.34227776e-03 9.99997842e-01 1.58566348e-03 1.25801364e-01] [ 6.32926692e-02 -1.49752935e-03 9.97993885e-01 -2.54101288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17313336499996 meters Centerline goodness : 0.074076 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.98007495e-01 1.48322835e-03 -6.30780422e-02 -2.29229033e+00] [-1.38005976e-03 9.99997638e-01 1.67910839e-03 1.25405018e-01] [ 6.30803838e-02 -1.58871129e-03 9.98007185e-01 -2.53845821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.203133365 meters Centerline goodness : 0.099989 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.98017420e-01 1.57557304e-03 -6.29185711e-02 -2.29241174e+00] [-1.46612790e-03 9.99997331e-01 1.78560398e-03 1.25054767e-01] [ 6.29212166e-02 -1.68981720e-03 9.98017066e-01 -2.54194942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23313336499996 meters Centerline goodness : 0.061644 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.98015655e-01 1.54941725e-03 -6.29472187e-02 -2.29219659e+00] [-1.44388505e-03 9.99997475e-01 1.72197367e-03 1.25122553e-01] [ 6.29497278e-02 -1.62766813e-03 9.98015372e-01 -2.54445944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.263133365 meters Centerline goodness : 0.130370 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.98004801e-01 1.50726588e-03 -6.31200813e-02 -2.29160970e+00] [-1.41117788e-03 9.99997777e-01 1.56685847e-03 1.25634488e-01] [ 6.31223026e-02 -1.47465861e-03 9.98004710e-01 -2.54756269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29313336499996 meters Centerline goodness : 0.052187 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.26 [[ 9.97822695e-01 1.49431346e-03 -6.59366157e-02 -2.33513987e+00] [-1.41344108e-03 9.99998191e-01 1.27314943e-03 1.24269423e-01] [ 6.59383989e-02 -1.17717988e-03 9.97823001e-01 -2.57389123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.323133365 meters Centerline goodness : 0.115602 Centerline is valid? [False, False] Translation: X:-2.33, Y:0.12, Z:-0.26 [[ 9.97813696e-01 1.51861331e-03 -6.60720891e-02 -2.33458521e+00] [-1.44121017e-03 9.99998218e-01 1.21914354e-03 1.24777790e-01] [ 6.60738228e-02 -1.12125436e-03 9.97814107e-01 -2.57781309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35313336499996 meters Centerline goodness : 0.061814 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.13, Z:-0.26 [[ 9.97839041e-01 1.67475813e-03 -6.56844262e-02 -2.33538166e+00] [-1.59182027e-03 9.99997868e-01 1.31498669e-03 1.25038276e-01] [ 6.56864885e-02 -1.20758726e-03 9.97839580e-01 -2.57983844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.383133365 meters Centerline goodness : 0.189206 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.12, Z:-0.26 [[ 9.97880790e-01 9.25960876e-03 -6.44064333e-02 -2.31680919e+00] [-9.27942773e-03 9.99956945e-01 -8.57963815e-06 1.21638010e-01] [ 6.44035809e-02 6.06216299e-04 9.97923750e-01 -2.55554558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41313336499996 meters Centerline goodness : 0.056428 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.12, Z:-0.26 [[ 9.97761132e-01 8.18095113e-03 -6.63761664e-02 -2.36217189e+00] [-8.26103738e-03 9.99965443e-01 -9.32165807e-04 1.18839562e-01] [ 6.63662466e-02 1.47841480e-03 9.97794235e-01 -2.57931213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.443133365 meters Centerline goodness : 0.103025 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.26 [[ 9.97810381e-01 6.87365753e-05 -6.61395474e-02 -2.34233924e+00] [-7.36727883e-05 9.99999995e-01 -7.21942960e-05 1.22157713e-01] [ 6.61395421e-02 7.69089029e-05 9.97810380e-01 -2.55807251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47313336499997 meters Centerline goodness : 0.095583 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.26 [[ 9.97790994e-01 1.91191830e-04 -6.64311420e-02 -2.34126587e+00] [-1.75399668e-04 9.99999955e-01 2.43554628e-04 1.20419126e-01] [ 6.64311856e-02 -2.31364614e-04 9.97790982e-01 -2.56301356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.503133365 meters Centerline goodness : 0.101931 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97713411e-01 7.89705731e-03 -6.71236670e-02 -2.35983421e+00] [-7.99007916e-03 9.99967454e-01 -1.11747222e-03 1.14229080e-01] [ 6.71126577e-02 1.65124044e-03 9.97744038e-01 -2.59233260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53313336499997 meters Centerline goodness : 0.099876 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97706883e-01 7.93811190e-03 -6.72157878e-02 -2.35930891e+00] [-8.02303095e-03 9.99967321e-01 -9.93527093e-04 1.13369140e-01] [ 6.72057045e-02 1.53052316e-03 9.97737967e-01 -2.59697966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.563133365 meters Centerline goodness : 0.114417 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97648079e-01 8.12011451e-03 -6.80615432e-02 -2.35635722e+00] [-8.19293119e-03 9.99966125e-01 -7.90793441e-04 1.12479641e-01] [ 6.80528162e-02 1.34655710e-03 9.97680811e-01 -2.61061102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59313336499997 meters Centerline goodness : 0.050692 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97627187e-01 8.20005450e-03 -6.83575520e-02 -2.35535999e+00] [-8.26996432e-03 9.99965530e-01 -7.39777723e-04 1.12432260e-01] [ 6.83491295e-02 1.30333688e-03 9.97660613e-01 -2.61484627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.623133365 meters Centerline goodness : 0.095561 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97631325e-01 8.25719367e-03 -6.82902548e-02 -2.35564110e+00] [-8.32305488e-03 9.99965132e-01 -6.79958030e-04 1.12140619e-01] [ 6.82822591e-02 1.24673097e-03 9.97665264e-01 -2.61360208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.653133365 meters Centerline goodness : 0.102900 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97639771e-01 8.27681924e-03 -6.81643731e-02 -2.35624240e+00] [-8.34005275e-03 9.99965014e-01 -6.43131363e-04 1.11751418e-01] [ 6.81566653e-02 1.21010789e-03 9.97673897e-01 -2.60995876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.683133365 meters Centerline goodness : 0.105311 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97658656e-01 8.32913892e-03 -6.78810077e-02 -2.35726926e+00] [-8.38130678e-03 9.99964759e-01 -4.83756220e-04 1.10516451e-01] [ 6.78745862e-02 1.05155513e-03 9.97693307e-01 -2.60554488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.713133365 meters Centerline goodness : 0.100964 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97661049e-01 8.38192134e-03 -6.78393368e-02 -2.35736841e+00] [-8.42737785e-03 9.99964415e-01 -3.83900476e-04 1.10032172e-01] [ 6.78337050e-02 9.54710276e-04 9.97696185e-01 -2.60581531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.743133365 meters Centerline goodness : 0.100964 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97661049e-01 8.38192134e-03 -6.78393368e-02 -2.35736841e+00] [-8.42737785e-03 9.99964415e-01 -3.83900476e-04 1.10032172e-01] [ 6.78337050e-02 9.54710276e-04 9.97696185e-01 -2.60581531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.773133365 meters Centerline goodness : 0.132507 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97664505e-01 8.39801658e-03 -6.77865009e-02 -2.35741287e+00] [-8.44095562e-03 9.99964314e-01 -3.47044168e-04 1.09805258e-01] [ 6.77811674e-02 9.18416493e-04 9.97699789e-01 -2.60695388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.803133365 meters Centerline goodness : 0.102024 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97669916e-01 8.41426044e-03 -6.77047967e-02 -2.35767016e+00] [-8.45507715e-03 9.99964205e-01 -3.16327014e-04 1.09664832e-01] [ 6.76997115e-02 8.88039224e-04 9.97705348e-01 -2.60638409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.833133365 meters Centerline goodness : 0.138845 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97700628e-01 8.43574767e-03 -6.72480079e-02 -2.35962638e+00] [-8.47128133e-03 9.99964088e-01 -2.43248513e-04 1.09187206e-01] [ 6.72435410e-02 8.12365988e-04 9.97736261e-01 -2.59454514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.863133365 meters SLAMing on 349.893133365 meters Centerline goodness : 0.123605 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.26 [[ 9.97774708e-01 7.69635300e-04 -6.66711261e-02 -2.34169387e+00] [-6.96335206e-04 9.99999127e-01 1.12265947e-03 1.13575978e-01] [ 6.66719320e-02 -1.07373578e-03 9.97774374e-01 -2.56130916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92313336499996 meters Centerline goodness : 0.129513 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.26 [[ 9.97770850e-01 7.07961053e-04 -6.67295285e-02 -2.34128103e+00] [-6.32177568e-04 9.99999131e-01 1.15679056e-03 1.12886237e-01] [ 6.67302895e-02 -1.11202699e-03 9.97770430e-01 -2.56475118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.953133365 meters Centerline goodness : 0.094440 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.26 [[ 9.97781561e-01 7.04107394e-04 -6.65692132e-02 -2.34187904e+00] [-6.23101285e-04 9.99999040e-01 1.23762533e-03 1.12270101e-01] [ 6.65700207e-02 -1.19340037e-03 9.97781042e-01 -2.56171607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98313336499996 meters Centerline goodness : 0.098407 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.26 [[ 9.97799577e-01 7.86813623e-04 -6.62977072e-02 -2.34303951e+00] [-6.93579700e-04 9.99998738e-01 1.42929677e-03 1.11431465e-01] [ 6.62987482e-02 -1.38016897e-03 9.97798863e-01 -2.55459360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.013133365 meters Centerline goodness : 0.124894 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.25 [[ 9.97811654e-01 8.42203908e-04 -6.61150039e-02 -2.34384675e+00] [-7.39907450e-04 9.99998491e-01 1.57172132e-03 1.10840402e-01] [ 6.61162278e-02 -1.51936287e-03 9.97810772e-01 -2.54920571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04313336499996 meters Centerline goodness : 0.173551 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.25 [[ 9.97809490e-01 7.71699798e-04 -6.61485094e-02 -2.34377486e+00] [-6.70276878e-04 9.99998566e-01 1.55544036e-03 1.10369052e-01] [ 6.61496149e-02 -1.50769534e-03 9.97808576e-01 -2.54881823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.073133365 meters Centerline goodness : 0.174090 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.26 [[ 9.97800648e-01 7.14389527e-04 -6.62824009e-02 -2.34300302e+00] [-6.19559095e-04 9.99998755e-01 1.45124754e-03 1.10684617e-01] [ 6.62833552e-02 -1.40698987e-03 9.97799848e-01 -2.55538917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10313336499996 meters SLAMing on 350.133133365 meters Centerline goodness : 0.171759 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.26 [[ 9.97807046e-01 9.67863424e-04 -6.61827947e-02 -2.34271565e+00] [-8.75709397e-04 9.99998606e-01 1.42141275e-03 1.12280511e-01] [ 6.61840782e-02 -1.36033876e-03 9.97806503e-01 -2.56345010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16313336499996 meters Centerline goodness : 0.140214 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.26 [[ 9.97787658e-01 1.07191008e-03 -6.64728526e-02 -2.34191516e+00] [-9.96179762e-04 9.99998817e-01 1.17240249e-03 1.14154502e-01] [ 6.64740307e-02 -1.10358982e-03 9.97787545e-01 -2.56643250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.193133365 meters Centerline goodness : 0.115447 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.26 [[ 9.97775467e-01 9.70757528e-04 -6.66571479e-02 -2.34122402e+00] [-9.12775405e-04 9.99999178e-01 9.00305905e-04 1.15306220e-01] [ 6.66579671e-02 -8.37460140e-04 9.97775533e-01 -2.57091228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22313336499997 meters Centerline goodness : 0.118664 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.26 [[ 9.97756324e-01 9.16770703e-04 -6.69438335e-02 -2.34017775e+00] [-8.73421508e-04 9.99999390e-01 6.76810820e-04 1.16447518e-01] [ 6.69444131e-02 -6.16822092e-04 9.97756516e-01 -2.57679806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.253133365 meters Centerline goodness : 0.102641 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.26 [[ 9.97736342e-01 9.04283513e-04 -6.72411659e-02 -2.33901529e+00] [-8.77187356e-04 9.99999522e-01 4.32493638e-04 1.18145954e-01] [ 6.72415248e-02 -3.72531520e-04 9.97736658e-01 -2.58433654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28313336499997 meters Centerline goodness : 0.122895 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.26 [[ 9.97713727e-01 9.42522116e-04 -6.75753637e-02 -2.33787619e+00] [-9.30629089e-04 9.99999545e-01 2.07476060e-04 1.19958754e-01] [ 6.75755285e-02 -1.44114114e-04 9.97714151e-01 -2.59043068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.313133365 meters SLAMing on 350.34313336499997 meters Centerline goodness : 0.129294 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.12, Z:-0.26 [[ 9.97585734e-01 1.11506075e-03 -6.94367313e-02 -2.38407977e+00] [-1.11623563e-03 9.99999377e-01 2.18804271e-05 1.20823350e-01] [ 6.94367124e-02 5.56801519e-05 9.97586357e-01 -2.60422666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.373133365 meters SLAMing on 350.403133365 meters Centerline goodness : 0.127933 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.12, Z:-0.26 [[ 9.97552103e-01 1.08425624e-03 -6.99187167e-02 -2.38300914e+00] [-1.08513450e-03 9.99999411e-01 2.54208180e-05 1.21152852e-01] [ 6.99187031e-02 5.05126215e-05 9.97552692e-01 -2.60301918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.433133365 meters Centerline goodness : 0.102848 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.12, Z:-0.26 [[ 9.97537680e-01 9.28452416e-04 -7.01264203e-02 -2.38233600e+00] [-9.45068470e-04 9.99999533e-01 -2.03766666e-04 1.21765931e-01] [ 7.01261984e-02 2.69539196e-04 9.97538091e-01 -2.60544960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.463133365 meters Centerline goodness : 0.137233 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.12, Z:-0.26 [[ 9.97515250e-01 7.61041892e-04 -7.04467639e-02 -2.38135331e+00] [-7.97067427e-04 9.99999566e-01 -4.83277737e-04 1.22757035e-01] [ 7.04463655e-02 5.38227734e-04 9.97515423e-01 -2.60845366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.493133365 meters Centerline goodness : 0.117731 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.12, Z:-0.26 [[ 9.97511264e-01 5.89310695e-04 -7.05048245e-02 -2.38122815e+00] [-6.51987502e-04 9.99999413e-01 -8.65962419e-04 1.24592575e-01] [ 7.05042728e-02 9.09775532e-04 9.97511063e-01 -2.60912547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.523133365 meters Centerline goodness : 0.128047 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.26 [[ 9.97486333e-01 4.53874511e-03 -7.07136180e-02 -2.38124046e+00] [-4.38422952e-03 9.99987651e-01 2.34014377e-03 1.28862874e-01] [ 7.07233661e-02 -2.02423669e-03 9.97493914e-01 -2.60252786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.553133365 meters SLAMing on 350.583133365 meters Centerline goodness : 0.139263 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.26 [[ 0.99746198 0.00840965 -0.07070271 -2.38194807] [-0.00804656 0.99995294 0.00541876 0.13351922] [ 0.07074495 -0.00483609 0.99748271 -0.2593405 ] [ 0. 0. 0. 1. ]] SLAMing on 350.613133365 meters Centerline goodness : 0.142347 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.14, Z:-0.26 [[ 0.9974559 0.00794585 -0.07084195 -2.38185429] [-0.00764417 0.99996053 0.00452849 0.13753547] [ 0.07087513 -0.00397544 0.99747727 -0.2591198 ] [ 0. 0. 0. 1. ]] SLAMing on 350.643133365 meters Centerline goodness : 0.211165 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.14, Z:-0.26 [[ 0.99744897 0.0077434 -0.07096184 -2.38155801] [-0.00746043 0.99996313 0.00425187 0.13835862] [ 0.07099215 -0.00371161 0.99746997 -0.2591472 ] [ 0. 0. 0. 1. ]] SLAMing on 350.67313336499996 meters Centerline goodness : 0.141799 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.26 [[ 9.97478339e-01 -6.57101279e-04 -7.09685301e-02 -2.36230218e+00] [ 1.00743425e-03 9.99987484e-01 4.90077491e-03 1.43871379e-01] [ 7.09644215e-02 -4.95991295e-03 9.97466516e-01 -2.56448227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.703133365 meters Centerline goodness : 0.101885 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.14, Z:-0.26 [[ 9.97362538e-01 -1.72634009e-03 -7.25602322e-02 -2.40910377e+00] [ 2.04264012e-03 9.99988732e-01 4.28515845e-03 1.40914234e-01] [ 7.25520170e-02 -4.42207095e-03 9.97354827e-01 -2.57814130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73313336499996 meters Centerline goodness : 0.089797 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.26 [[ 0.99742592 -0.01082497 -0.07088273 -2.39040837] [ 0.01119498 0.99992569 0.00482487 0.14431465] [ 0.07082523 -0.00560598 0.99747299 -0.25516462] [ 0. 0. 0. 1. ]] SLAMing on 350.763133365 meters Centerline goodness : 0.048269 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.26 [[ 0.99743002 -0.01089231 -0.07081468 -2.39049686] [ 0.01127107 0.99992422 0.00495112 0.14313193] [ 0.07075539 -0.00573655 0.9974772 -0.25515592] [ 0. 0. 0. 1. ]] SLAMing on 350.79313336499996 meters Centerline goodness : 0.094283 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.26 [[ 0.99742239 -0.01095086 -0.07091297 -2.39015199] [ 0.01133447 0.99992321 0.00500946 0.14236642] [ 0.07085267 -0.00580031 0.99746993 -0.25524949] [ 0. 0. 0. 1. ]] SLAMing on 350.823133365 meters Centerline goodness : 0.105068 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.14, Z:-0.26 [[ 0.99742215 -0.00358165 -0.0716675 -2.40821556] [ 0.0038273 0.99998726 0.00329052 0.13625795] [ 0.0716548 -0.00355633 0.99742315 -0.25784798] [ 0. 0. 0. 1. ]] SLAMing on 350.85313336499996 meters Centerline goodness : 0.089796 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.13, Z:-0.25 [[ 9.97380384e-01 3.52330407e-03 -7.22492654e-02 -2.38865404e+00] [-3.40016462e-03 9.99992550e-01 1.82728946e-03 1.33399085e-01] [ 7.22551652e-02 -1.57684326e-03 9.97384933e-01 -2.54969094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.883133365 meters Centerline goodness : 0.099209 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.13, Z:-0.25 [[ 9.97386984e-01 3.52518264e-03 -7.21580006e-02 -2.38901792e+00] [-3.40625677e-03 9.99992630e-01 1.77112023e-03 1.33964595e-01] [ 7.21637123e-02 -1.52070359e-03 9.97391641e-01 -2.54797018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91313336499996 meters SLAMing on 350.943133365 meters SLAMing on 350.97313336499997 meters Centerline goodness : 0.100405 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.25 [[ 9.97366912e-01 3.44175676e-03 -7.24389177e-02 -2.38867345e+00] [-3.35592320e-03 9.99993515e-01 1.30658606e-03 1.36328858e-01] [ 7.24429449e-02 -1.06004626e-03 9.97371995e-01 -2.54415319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.003133365 meters Centerline goodness : 0.113495 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.25 [[ 9.97365010e-01 3.47628947e-03 -7.24634490e-02 -2.38852557e+00] [-3.39942074e-03 9.99993521e-01 1.18409548e-03 1.37558755e-01] [ 7.24670957e-02 -9.34641654e-04 9.97370366e-01 -2.54605643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03313336499997 meters Centerline goodness : 0.098788 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.25 [[ 9.97369124e-01 3.48895449e-03 -7.24061975e-02 -2.38864518e+00] [-3.42510598e-03 9.99993628e-01 1.00595401e-03 1.39025611e-01] [ 7.24092458e-02 -7.55308567e-04 9.97374719e-01 -2.54699543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.063133365 meters Centerline goodness : 0.088549 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.25 [[ 9.97378423e-01 3.45088522e-03 -7.22798159e-02 -2.38916539e+00] [-3.42750781e-03 9.99994026e-01 4.47459217e-04 1.42734996e-01] [ 7.22809282e-02 -1.98546535e-04 9.97384293e-01 -2.54533461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09313336499997 meters SLAMing on 351.123133365 meters SLAMing on 351.153133365 meters SLAMing on 351.183133365 meters Centerline goodness : 0.148200 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.15, Z:-0.26 [[ 9.97256738e-01 5.68622065e-03 -7.38015212e-02 -2.38479842e+00] [-5.61331658e-03 9.99983531e-01 1.19522219e-03 1.54246321e-01] [ 7.38071021e-02 -7.77672076e-04 9.97272233e-01 -2.55504682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.213133365 meters SLAMing on 351.243133365 meters SLAMing on 351.273133365 meters Centerline goodness : 0.094715 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.16, Z:-0.25 [[ 9.97344806e-01 4.41380122e-03 -7.26901397e-02 -2.38918186e+00] [-4.41123121e-03 9.99990251e-01 1.95895410e-04 1.55734171e-01] [ 7.26902957e-02 1.25277742e-04 9.97354553e-01 -2.53309055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.303133365 meters Centerline goodness : 0.301011 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.16, Z:-0.25 [[ 9.97339685e-01 4.41787562e-03 -7.27601188e-02 -2.38884989e+00] [-4.41166514e-03 9.99990238e-01 2.46065729e-04 1.55521121e-01] [ 7.27604957e-02 7.55821633e-05 9.97349440e-01 -2.53509486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.333133365 meters Centerline goodness : 0.223609 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.16, Z:-0.25 [[ 9.97331783e-01 4.38860402e-03 -7.28701228e-02 -2.38843830e+00] [-4.38061042e-03 9.99990369e-01 2.69517287e-04 1.55232543e-01] [ 7.28706038e-02 5.04174628e-05 9.97341402e-01 -2.53656694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.363133365 meters Centerline goodness : 0.138695 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.15, Z:-0.25 [[ 9.97352105e-01 4.29369840e-03 -7.25971319e-02 -2.38948589e+00] [-4.28477083e-03 9.99990781e-01 2.78710946e-04 1.54493895e-01] [ 7.25976594e-02 3.30891251e-05 9.97361308e-01 -2.53080147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.393133365 meters Centerline goodness : 0.089605 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.15, Z:-0.25 [[ 9.97367495e-01 4.25699590e-03 -7.23875543e-02 -2.39040579e+00] [-4.24821261e-03 9.99990938e-01 2.75298005e-04 1.54201218e-01] [ 7.23880703e-02 3.29444396e-05 9.97376542e-01 -2.52533262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42313336499996 meters Centerline goodness : 0.102187 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.15, Z:-0.25 [[ 9.97368003e-01 4.23669998e-03 -7.23817395e-02 -2.39077230e+00] [-4.22781420e-03 9.99991025e-01 2.75972176e-04 1.53946652e-01] [ 7.23822591e-02 3.07707278e-05 9.97376964e-01 -2.52056320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.453133365 meters Centerline goodness : 0.093332 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.15, Z:-0.25 [[ 9.97365722e-01 4.24055612e-03 -7.24129424e-02 -2.39069358e+00] [-4.23309621e-03 9.99991008e-01 2.56486371e-04 1.53992424e-01] [ 7.24133789e-02 5.07202372e-05 9.97374704e-01 -2.52106161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48313336499996 meters Centerline goodness : 0.104915 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.15, Z:-0.25 [[ 9.97354738e-01 4.21989910e-03 -7.25652734e-02 -2.38989561e+00] [-4.21939834e-03 9.99991085e-01 1.60194436e-04 1.54290373e-01] [ 7.25653025e-02 1.46411115e-04 9.97363653e-01 -2.52771142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.513133365 meters Centerline goodness : 0.088487 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.16, Z:-0.25 [[ 9.97366084e-01 -3.33445757e-03 -7.24553375e-02 -2.37122637e+00] [ 3.43523837e-03 9.99993298e-01 1.26636662e-03 1.60170353e-01] [ 7.24506293e-02 -1.51193247e-03 9.97370854e-01 -2.50798116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54313336499996 meters Centerline goodness : 0.097129 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.16, Z:-0.25 [[ 9.97377987e-01 -3.33802656e-03 -7.22911368e-02 -2.37147243e+00] [ 3.42593405e-03 9.99993535e-01 1.09205956e-03 1.61508173e-01] [ 7.22870241e-02 -1.33686084e-03 9.97382975e-01 -2.51093330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.573133365 meters Centerline goodness : 0.068614 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.16, Z:-0.25 [[ 9.97378866e-01 -3.34371567e-03 -7.22787500e-02 -2.37138834e+00] [ 3.41609744e-03 9.99993780e-01 8.77830813e-04 1.63086914e-01] [ 7.22753652e-02 -1.12244115e-03 9.97384084e-01 -2.51367142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60313336499996 meters Centerline goodness : 0.104056 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.17, Z:-0.25 [[ 9.97354094e-01 -2.88301422e-03 -7.26395156e-02 -2.37041342e+00] [ 2.94149030e-03 9.99995430e-01 6.98054575e-04 1.66452906e-01] [ 7.26371712e-02 -9.09876019e-04 9.97358017e-01 -2.51746374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.633133365 meters Centerline goodness : 0.049535 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.17, Z:-0.25 [[ 9.97337372e-01 -2.91291488e-03 -7.28675616e-02 -2.36983005e+00] [ 2.94634872e-03 9.99995598e-01 3.51344748e-04 1.68588652e-01] [ 7.28662174e-02 -5.65102494e-04 9.97341564e-01 -2.51964930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66313336499996 meters Centerline goodness : 0.049535 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.17, Z:-0.25 [[ 9.97337372e-01 -2.91291488e-03 -7.28675616e-02 -2.36983005e+00] [ 2.94634872e-03 9.99995598e-01 3.51344748e-04 1.68588652e-01] [ 7.28662174e-02 -5.65102494e-04 9.97341564e-01 -2.51964930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.693133365 meters Centerline goodness : 0.200481 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.17, Z:-0.25 [[ 9.97328661e-01 -2.96290290e-03 -7.29846807e-02 -2.36944110e+00] [ 2.97009503e-03 9.99995589e-01 -9.98753413e-06 1.70734832e-01] [ 7.29843884e-02 -2.06810583e-04 9.97333062e-01 -2.52282146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72313336499997 meters Centerline goodness : 0.093319 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.17, Z:-0.25 [[ 9.97329396e-01 -2.99344503e-03 -7.29733883e-02 -2.36950917e+00] [ 2.97729745e-03 9.99995513e-01 -3.30056373e-04 1.72734382e-01] [ 7.29740489e-02 1.11911440e-04 9.97333834e-01 -2.52416309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.753133365 meters Centerline goodness : 0.095100 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.17, Z:-0.25 [[ 9.97346587e-01 -3.08243295e-03 -7.27343408e-02 -2.37039790e+00] [ 3.04146000e-03 9.99995148e-01 -6.74072887e-04 1.74754391e-01] [ 7.27360656e-02 4.51065706e-04 9.97351122e-01 -2.52108831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78313336499997 meters Centerline goodness : 0.109576 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.18, Z:-0.25 [[ 9.97467290e-01 4.68689195e-03 -7.09720926e-02 -2.35118522e+00] [-4.85474229e-03 9.99985812e-01 -2.19270959e-03 1.78047732e-01] [ 7.09608087e-02 2.53170731e-03 9.97475891e-01 -2.49682849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.813133365 meters Centerline goodness : 0.047634 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.18, Z:-0.25 [[ 9.97548612e-01 -2.92659082e-03 -6.99156826e-02 -2.37122830e+00] [ 2.83371011e-03 9.99994966e-01 -1.42761247e-03 1.83602526e-01] [ 6.99195087e-02 1.22599206e-03 9.97551883e-01 -2.52677454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84313336499997 meters Centerline goodness : 0.102370 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 9.97551444e-01 -3.03749992e-03 -6.98705284e-02 -2.37154621e+00] [ 2.92105225e-03 9.99994170e-01 -1.76873323e-03 1.85677470e-01] [ 6.98754936e-02 1.56030692e-03 9.97554500e-01 -2.52462136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.873133365 meters Centerline goodness : 0.211577 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 9.97548493e-01 -3.10412141e-03 -6.99097160e-02 -2.37166465e+00] [ 2.96434589e-03 9.99993395e-01 -2.10302854e-03 1.88367126e-01] [ 6.99157823e-02 1.89063637e-03 9.97551106e-01 -2.52245436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.903133365 meters Centerline goodness : 0.045943 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 9.97534866e-01 -3.20801969e-03 -7.00992198e-02 -2.37124664e+00] [ 3.05442406e-03 9.99992694e-01 -2.29819622e-03 1.89186976e-01] [ 7.01060804e-02 2.07841812e-03 9.97537377e-01 -2.52201996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.933133365 meters Centerline goodness : 0.042308 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 9.97520135e-01 -3.31939877e-03 -7.03033620e-02 -2.37073367e+00] [ 3.15548522e-03 9.99992039e-01 -2.44244792e-03 1.89483227e-01] [ 7.03109098e-02 2.21454976e-03 9.97522667e-01 -2.52231989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.963133365 meters Centerline goodness : 0.097147 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 9.97507409e-01 -3.40999731e-03 -7.04793718e-02 -2.37043304e+00] [ 3.23985244e-03 9.99991556e-01 -2.52828167e-03 1.89503971e-01] [ 7.04873981e-02 2.29363693e-03 9.97510033e-01 -2.52075809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.993133365 meters Centerline goodness : 0.151485 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 9.97518028e-01 -3.38348717e-03 -7.03301847e-02 -2.37131486e+00] [ 3.21603550e-03 9.99991718e-01 -2.49403243e-03 1.89772125e-01] [ 7.03380408e-02 2.26165794e-03 9.97520649e-01 -2.51330334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.023133365 meters Centerline goodness : 0.126341 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 9.97523035e-01 -3.42002181e-03 -7.02573728e-02 -2.37153305e+00] [ 3.24693827e-03 9.99991407e-01 -2.57761842e-03 1.90186307e-01] [ 7.02655846e-02 2.34311240e-03 9.97525567e-01 -2.51311126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.053133365 meters Centerline goodness : 0.095391 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 0.99752299 -0.00349393 -0.07025444 -2.3714737 ] [ 0.0033078 0.9999907 -0.00276561 0.19112994] [ 0.07026345 0.00252637 0.99752527 -0.25143683] [ 0. 0. 0. 1. ]] SLAMing on 352.083133365 meters Centerline goodness : 0.107635 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 0.99752865 -0.00356785 -0.07017029 -2.37177113] [ 0.00336323 0.99998974 -0.00303394 0.19270099] [ 0.07018039 0.00279044 0.99753041 -0.25141531] [ 0. 0. 0. 1. ]] SLAMing on 352.113133365 meters Centerline goodness : 0.262365 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.20, Z:-0.25 [[ 0.99752474 -0.00313756 -0.07024631 -2.37170382] [ 0.00292168 0.99999069 -0.00317574 0.19770423] [ 0.07025562 0.00296264 0.99752462 -0.25148546] [ 0. 0. 0. 1. ]] SLAMing on 352.143133365 meters Centerline goodness : 0.188003 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.20, Z:-0.25 [[ 0.99751323 -0.00327117 -0.07040356 -2.37142584] [ 0.00302067 0.99998872 -0.00366414 0.20044805] [ 0.07041475 0.00344237 0.99751186 -0.25150659] [ 0. 0. 0. 1. ]] SLAMing on 352.17313336499996 meters Centerline goodness : 0.166443 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.20, Z:-0.25 [[ 0.99750438 -0.00339082 -0.07052314 -2.37120443] [ 0.00311097 0.99998685 -0.00407774 0.20276995] [ 0.07053604 0.00384816 0.99750181 -0.25152105] [ 0. 0. 0. 1. ]] SLAMing on 352.203133365 meters Centerline goodness : 0.097011 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.20, Z:-0.25 [[ 0.99750419 -0.00355775 -0.07051767 -2.37129286] [ 0.00325055 0.99998472 -0.00447059 0.20474767] [ 0.0705325 0.00423021 0.99750051 -0.25153164] [ 0. 0. 0. 1. ]] SLAMing on 352.23313336499996 meters SLAMing on 352.263133365 meters Centerline goodness : 0.044003 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99749464 -0.00384381 -0.07063759 -2.37129883] [ 0.0034956 0.99998113 -0.00505246 0.20809607] [ 0.07065568 0.00479288 0.99748925 -0.25116576] [ 0. 0. 0. 1. ]] SLAMing on 352.29313336499996 meters Centerline goodness : 0.164085 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99749066 -0.00394861 -0.07068793 -2.37120468] [ 0.00359394 0.99998031 -0.00514388 0.20830358] [ 0.07070684 0.00487692 0.99748522 -0.2510789 ] [ 0. 0. 0. 1. ]] SLAMing on 352.323133365 meters Centerline goodness : 0.098986 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99748261 -0.00404048 -0.07079627 -2.37097855] [ 0.00367858 0.9999795 -0.00524145 0.20850429] [ 0.070816 0.00496783 0.99747702 -0.25099647] [ 0. 0. 0. 1. ]] SLAMing on 352.35313336499996 meters Centerline goodness : 0.130002 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99747855 -0.00408197 -0.07085105 -2.37091055] [ 0.00372 0.99997935 -0.00524009 0.20835952] [ 0.07087098 0.00496332 0.99747314 -0.25084996] [ 0. 0. 0. 1. ]] SLAMing on 352.383133365 meters Centerline goodness : 0.104029 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99747731 -0.00414351 -0.07086499 -2.37135948] [ 0.00376635 0.99997803 -0.00545507 0.20988721] [ 0.07088604 0.0051744 0.997471 -0.25017192] [ 0. 0. 0. 1. ]] SLAMing on 352.41313336499996 meters Centerline goodness : 0.100100 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99749258 -0.00421671 -0.07064539 -2.37229873] [ 0.00382568 0.99997661 -0.00566949 0.21112797] [ 0.07066765 0.00538501 0.99748538 -0.24967531] [ 0. 0. 0. 1. ]] SLAMing on 352.443133365 meters Centerline goodness : 0.096166 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99750446 -0.00431878 -0.07047132 -2.37303179] [ 0.00391362 0.99997502 -0.00588626 0.21206507] [ 0.07049498 0.00559578 0.99749644 -0.24927157] [ 0. 0. 0. 1. ]] SLAMing on 352.47313336499997 meters Centerline goodness : 0.093450 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99750879 -0.0045167 -0.07039753 -2.37342997] [ 0.00408747 0.99997218 -0.00624009 0.21335835] [ 0.07042375 0.0059368 0.9974995 -0.2490668 ] [ 0. 0. 0. 1. ]] SLAMing on 352.503133365 meters Centerline goodness : 0.108763 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99750946 -0.00444455 -0.07039259 -2.37341228] [ 0.00401972 0.99997285 -0.0061756 0.21353835] [ 0.07041813 0.00587726 0.99750025 -0.24913068] [ 0. 0. 0. 1. ]] SLAMing on 352.53313336499997 meters Centerline goodness : 0.115560 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99750974 -0.00433202 -0.0703957 -2.37337566] [ 0.00391451 0.99997393 -0.00606783 0.21372769] [ 0.07042015 0.00577715 0.99750069 -0.24915923] [ 0. 0. 0. 1. ]] SLAMing on 352.563133365 meters Centerline goodness : 0.151230 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99751205 -0.0043237 -0.07036339 -2.37346518] [ 0.00390645 0.99997397 -0.00606643 0.21400367] [ 0.07038779 0.00577646 0.99750298 -0.24913345] [ 0. 0. 0. 1. ]] SLAMing on 352.59313336499997 meters Centerline goodness : 0.116694 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99748581 -0.00457672 -0.07071849 -2.37276661] [ 0.00414179 0.99997161 -0.0062955 0.2141886 ] [ 0.07074529 0.00598677 0.99747645 -0.24886663] [ 0. 0. 0. 1. ]] SLAMing on 352.623133365 meters Centerline goodness : 0.114056 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.9974669 -0.00463295 -0.07098106 -2.37202397] [ 0.00419467 0.99997122 -0.00632233 0.21398927] [ 0.07100831 0.00600857 0.99745763 -0.24902265] [ 0. 0. 0. 1. ]] SLAMing on 352.653133365 meters Centerline goodness : 0.117166 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.9974479 -0.00464316 -0.07124698 -2.37125052] [ 0.00420393 0.99997123 -0.00631371 0.21385994] [ 0.07127424 0.00599808 0.99743872 -0.2491736 ] [ 0. 0. 0. 1. ]] SLAMing on 352.683133365 meters Centerline goodness : 0.112085 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.9974357 -0.00457414 -0.07142207 -2.37065543] [ 0.00414034 0.99997208 -0.00622063 0.21367738] [ 0.07144853 0.00590897 0.99742679 -0.24938742] [ 0. 0. 0. 1. ]] SLAMing on 352.713133365 meters Centerline goodness : 0.115455 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99741922 -0.00456553 -0.07165233 -2.36996235] [ 0.00413367 0.9999724 -0.00617418 0.21334101] [ 0.07167854 0.00586206 0.99741056 -0.24956828] [ 0. 0. 0. 1. ]] SLAMing on 352.743133365 meters Centerline goodness : 0.105338 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99742676 -0.00456274 -0.07154748 -2.37042062] [ 0.00413524 0.99997271 -0.00612198 0.21287366] [ 0.07157346 0.00581036 0.99741841 -0.24929912] [ 0. 0. 0. 1. ]] SLAMing on 352.773133365 meters Centerline goodness : 0.100080 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99744247 -0.00455171 -0.07132878 -2.37138507] [ 0.00412889 0.99997303 -0.00607401 0.21258412] [ 0.07135451 0.00576397 0.99743436 -0.24870329] [ 0. 0. 0. 1. ]] SLAMing on 352.803133365 meters Centerline goodness : 0.102681 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.21, Z:-0.25 [[ 0.99754558 0.00310151 -0.06995145 -2.39162639] [-0.00361283 0.99996767 -0.00718434 0.20508146] [ 0.06992691 0.00741942 0.99752453 -0.25070093] [ 0. 0. 0. 1. ]] SLAMing on 352.833133365 meters SLAMing on 352.863133365 meters SLAMing on 352.893133365 meters Centerline goodness : 0.101547 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.20, Z:-0.25 [[ 0.99753945 0.00319582 -0.07003444 -2.39108665] [-0.00369083 0.99996911 -0.00693994 0.20367217] [ 0.0700101 0.00718135 0.99752043 -0.25121704] [ 0. 0. 0. 1. ]] SLAMing on 352.92313336499996 meters Centerline goodness : 0.096617 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.20, Z:-0.25 [[ 0.99753828 0.00329591 -0.07004653 -2.39100196] [-0.00378136 0.99996974 -0.00679902 0.20328692] [ 0.070022 0.00704715 0.99752055 -0.25131009] [ 0. 0. 0. 1. ]] SLAMing on 352.953133365 meters SLAMing on 352.98313336499996 meters SLAMing on 353.013133365 meters SLAMing on 353.04313336499996 meters Centerline goodness : 0.108440 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.21, Z:-0.25 [[ 0.99758001 0.00421992 -0.06939962 -2.39288845] [-0.0046775 0.99996837 -0.00643229 0.20511877] [ 0.06937028 0.00674134 0.9975682 -0.25103852] [ 0. 0. 0. 1. ]] SLAMing on 353.073133365 meters SLAMing on 353.10313336499996 meters Centerline goodness : 0.095323 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.21, Z:-0.25 [[ 0.9975238 0.00451713 -0.07018444 -2.39061906] [-0.00501525 0.99996346 -0.00692267 0.20961138] [ 0.0701506 0.00725752 0.99751001 -0.25183934] [ 0. 0. 0. 1. ]] SLAMing on 353.133133365 meters Centerline goodness : 0.121627 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.22, Z:-0.25 [[ 0.99750656 0.00487445 -0.07040521 -2.38989627] [-0.00541085 0.99995776 -0.0074301 0.21620709] [ 0.07036602 0.00779253 0.9974908 -0.25240145] [ 0. 0. 0. 1. ]] SLAMing on 353.16313336499996 meters Centerline goodness : 0.094520 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.22, Z:-0.25 [[ 0.99753442 0.0048199 -0.07001314 -2.39111798] [-0.00538858 0.99995399 -0.00793585 0.21968506] [ 0.06997167 0.00829356 0.9975145 -0.25214718] [ 0. 0. 0. 1. ]] SLAMing on 353.193133365 meters Centerline goodness : 0.221261 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.23, Z:-0.25 [[ 9.97675077e-01 -1.52048497e-03 -6.81331627e-02 -2.37568764e+00] [ 1.13333438e-03 9.99982995e-01 -5.72055714e-03 2.31929591e-01] [ 6.81407021e-02 5.63003963e-03 9.97659835e-01 -2.49071313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22313336499997 meters Centerline goodness : 0.109374 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.23, Z:-0.25 [[ 9.97690076e-01 -1.77449873e-03 -6.79070177e-02 -2.37648105e+00] [ 1.35388368e-03 9.99979618e-01 -6.23950604e-03 2.34389615e-01] [ 6.79167056e-02 6.13315506e-03 9.97672143e-01 -2.48810792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.253133365 meters Centerline goodness : 0.230575 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 9.97691087e-01 -2.00958628e-03 -6.78856131e-02 -2.37667350e+00] [ 1.55890990e-03 9.99976399e-01 -6.69108397e-03 2.36450480e-01] [ 6.78974573e-02 6.56980728e-03 9.97670674e-01 -2.48639235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28313336499997 meters Centerline goodness : 0.115249 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 9.97681096e-01 -2.20887659e-03 -6.80261139e-02 -2.37645047e+00] [ 1.73368178e-03 9.99973690e-01 -7.04372052e-03 2.38002014e-01] [ 6.80398829e-02 6.90945117e-03 9.97658676e-01 -2.48483250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.313133365 meters Centerline goodness : 0.114311 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 9.97664576e-01 -2.29909825e-03 -6.82649776e-02 -2.37587845e+00] [ 1.80967255e-03 9.99972222e-01 -7.23047461e-03 2.39152611e-01] [ 6.82797049e-02 7.09005113e-03 9.97641024e-01 -2.48475522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34313336499997 meters Centerline goodness : 0.114276 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 9.97649582e-01 -2.36618358e-03 -6.84814787e-02 -2.37532525e+00] [ 1.86380811e-03 9.99970891e-01 -7.39889570e-03 2.40325904e-01] [ 6.84969924e-02 7.25386886e-03 9.97624951e-01 -2.48537310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.373133365 meters Centerline goodness : 0.113926 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 9.97662164e-01 -2.55547567e-03 -6.82911064e-02 -2.37609301e+00] [ 2.03384644e-03 9.99968234e-01 -7.70675533e-03 2.42225178e-01] [ 6.83086315e-02 7.54984458e-03 9.97635670e-01 -2.48007212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.403133365 meters Centerline goodness : 0.115341 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 9.97690113e-01 -2.76059446e-03 -6.78735396e-02 -2.37727002e+00] [ 2.23294928e-03 9.99966706e-01 -7.84858341e-03 2.42188361e-01] [ 6.78929466e-02 7.67889590e-03 9.97663061e-01 -2.47712975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.433133365 meters Centerline goodness : 0.155877 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 0.99770872 -0.0029571 -0.06759118 -2.37804687] [ 0.00242824 0.99996581 -0.00790519 0.24161605] [ 0.06761225 0.00772295 0.99768178 -0.24750979] [ 0. 0. 0. 1. ]] SLAMing on 353.463133365 meters Centerline goodness : 0.110155 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 0.99770278 -0.00299995 -0.06767686 -2.37791516] [ 0.00247977 0.99996675 -0.0077689 0.24050317] [ 0.06769792 0.00758323 0.99767705 -0.24736409] [ 0. 0. 0. 1. ]] SLAMing on 353.493133365 meters Centerline goodness : 0.111169 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.24, Z:-0.25 [[ 0.99763087 -0.00300364 -0.06872857 -2.37494116] [ 0.00250738 0.99997017 -0.00730575 0.23777656] [ 0.06874846 0.00711612 0.99760865 -0.24786351] [ 0. 0. 0. 1. ]] SLAMing on 353.523133365 meters Centerline goodness : 0.119859 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.24, Z:-0.25 [[ 0.99760293 -0.00301564 -0.06913242 -2.37363925] [ 0.00253218 0.99997173 -0.00707992 0.23602647] [ 0.06915182 0.0068879 0.99758237 -0.24825801] [ 0. 0. 0. 1. ]] SLAMing on 353.553133365 meters Centerline goodness : 0.119859 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.24, Z:-0.25 [[ 0.99760293 -0.00301564 -0.06913242 -2.37363925] [ 0.00253218 0.99997173 -0.00707992 0.23602647] [ 0.06915182 0.0068879 0.99758237 -0.24825801] [ 0. 0. 0. 1. ]] SLAMing on 353.583133365 meters Centerline goodness : 0.116333 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.23, Z:-0.25 [[ 0.997599 -0.00304707 -0.06918774 -2.3733964 ] [ 0.0025807 0.99997335 -0.00682904 0.23399648] [ 0.0692067 0.00663409 0.99758028 -0.24833476] [ 0. 0. 0. 1. ]] SLAMing on 353.613133365 meters Centerline goodness : 0.117282 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.23, Z:-0.25 [[ 0.9976179 -0.00303674 -0.06891523 -2.37405906] [ 0.00259314 0.99997535 -0.00652545 0.23188327] [ 0.06893335 0.0063312 0.99760118 -0.24820783] [ 0. 0. 0. 1. ]] SLAMing on 353.643133365 meters Centerline goodness : 0.098908 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.22, Z:-0.25 [[ 0.99752578 -0.00312268 -0.07023227 -2.42023681] [ 0.0026722 0.99997526 -0.00650725 0.22468575] [ 0.07025085 0.00630347 0.99750944 -0.25017421] [ 0. 0. 0. 1. ]] SLAMing on 353.67313336499996 meters Centerline goodness : 0.142147 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.22, Z:-0.25 [[ 0.99751029 -0.00299624 -0.07045736 -2.41936824] [ 0.00256666 0.99997757 -0.00618682 0.22302104] [ 0.07047432 0.00599058 0.99749561 -0.25062088] [ 0. 0. 0. 1. ]] SLAMing on 353.703133365 meters Centerline goodness : 0.114696 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.22, Z:-0.25 [[ 0.99747817 -0.00374267 -0.07087516 -2.37420059] [ 0.0033384 0.99997748 -0.00582154 0.22305404] [ 0.07089535 0.00557025 0.99746821 -0.24808714] [ 0. 0. 0. 1. ]] SLAMing on 353.73313336499996 meters Centerline goodness : 0.117185 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.22, Z:-0.25 [[ 0.99744921 -0.00366794 -0.07128549 -2.37280446] [ 0.00327503 0.9999788 -0.00562781 0.22179241] [ 0.07130462 0.00537999 0.99744008 -0.24865462] [ 0. 0. 0. 1. ]] SLAMing on 353.763133365 meters Centerline goodness : 0.123210 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.22, Z:-0.25 [[ 0.99743317 -0.00356469 -0.07151478 -2.3719815 ] [ 0.00318535 0.99998025 -0.00541769 0.2205762 ] [ 0.07153268 0.00517598 0.99742483 -0.24904268] [ 0. 0. 0. 1. ]] SLAMing on 353.79313336499996 meters Centerline goodness : 0.112909 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.21, Z:-0.25 [[ 0.9974583 0.00503348 -0.07107461 -2.3922611 ] [-0.00547855 0.99996658 -0.00606841 0.21303656] [ 0.07104169 0.00644237 0.99745254 -0.25141604] [ 0. 0. 0. 1. ]] SLAMing on 353.823133365 meters Centerline goodness : 0.112488 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.21, Z:-0.25 [[ 0.99748287 0.00506261 -0.07072684 -2.39327745] [-0.00550119 0.99996682 -0.00600766 0.21253141] [ 0.07069407 0.00638162 0.99747763 -0.25119901] [ 0. 0. 0. 1. ]] SLAMing on 353.85313336499996 meters Centerline goodness : 0.120263 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.21, Z:-0.25 [[ 0.9975045 0.00509275 -0.07041902 -2.39424319] [-0.00552187 0.99996735 -0.00590049 0.21172316] [ 0.07038667 0.00627461 0.99750005 -0.2509269 ] [ 0. 0. 0. 1. ]] SLAMing on 353.883133365 meters Centerline goodness : 0.126200 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.22, Z:-0.25 [[ 0.99758903 -0.00287182 -0.06933886 -2.37577359] [ 0.00255487 0.99998588 -0.00465929 0.21547776] [ 0.06935127 0.00447091 0.99758228 -0.24903803] [ 0. 0. 0. 1. ]] SLAMing on 353.91313336499996 meters Centerline goodness : 0.098755 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.99760283 -0.00265446 -0.06914877 -2.37613222] [ 0.00237901 0.99998891 -0.00406541 0.211925 ] [ 0.06915879 0.00389116 0.99759808 -0.24910283] [ 0. 0. 0. 1. ]] SLAMing on 353.943133365 meters Centerline goodness : 0.116060 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.21, Z:-0.25 [[ 0.99762451 0.00323328 -0.0688105 -2.39879666] [-0.00372477 0.99996845 -0.00701557 0.20555911] [ 0.06878564 0.00725521 0.99760508 -0.2501394 ] [ 0. 0. 0. 1. ]] SLAMing on 353.97313336499997 meters Centerline goodness : 0.094979 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.9976756 -0.0051114 -0.06795057 -2.37956524] [ 0.00471321 0.99997078 -0.00601914 0.20771395] [ 0.06797935 0.00568488 0.99767053 -0.24797512] [ 0. 0. 0. 1. ]] SLAMing on 354.003133365 meters Centerline goodness : 0.120886 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.99769745 -0.00465238 -0.06766206 -2.38064101] [ 0.00429891 0.99997635 -0.00536878 0.20579952] [ 0.06768544 0.00506554 0.99769385 -0.24746446] [ 0. 0. 0. 1. ]] SLAMing on 354.03313336499997 meters Centerline goodness : 0.043363 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.9976944 -0.00448983 -0.06771794 -2.38028106] [ 0.00414312 0.99997759 -0.00525947 0.20586628] [ 0.06774004 0.00496678 0.99769064 -0.24780944] [ 0. 0. 0. 1. ]] SLAMing on 354.063133365 meters SLAMing on 354.09313336499997 meters SLAMing on 354.123133365 meters Centerline goodness : 0.116234 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.99765253 -0.00387493 -0.06836963 -2.37804775] [ 0.00353237 0.9999806 -0.00513065 0.20727763] [ 0.06838818 0.0048771 0.99764687 -0.24900962] [ 0. 0. 0. 1. ]] SLAMing on 354.153133365 meters Centerline goodness : 0.181692 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.99768708 -0.00362752 -0.06787735 -2.37951271] [ 0.00329168 0.99998179 -0.00505895 0.20846086] [ 0.06789447 0.00482382 0.99768085 -0.24874325] [ 0. 0. 0. 1. ]] SLAMing on 354.183133365 meters Centerline goodness : 0.094897 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.99769688 -0.00365045 -0.06773197 -2.37989367] [ 0.00331252 0.9999815 -0.00510091 0.20871126] [ 0.06774934 0.0048648 0.99769051 -0.2487124 ] [ 0. 0. 0. 1. ]] SLAMing on 354.213133365 meters Centerline goodness : 0.102012 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.99769617 -0.0037271 -0.06773812 -2.3797242 ] [ 0.00338528 0.99998096 -0.00516024 0.20855238] [ 0.06775607 0.00491904 0.99768979 -0.24891318] [ 0. 0. 0. 1. ]] SLAMing on 354.243133365 meters SLAMing on 354.273133365 meters Centerline goodness : 0.106253 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.99767049 -0.00414858 -0.068091 -2.37892014] [ 0.00380145 0.99997911 -0.00522676 0.20691933] [ 0.06811126 0.00495574 0.99766542 -0.24880423] [ 0. 0. 0. 1. ]] SLAMing on 354.303133365 meters Centerline goodness : 0.101301 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 0.99755177 -0.00344897 -0.0698468 -2.42499075] [ 0.00311705 0.99998333 -0.00486045 0.20282338] [ 0.0698624 0.00463084 0.99754589 -0.25054827] [ 0. 0. 0. 1. ]] SLAMing on 354.333133365 meters SLAMing on 354.363133365 meters Centerline goodness : 0.110972 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.20, Z:-0.25 [[ 0.9975693 -0.00334553 -0.06960093 -2.42563569] [ 0.00302332 0.99998422 -0.00473427 0.20291038] [ 0.06961567 0.00451233 0.99756368 -0.25041302] [ 0. 0. 0. 1. ]] SLAMing on 354.393133365 meters Centerline goodness : 0.111520 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 0.99754361 -0.00352835 -0.06995926 -2.42459696] [ 0.00317462 0.99998161 -0.00516685 0.20460107] [ 0.0699762 0.00493206 0.99753647 -0.25077795] [ 0. 0. 0. 1. ]] SLAMing on 354.42313336499996 meters Centerline goodness : 0.111373 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.21, Z:-0.25 [[ 0.99752062 -0.00353131 -0.07028617 -2.4237011 ] [ 0.00316429 0.99998078 -0.00533259 0.20565808] [ 0.07030365 0.00509696 0.99751262 -0.25100894] [ 0. 0. 0. 1. ]] SLAMing on 354.453133365 meters Centerline goodness : 0.115238 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.21, Z:-0.25 [[ 0.99751133 -0.00348709 -0.07042006 -2.42328888] [ 0.00311149 0.99998035 -0.0054427 0.20677252] [ 0.07043766 0.00521004 0.99750258 -0.25123362] [ 0. 0. 0. 1. ]] SLAMing on 354.48313336499996 meters Centerline goodness : 0.119159 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.20, Z:-0.25 [[ 0.99749451 0.00502546 -0.07056513 -2.44305941] [-0.00548897 0.99996461 -0.00637626 0.20220617] [ 0.07053059 0.00674762 0.99748679 -0.25346336] [ 0. 0. 0. 1. ]] SLAMing on 354.513133365 meters Centerline goodness : 0.147054 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.20, Z:-0.25 [[ 0.99750248 0.0049942 -0.07045468 -2.44329178] [-0.00545941 0.99996454 -0.00641199 0.20220581] [ 0.07042016 0.00678061 0.99749437 -0.25355366] [ 0. 0. 0. 1. ]] SLAMing on 354.54313336499996 meters Centerline goodness : 0.147746 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.20, Z:-0.25 [[ 0.99749799 0.00503142 -0.07051559 -2.44301431] [-0.00548152 0.99996581 -0.00619088 0.20086285] [ 0.07048203 0.00656193 0.99749147 -0.25371588] [ 0. 0. 0. 1. ]] SLAMing on 354.573133365 meters Centerline goodness : 0.114152 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 0.99751808 -0.00292512 -0.07035002 -2.42371124] [ 0.00259247 0.99998503 -0.00481937 0.20467224] [ 0.07036307 0.00462503 0.99751073 -0.251432 ] [ 0. 0. 0. 1. ]] SLAMing on 354.60313336499996 meters Centerline goodness : 0.099118 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 0.99750957 -0.00285317 -0.07047356 -2.42334689] [ 0.00253605 0.99998625 -0.00458896 0.20332558] [ 0.07048568 0.00439881 0.99750309 -0.25147913] [ 0. 0. 0. 1. ]] SLAMing on 354.633133365 meters Centerline goodness : 0.114611 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 0.9975056 -0.00285321 -0.07052973 -2.42314394] [ 0.00254476 0.9999868 -0.00446273 0.20221761] [ 0.07054153 0.00427212 0.9974997 -0.25151358] [ 0. 0. 0. 1. ]] SLAMing on 354.66313336499996 meters Centerline goodness : 0.145455 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 0.99751957 -0.00289144 -0.07033024 -2.42388396] [ 0.00259202 0.99998719 -0.0043483 0.20084664] [ 0.07034192 0.00415522 0.99751429 -0.25116196] [ 0. 0. 0. 1. ]] SLAMing on 354.693133365 meters Centerline goodness : 0.114547 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 0.99752775 -0.0028276 -0.07021673 -2.42425071] [ 0.00253455 0.9999877 -0.0042623 0.20060928] [ 0.07022791 0.0040738 0.99752265 -0.25105763] [ 0. 0. 0. 1. ]] SLAMing on 354.72313336499997 meters Centerline goodness : 0.100065 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 9.97533810e-01 -2.69580741e-03 -7.01358053e-02 -2.42424863e+00] [ 2.41177326e-03 9.99988546e-01 -4.13413901e-03 2.00593384e-01] [ 7.01461468e-02 3.95479177e-03 9.97528886e-01 -2.51338362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.753133365 meters Centerline goodness : 0.117231 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 9.97538376e-01 -2.66669657e-03 -7.00719419e-02 -2.42418795e+00] [ 2.37953297e-03 9.99988427e-01 -4.18127773e-03 2.01158004e-01] [ 7.00822812e-02 4.00424650e-03 9.97533177e-01 -2.51700357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78313336499997 meters Centerline goodness : 0.098715 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 9.97543479e-01 -2.69096236e-03 -6.99983326e-02 -2.42435054e+00] [ 2.39674753e-03 9.99987939e-01 -4.28681691e-03 2.01837650e-01] [ 7.00090240e-02 4.10851792e-03 9.97537897e-01 -2.51783716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.813133365 meters Centerline goodness : 0.151974 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.20, Z:-0.25 [[ 0.99754974 -0.00283885 -0.06990315 -2.42507826] [ 0.00251428 0.99998565 -0.00473069 0.20414487] [ 0.06991558 0.00454334 0.99754257 -0.25120403] [ 0. 0. 0. 1. ]] SLAMing on 354.84313336499997 meters SLAMing on 354.873133365 meters SLAMing on 354.903133365 meters Centerline goodness : 0.113606 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.21, Z:-0.25 [[ 0.99756088 -0.00301281 -0.06973673 -2.42539632] [ 0.0026299 0.99998096 -0.00558207 0.21023483] [ 0.06975222 0.00538505 0.99754981 -0.25154781] [ 0. 0. 0. 1. ]] SLAMing on 354.933133365 meters Centerline goodness : 0.102354 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.21, Z:-0.25 [[ 0.99754996 -0.00307468 -0.06989007 -2.42493809] [ 0.00266743 0.99997892 -0.00591963 0.21254998] [ 0.06990679 0.0057187 0.99753714 -0.2517638 ] [ 0. 0. 0. 1. ]] SLAMing on 354.963133365 meters Centerline goodness : 0.093086 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.22, Z:-0.25 [[ 0.99754196 -0.00324025 -0.06999677 -2.4247305 ] [ 0.00280183 0.99997585 -0.0063606 0.21502997] [ 0.07001569 0.00614884 0.99752694 -0.2517821 ] [ 0. 0. 0. 1. ]] SLAMing on 354.993133365 meters Centerline goodness : 0.096967 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.22, Z:-0.25 [[ 0.99751537 -0.00363967 -0.07035504 -2.42439521] [ 0.00313837 0.99996891 -0.00723446 0.21941908] [ 0.07037918 0.00699569 0.99749578 -0.25117256] [ 0. 0. 0. 1. ]] SLAMing on 355.023133365 meters Centerline goodness : 0.095922 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.22, Z:-0.25 [[ 0.99750438 -0.00374608 -0.07050511 -2.42431728] [ 0.00322373 0.99996652 -0.00752104 0.22110959] [ 0.07053093 0.00727498 0.99748306 -0.25082718] [ 0. 0. 0. 1. ]] SLAMing on 355.053133365 meters Centerline goodness : 0.094351 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.22, Z:-0.25 [[ 0.99753297 -0.00384573 -0.0700941 -2.42602804] [ 0.00330119 0.99996348 -0.00788292 0.22397328] [ 0.07012186 0.00763208 0.99750924 -0.24987066] [ 0. 0. 0. 1. ]] SLAMing on 355.083133365 meters Centerline goodness : 0.147192 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.22, Z:-0.25 [[ 0.99756532 0.00445178 -0.06959601 -2.44626752] [-0.00509386 0.99994606 -0.00905095 0.22007883] [ 0.06955196 0.00938343 0.9975342 -0.25188381] [ 0. 0. 0. 1. ]] SLAMing on 355.113133365 meters Centerline goodness : 0.135732 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.22, Z:-0.25 [[ 0.99757447 0.00424725 -0.06947755 -2.44677346] [-0.0049201 0.99994262 -0.00951613 0.22222669] [ 0.06943315 0.00983489 0.99753813 -0.25164713] [ 0. 0. 0. 1. ]] SLAMing on 355.143133365 meters Centerline goodness : 0.107476 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.23, Z:-0.25 [[ 9.97482660e-01 -1.79001075e-03 -7.08882138e-02 -2.42715291e+00] [ 1.26191138e-03 9.99971125e-01 -7.49383160e-03 2.30286595e-01] [ 7.08995809e-02 7.38551244e-03 9.97456116e-01 -2.49124425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17313336499996 meters Centerline goodness : 0.147430 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.23, Z:-0.25 [[ 0.99739415 0.00702875 -0.07180187 -2.44664725] [-0.00766778 0.99993338 -0.00862815 0.22901336] [ 0.07173644 0.00915623 0.9973816 -0.25121905] [ 0. 0. 0. 1. ]] SLAMing on 355.203133365 meters Centerline goodness : 0.104836 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.23, Z:-0.25 [[ 0.99738882 0.00696017 -0.07188256 -2.44659734] [-0.00763763 0.99992893 -0.00915406 0.23254236] [ 0.07181374 0.00967917 0.99737109 -0.25116105] [ 0. 0. 0. 1. ]] SLAMing on 355.23313336499996 meters Centerline goodness : 0.109773 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.24, Z:-0.25 [[ 0.99743805 0.00711451 -0.07118096 -2.44868359] [-0.00782215 0.99992267 -0.00966763 0.23811402] [ 0.07110667 0.01019965 0.99741657 -0.25076374] [ 0. 0. 0. 1. ]] SLAMing on 355.263133365 meters Centerline goodness : 0.109543 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.24, Z:-0.25 [[ 0.99744394 0.00693236 -0.07111628 -2.44888734] [-0.0076665 0.99992005 -0.01005538 0.23981378] [ 0.07104089 0.01057489 0.99741735 -0.25077711] [ 0. 0. 0. 1. ]] SLAMing on 355.29313336499996 meters Centerline goodness : 0.107969 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.25, Z:-0.25 [[ 9.97373876e-01 -8.81011396e-04 -7.24194367e-02 -2.43106076e+00] [ 2.04426103e-04 9.99956272e-01 -9.34947366e-03 2.46996567e-01] [ 7.24245070e-02 9.31011636e-03 9.97330443e-01 -2.47756095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.323133365 meters Centerline goodness : 0.112576 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.25, Z:-0.25 [[ 9.97345743e-01 -9.60324372e-04 -7.28048589e-02 -2.43005085e+00] [ 2.66787146e-04 9.99954504e-01 -9.53510065e-03 2.47946835e-01] [ 7.28107033e-02 9.49036863e-03 9.97300624e-01 -2.47909007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35313336499996 meters Centerline goodness : 0.109474 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.25, Z:-0.25 [[ 9.97321730e-01 -1.06121350e-03 -7.31316638e-02 -2.42944403e+00] [ 3.39194673e-04 9.99951089e-01 -9.88457440e-03 2.50106183e-01] [ 7.31385765e-02 9.83329498e-03 9.97273310e-01 -2.47745804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.383133365 meters Centerline goodness : 0.108654 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.25, Z:-0.25 [[ 9.97351282e-01 -1.12134670e-03 -7.27266259e-02 -2.43084639e+00] [ 3.93370842e-04 9.99949688e-01 -1.00233079e-02 2.50873521e-01] [ 7.27342065e-02 9.96815050e-03 9.97301545e-01 -2.47156139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41313336499996 meters Centerline goodness : 0.101300 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.25, Z:-0.25 [[ 0.99758304 -0.0077691 -0.06904874 -2.45149246] [ 0.00713387 0.99992998 -0.00944155 0.25481654] [ 0.06911726 0.00892615 0.99756861 -0.25028836] [ 0. 0. 0. 1. ]] SLAMing on 355.443133365 meters Centerline goodness : 0.093499 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.25, Z:-0.25 [[ 9.97755759e-01 -2.63085925e-04 -6.69580149e-02 -2.43272775e+00] [-4.41120241e-04 9.99944754e-01 -1.05021281e-02 2.54049297e-01] [ 6.69570787e-02 1.05080954e-02 9.97700521e-01 -2.48003944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47313336499997 meters Centerline goodness : 0.093499 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.25, Z:-0.25 [[ 9.97755759e-01 -2.63085925e-04 -6.69580149e-02 -2.43272775e+00] [-4.41120241e-04 9.99944754e-01 -1.05021281e-02 2.54049297e-01] [ 6.69570787e-02 1.05080954e-02 9.97700521e-01 -2.48003944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.503133365 meters Centerline goodness : 0.114255 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.26, Z:-0.25 [[ 9.97750369e-01 -3.00403297e-04 -6.70381271e-02 -2.43232668e+00] [-4.16102534e-04 9.99942947e-01 -1.06738157e-02 2.55277903e-01] [ 6.70375088e-02 1.06776983e-02 9.97693319e-01 -2.48324623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53313336499997 meters Centerline goodness : 0.108105 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.26, Z:-0.25 [[ 9.97612575e-01 1.42926188e-03 -6.90442483e-02 -2.42416275e+00] [-2.09806092e-03 9.99951574e-01 -9.61498322e-03 2.59372799e-01] [ 6.90271624e-02 9.73688720e-03 9.97567263e-01 -2.52083188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.563133365 meters Centerline goodness : 0.112654 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.26, Z:-0.25 [[ 9.97556067e-01 1.44070559e-03 -6.98556961e-02 -2.42192055e+00] [-2.15154528e-03 9.99946662e-01 -1.01016573e-02 2.62675188e-01] [ 6.98374167e-02 1.02272672e-02 9.97505959e-01 -2.52651155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59313336499997 meters Centerline goodness : 0.142560 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.27, Z:-0.25 [[ 9.97517235e-01 1.54485774e-03 -7.04058166e-02 -2.42074698e+00] [-2.28943783e-03 9.99942294e-01 -1.04960801e-02 2.66171751e-01] [ 7.03855388e-02 1.06312106e-02 9.97463209e-01 -2.52632695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.623133365 meters Centerline goodness : 0.119186 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.27, Z:-0.25 [[ 0.99759997 -0.00300343 -0.06917574 -2.44397534] [ 0.00249299 0.99996904 -0.00746402 0.27074117] [ 0.06919601 0.00727365 0.99757657 -0.25441683] [ 0. 0. 0. 1. ]] SLAMing on 355.653133365 meters Centerline goodness : 0.112852 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.28, Z:-0.25 [[ 0.99764331 -0.00320064 -0.06853896 -2.44622787] [ 0.0026426 0.99996263 -0.00823107 0.276143 ] [ 0.06856275 0.00803055 0.99761448 -0.25361785] [ 0. 0. 0. 1. ]] SLAMing on 355.683133365 meters Centerline goodness : 0.112035 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.28, Z:-0.25 [[ 0.99766185 -0.00343217 -0.06825722 -2.4471677 ] [ 0.0028453 0.99995817 -0.00869321 0.27825321] [ 0.0682842 0.00847867 0.99762988 -0.25332397] [ 0. 0. 0. 1. ]] SLAMing on 355.713133365 meters Centerline goodness : 0.113840 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.28, Z:-0.25 [[ 0.99767699 -0.00360253 -0.06802681 -2.44794846] [ 0.00299151 0.99995428 -0.00908179 0.28037253] [ 0.06805642 0.00885719 0.99764216 -0.25305786] [ 0. 0. 0. 1. ]] SLAMing on 355.743133365 meters Centerline goodness : 0.115502 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.28, Z:-0.25 [[ 0.99768661 -0.00375653 -0.0678772 -2.44857306] [ 0.00312235 0.9999505 -0.00944679 0.28256703] [ 0.06790932 0.009213 0.99764896 -0.25273992] [ 0. 0. 0. 1. ]] SLAMing on 355.773133365 meters Centerline goodness : 0.119466 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.29, Z:-0.26 [[ 0.99776204 -0.01062646 -0.06601503 -2.46840355] [ 0.01006558 0.99991041 -0.00882313 0.29152719] [ 0.06610288 0.00813891 0.99777962 -0.25613384] [ 0. 0. 0. 1. ]] SLAMing on 355.803133365 meters Centerline goodness : 0.338581 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.29, Z:-0.26 [[ 0.99776099 -0.01082111 -0.0659994 -2.46840361] [ 0.01023311 0.99990494 -0.00924069 0.29364095] [ 0.06609312 0.00854462 0.99777687 -0.25622826] [ 0. 0. 0. 1. ]] SLAMing on 355.833133365 meters Centerline goodness : 0.347022 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.29, Z:-0.26 [[ 9.97780171e-01 -2.64193982e-03 -6.65413470e-02 -2.48628684e+00] [ 1.92077503e-03 9.99938754e-01 -1.08994904e-02 2.90214704e-01] [ 6.65660674e-02 1.07474844e-02 9.97724135e-01 -2.58442133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.863133365 meters SLAMing on 355.893133365 meters SLAMing on 355.92313336499996 meters Centerline goodness : 0.112614 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.29, Z:-0.26 [[ 0.99771827 -0.00341632 -0.0674283 -2.48436271] [ 0.00261356 0.9999247 -0.01198998 0.29472527] [ 0.06746419 0.0117864 0.99765208 -0.25821413] [ 0. 0. 0. 1. ]] SLAMing on 355.953133365 meters Centerline goodness : 0.093177 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.30, Z:-0.26 [[ 0.99775055 -0.00402609 -0.06691511 -2.48597605] [ 0.00319504 0.99991649 -0.01252179 0.29569594] [ 0.06695994 0.01227983 0.9976801 -0.25754048] [ 0. 0. 0. 1. ]] SLAMing on 355.98313336499996 meters Centerline goodness : 0.144881 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.30, Z:-0.26 [[ 0.99774954 -0.00406983 -0.06692749 -2.48608104] [ 0.00324101 0.99991677 -0.01248766 0.29539407] [ 0.06697274 0.01224264 0.99767969 -0.25730394] [ 0. 0. 0. 1. ]] SLAMing on 356.013133365 meters Centerline goodness : 0.148418 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.30, Z:-0.26 [[ 0.99773707 -0.00417378 -0.06710683 -2.48569447] [ 0.00333804 0.99991553 -0.01256125 0.29555972] [ 0.06715359 0.01230882 0.99766672 -0.25720097] [ 0. 0. 0. 1. ]] SLAMing on 356.04313336499996 meters Centerline goodness : 0.137854 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.30, Z:-0.26 [[ 0.99772288 -0.00423334 -0.06731374 -2.48494374] [ 0.00338834 0.99991409 -0.01266235 0.29596213] [ 0.06736157 0.01240544 0.9976515 -0.25755543] [ 0. 0. 0. 1. ]] SLAMing on 356.073133365 meters Centerline goodness : 0.137795 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.30, Z:-0.26 [[ 0.9977096 -0.00428819 -0.06750678 -2.48411293] [ 0.00343363 0.99991257 -0.01276971 0.29634453] [ 0.06755564 0.01250866 0.99763709 -0.25806747] [ 0. 0. 0. 1. ]] SLAMing on 356.10313336499996 meters Centerline goodness : 0.138642 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.29, Z:-0.26 [[ 0.99766634 0.00402261 -0.06815936 -2.5026499 ] [-0.004996 0.99988787 -0.01411676 0.29093367] [ 0.06809493 0.01442434 0.99757457 -0.26026075] [ 0. 0. 0. 1. ]] SLAMing on 356.133133365 meters Centerline goodness : 0.134629 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.30, Z:-0.26 [[ 0.99769152 -0.0041638 -0.06778128 -2.48497968] [ 0.00331152 0.9999141 -0.0126815 0.2955799 ] [ 0.06782826 0.01242777 0.99761961 -0.25755969] [ 0. 0. 0. 1. ]] SLAMing on 356.16313336499996 meters Centerline goodness : 0.135501 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.29, Z:-0.26 [[ 9.98078683e-01 -1.99168106e-04 -6.19588865e-02 -2.52025889e+00] [-5.54343450e-04 9.99926105e-01 -1.21440492e-02 2.88345267e-01] [ 6.19567268e-02 1.21550632e-02 9.98004819e-01 -2.62723569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.193133365 meters Centerline goodness : 0.103451 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.29, Z:-0.26 [[ 9.98091710e-01 -1.64251541e-04 -6.17487842e-02 -2.52080891e+00] [-5.76801155e-04 9.99928034e-01 -1.19830727e-02 2.87420572e-01] [ 6.17463086e-02 1.19958223e-02 9.98019786e-01 -2.62632103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22313336499997 meters Centerline goodness : 0.122307 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.29, Z:-0.26 [[ 9.98094021e-01 -1.08384805e-04 -6.17115312e-02 -2.52067901e+00] [-6.19406405e-04 9.99930490e-01 -1.17741869e-02 2.86193962e-01] [ 6.17085177e-02 1.17899701e-02 9.98024577e-01 -2.62919329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.253133365 meters Centerline goodness : 0.140666 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.29, Z:-0.26 [[ 0.9980406 -0.00843726 -0.06199825 -2.5007495 ] [ 0.00779657 0.99991375 -0.01056869 0.28979222] [ 0.06208207 0.01006461 0.9980203 -0.26126936] [ 0. 0. 0. 1. ]] SLAMing on 356.28313336499997 meters Centerline goodness : 0.115607 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.28, Z:-0.26 [[ 9.97984877e-01 2.54610489e-05 -6.34522271e-02 -2.51845484e+00] [-7.65751821e-04 9.99931929e-01 -1.16426082e-02 2.83111578e-01] [ 6.34476115e-02 1.16677356e-02 9.97916963e-01 -2.63653551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.313133365 meters Centerline goodness : 0.133970 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.28, Z:-0.26 [[ 9.97964292e-01 5.03578041e-05 -6.37751517e-02 -2.51716307e+00] [-7.63896605e-04 9.99937389e-01 -1.11640171e-02 2.79617507e-01] [ 6.37705965e-02 1.11900080e-02 9.97901846e-01 -2.64272714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34313336499997 meters Centerline goodness : 0.134918 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.28, Z:-0.26 [[ 9.97975403e-01 1.15481084e-04 -6.36009641e-02 -2.51775320e+00] [-8.07138133e-04 9.99940818e-01 -1.08493600e-02 2.77520951e-01] [ 6.35959472e-02 1.08787292e-02 9.97916434e-01 -2.64011137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.373133365 meters Centerline goodness : 0.114821 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.28, Z:-0.26 [[ 9.97995822e-01 1.69646967e-04 -6.32796188e-02 -2.51879160e+00] [-8.40004903e-04 9.99943814e-01 -1.05671298e-02 2.75753125e-01] [ 6.32742706e-02 1.05991066e-02 9.97939891e-01 -2.63627556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.403133365 meters Centerline goodness : 0.065086 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.27, Z:-0.26 [[ 9.98005120e-01 3.16058292e-04 -6.31322493e-02 -2.51925275e+00] [-9.62660932e-04 9.99947394e-01 -1.02118787e-02 2.74071084e-01] [ 6.31257007e-02 1.02522822e-02 9.97952923e-01 -2.63453559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.433133365 meters Centerline goodness : 0.115157 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.27, Z:-0.26 [[ 9.98010063e-01 6.56488578e-04 -6.30514271e-02 -2.51896868e+00] [-1.25049626e-03 9.99955206e-01 -9.38200299e-03 2.70101966e-01] [ 6.30424436e-02 9.44217897e-03 9.97966180e-01 -2.64035342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.463133365 meters Centerline goodness : 0.113300 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.27, Z:-0.26 [[ 9.98005479e-01 7.44204284e-04 -6.31229680e-02 -2.51860185e+00] [-1.31956582e-03 9.99957962e-01 -9.07373242e-03 2.68083597e-01] [ 6.31135618e-02 9.13892958e-03 9.97964508e-01 -2.64274841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.493133365 meters Centerline goodness : 0.114343 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.27, Z:-0.26 [[ 9.98004334e-01 7.99417924e-04 -6.31404011e-02 -2.51860675e+00] [-1.35663468e-03 9.99960511e-01 -8.78266404e-03 2.65912730e-01] [ 6.31308868e-02 8.85079523e-03 9.97966009e-01 -2.64202381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.523133365 meters Centerline goodness : 0.137707 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 9.98003011e-01 8.43227826e-04 -6.31607315e-02 -2.51879295e+00] [-1.38795643e-03 9.99962218e-01 -8.58110279e-03 2.64400695e-01] [ 6.31511094e-02 8.65163077e-03 9.97966476e-01 -2.63886085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.553133365 meters Centerline goodness : 0.149440 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 9.98000388e-01 9.91592746e-04 -6.32000247e-02 -2.51870529e+00] [-1.51865784e-03 9.99964466e-01 -8.29214242e-03 2.63088836e-01] [ 6.31895566e-02 8.37154056e-03 9.97966431e-01 -2.63892452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.583133365 meters Centerline goodness : 0.094207 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 9.97985258e-01 1.34760361e-03 -6.34319253e-02 -2.51762267e+00] [-1.84921947e-03 9.99967479e-01 -7.84989547e-03 2.61448400e-01] [ 6.34192839e-02 7.95137951e-03 9.97955295e-01 -2.64684068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.613133365 meters Centerline goodness : 0.349413 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 9.97993740e-01 1.39956516e-03 -6.32972119e-02 -2.51786005e+00] [-1.89715523e-03 9.99967766e-01 -7.80174959e-03 2.61133288e-01] [ 6.32842525e-02 7.90618188e-03 9.97964226e-01 -2.64881918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.643133365 meters Centerline goodness : 0.097803 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 9.98009376e-01 1.48866529e-03 -6.30481535e-02 -2.51860526e+00] [-1.98012760e-03 9.99968137e-01 -7.73326453e-03 2.60948762e-01] [ 6.30346324e-02 7.84271389e-03 9.97980524e-01 -2.64763671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67313336499996 meters Centerline goodness : 0.100134 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 9.98015656e-01 1.61569983e-03 -6.29455264e-02 -2.51896584e+00] [-2.09934321e-03 9.99968778e-01 -7.61814267e-03 2.60851814e-01] [ 6.29312525e-02 7.73516992e-03 9.97987888e-01 -2.64719754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.703133365 meters Centerline goodness : 0.109647 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 9.98005894e-01 1.80506808e-03 -6.30949806e-02 -2.51850252e+00] [-2.28092132e-03 9.99969493e-01 -7.47064042e-03 2.60764568e-01] [ 6.30795708e-02 7.59965786e-03 9.97979565e-01 -2.64970723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73313336499996 meters Centerline goodness : 0.109465 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.27 [[ 9.97973854e-01 2.27343118e-03 -6.35847382e-02 -2.51712896e+00] [-2.73468453e-03 9.99970570e-01 -7.16806257e-03 2.60382491e-01] [ 6.35665708e-02 7.32742323e-03 9.97950700e-01 -2.65417231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.763133365 meters Centerline goodness : 0.137916 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.27 [[ 9.97978129e-01 2.32590376e-03 -6.35156987e-02 -2.51755757e+00] [-2.78579063e-03 9.99970537e-01 -7.15292267e-03 2.60309153e-01] [ 6.34971903e-02 7.31540183e-03 9.97955205e-01 -2.65171776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79313336499996 meters Centerline goodness : 0.107194 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.27 [[ 9.97997438e-01 2.34900340e-03 -6.32107308e-02 -2.51844626e+00] [-2.80832417e-03 9.99970290e-01 -7.17863418e-03 2.60395833e-01] [ 6.31919902e-02 7.34177474e-03 9.97974384e-01 -2.65065754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.823133365 meters Centerline goodness : 0.115769 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 0.99803672 0.00267419 -0.06257445 -2.52032828] [-0.0031112 0.99997144 -0.00688743 0.26002928] [ 0.06255425 0.00706859 0.99801653 -0.26466011] [ 0. 0. 0. 1. ]] SLAMing on 356.85313336499996 meters Centerline goodness : 0.110084 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 0.99805559 0.00271667 -0.0622708 -2.52097882] [-0.00314828 0.99997169 -0.00683424 0.2597673 ] [ 0.06225047 0.007017 0.99803589 -0.26483754] [ 0. 0. 0. 1. ]] SLAMing on 356.883133365 meters Centerline goodness : 0.117344 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.27 [[ 0.99806013 0.00269906 -0.06219882 -2.52096703] [-0.00312911 0.99997186 -0.0068177 0.25933682] [ 0.06217867 0.0069991 0.99804049 -0.26512175] [ 0. 0. 0. 1. ]] SLAMing on 356.91313336499996 meters Centerline goodness : 0.119600 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.27 [[ 0.99804896 0.00276174 -0.062375 -2.52057668] [-0.00318071 0.99997304 -0.0066187 0.25806421] [ 0.06235504 0.00680418 0.99803084 -0.26511542] [ 0. 0. 0. 1. ]] SLAMing on 356.943133365 meters Centerline goodness : 0.118999 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 0.99804428 0.00291758 -0.06244283 -2.52094431] [-0.00331993 0.99997439 -0.0063407 0.25716074] [ 0.06242273 0.00653561 0.9980284 -0.26435445] [ 0. 0. 0. 1. ]] SLAMing on 356.97313336499997 meters Centerline goodness : 0.107270 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.26, Z:-0.26 [[ 0.99807414 -0.00497951 -0.06183214 -2.50342475] [ 0.00470966 0.99997874 -0.0045092 0.26084771] [ 0.06185328 0.00420931 0.99807638 -0.26127224] [ 0. 0. 0. 1. ]] SLAMing on 357.003133365 meters Centerline goodness : 0.103218 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.25, Z:-0.26 [[ 9.98171025e-01 1.35019949e-03 -6.04382487e-02 -2.52366785e+00] [-1.76597112e-03 9.99975141e-01 -6.82639362e-03 2.53162325e-01] [ 6.04275293e-02 6.92064052e-03 9.98148595e-01 -2.63433352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03313336499997 meters Centerline goodness : 0.104496 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.25, Z:-0.26 [[ 9.98176513e-01 -2.62511189e-03 -6.03055344e-02 -2.52381907e+00] [ 2.02756502e-03 9.99948265e-01 -9.96771359e-03 2.48613580e-01] [ 6.03285808e-02 9.82726420e-03 9.98130196e-01 -2.63443410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.063133365 meters Centerline goodness : 0.102124 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.25, Z:-0.26 [[ 9.98188448e-01 -2.67565689e-03 -6.01054296e-02 -2.52409785e+00] [ 2.10710661e-03 9.99952458e-01 -9.52060744e-03 2.45302776e-01] [ 6.01280459e-02 9.37671182e-03 9.98146630e-01 -2.63530436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09313336499997 meters Centerline goodness : 0.109052 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.24, Z:-0.26 [[ 9.98189618e-01 -2.53601835e-03 -6.00920540e-02 -2.52402669e+00] [ 2.00422224e-03 9.99958312e-01 -8.90831254e-03 2.41812888e-01] [ 6.01121405e-02 8.77174726e-03 9.98153088e-01 -2.63521279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.123133365 meters Centerline goodness : 0.109354 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.24, Z:-0.26 [[ 9.98175299e-01 -2.36017233e-03 -6.03365735e-02 -2.52324407e+00] [ 1.85977283e-03 9.99963423e-01 -8.34828156e-03 2.38697887e-01] [ 6.03540700e-02 8.22083612e-03 9.98143178e-01 -2.63678750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.153133365 meters Centerline goodness : 0.110427 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.24, Z:-0.26 [[ 9.98155825e-01 -2.20582833e-03 -6.06636864e-02 -2.52212492e+00] [ 1.73275706e-03 9.99967689e-01 -7.84976202e-03 2.35767956e-01] [ 6.06790415e-02 7.73017026e-03 9.98127396e-01 -2.64054918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.183133365 meters Centerline goodness : 0.111641 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.23, Z:-0.26 [[ 9.98146234e-01 -2.06282530e-03 -6.08263184e-02 -2.52143912e+00] [ 1.61611947e-03 9.99971371e-01 -7.39223890e-03 2.32967570e-01] [ 6.08398259e-02 7.28023282e-03 9.98120992e-01 -2.64412802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.213133365 meters Centerline goodness : 0.113491 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.23, Z:-0.26 [[ 9.98139716e-01 -1.64321349e-03 -6.09459369e-02 -2.52074319e+00] [ 1.24766007e-03 9.99977916e-01 -6.52772197e-03 2.28804140e-01] [ 6.09553174e-02 6.43953874e-03 9.98119723e-01 -2.64935284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.243133365 meters Centerline goodness : 0.093456 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.23, Z:-0.27 [[ 9.98139829e-01 -1.41349651e-03 -6.09498425e-02 -2.52068069e+00] [ 1.03857253e-03 9.99980348e-01 -6.18259389e-03 2.27581438e-01] [ 6.09573838e-02 6.10779238e-03 9.98121682e-01 -2.65041317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.273133365 meters Centerline goodness : 0.118858 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.23, Z:-0.27 [[ 9.98141475e-01 -1.24463864e-03 -6.09265710e-02 -2.52062932e+00] [ 8.79012892e-04 9.99981448e-01 -6.02752330e-03 2.27213039e-01] [ 6.09329428e-02 5.96276576e-03 9.98124051e-01 -2.65282884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.303133365 meters Centerline goodness : 0.102005 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.23, Z:-0.27 [[ 9.98125191e-01 -1.02681752e-03 -6.11968106e-02 -2.51978078e+00] [ 6.67954870e-04 9.99982465e-01 -5.88424344e-03 2.26344759e-01] [ 6.12017795e-02 5.83233490e-03 9.98108374e-01 -2.65749877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.333133365 meters Centerline goodness : 0.118545 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.23, Z:-0.27 [[ 9.98134335e-01 -8.98532405e-04 -6.10495090e-02 -2.52037168e+00] [ 5.52416364e-04 9.99983682e-01 -5.68607362e-03 2.25574590e-01] [ 6.10536218e-02 5.64174056e-03 9.98118543e-01 -2.65479343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.363133365 meters Centerline goodness : 0.118545 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.23, Z:-0.27 [[ 9.98134335e-01 -8.98532405e-04 -6.10495090e-02 -2.52037168e+00] [ 5.52416364e-04 9.99983682e-01 -5.68607362e-03 2.25574590e-01] [ 6.10536218e-02 5.64174056e-03 9.98118543e-01 -2.65479343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.393133365 meters Centerline goodness : 0.115794 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.22, Z:-0.26 [[ 9.98150577e-01 -7.07456338e-04 -6.07859031e-02 -2.52135427e+00] [ 3.84183917e-04 9.99985723e-01 -5.32973637e-03 2.24158854e-01] [ 6.07888059e-02 5.29652647e-03 9.98136598e-01 -2.64991920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42313336499996 meters Centerline goodness : 0.096554 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.22, Z:-0.26 [[ 9.98159738e-01 -5.43159505e-04 -6.06369787e-02 -2.52191412e+00] [ 2.45504126e-04 9.99987886e-01 -4.91615178e-03 2.22135230e-01] [ 6.06389144e-02 4.89221815e-03 9.98147779e-01 -2.64615334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.453133365 meters Centerline goodness : 0.110171 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.22, Z:-0.26 [[ 0.99813211 -0.00989777 -0.06028531 -2.50040041] [ 0.00963809 0.99994299 -0.00459688 0.22061279] [ 0.06032738 0.00400725 0.9981706 -0.2636406 ] [ 0. 0. 0. 1. ]] SLAMing on 357.48313336499996 meters Centerline goodness : 0.113999 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.21, Z:-0.27 [[ 9.98149694e-01 -2.67124064e-03 -6.07458037e-02 -2.51790035e+00] [ 2.29782096e-03 9.99978039e-01 -6.21627614e-03 2.10816355e-01] [ 6.07610748e-02 6.06519115e-03 9.98133911e-01 -2.66430735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.513133365 meters Centerline goodness : 0.086811 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.21, Z:-0.27 [[ 9.98126312e-01 -2.44673283e-03 -6.11382016e-02 -2.51679964e+00] [ 2.10809056e-03 9.99982082e-01 -5.60285263e-03 2.07565004e-01] [ 6.11508148e-02 5.46346977e-03 9.98113585e-01 -2.66540712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54313336499996 meters Centerline goodness : 0.107200 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.20, Z:-0.27 [[ 9.98119373e-01 -2.18900752e-03 -6.12611184e-02 -2.51627408e+00] [ 1.88715471e-03 9.99985795e-01 -4.98473999e-03 2.04552715e-01] [ 6.12711599e-02 4.85975634e-03 9.98109327e-01 -2.66748214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.573133365 meters Centerline goodness : 0.107382 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.20, Z:-0.27 [[ 9.98119269e-01 -1.94257705e-03 -6.12711220e-02 -2.51611811e+00] [ 1.67674074e-03 9.99988959e-01 -4.38980633e-03 2.01560957e-01] [ 6.12789731e-02 4.27881450e-03 9.98111506e-01 -2.66833545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60313336499996 meters Centerline goodness : 0.105423 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.20, Z:-0.27 [[ 9.98138003e-01 -1.65098565e-03 -6.09737686e-02 -2.51684862e+00] [ 1.43612028e-03 9.99992605e-01 -3.56755399e-03 1.96390218e-01] [ 6.09792077e-02 3.47334555e-03 9.98132993e-01 -2.66676216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.633133365 meters Centerline goodness : 0.105844 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.19, Z:-0.27 [[ 9.98132095e-01 -1.44452563e-03 -6.10756419e-02 -2.51652850e+00] [ 1.25449172e-03 9.99994253e-01 -3.14968236e-03 1.94412416e-01] [ 6.10798407e-02 3.06718017e-03 9.98128171e-01 -2.66755942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66313336499996 meters Centerline goodness : 0.098062 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.19, Z:-0.27 [[ 9.98126031e-01 -1.22342714e-03 -6.11794862e-02 -2.51597743e+00] [ 1.05686772e-03 9.99995647e-01 -2.75475734e-03 1.92735417e-01] [ 6.11825902e-02 2.68493638e-03 9.98122979e-01 -2.67162929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.693133365 meters Centerline goodness : 0.098362 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.19, Z:-0.27 [[ 9.98118386e-01 -1.08949156e-03 -6.13066060e-02 -2.51531263e+00] [ 9.38795349e-04 9.99996467e-01 -2.48682522e-03 1.91362919e-01] [ 6.13090988e-02 2.42459162e-03 9.98115883e-01 -2.67678220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72313336499997 meters Centerline goodness : 0.142285 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.19, Z:-0.27 [[ 9.98116849e-01 -9.55597525e-04 -6.13338577e-02 -2.51508042e+00] [ 8.30372643e-04 9.99997519e-01 -2.06714907e-03 1.88152583e-01] [ 6.13356808e-02 2.01232636e-03 9.98115166e-01 -2.67885424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.753133365 meters Centerline goodness : 0.106123 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.19, Z:-0.27 [[ 9.98122727e-01 -8.32027075e-04 -6.12399421e-02 -2.51551776e+00] [ 7.26302386e-04 9.99998207e-01 -1.74864086e-03 1.86344123e-01] [ 6.12412872e-02 1.70087946e-03 9.98121542e-01 -2.67558696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78313336499997 meters Centerline goodness : 0.101623 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.18, Z:-0.27 [[ 0.99815233 0.00696246 -0.06036095 -2.53457925] [-0.00713658 0.99997097 -0.00266956 0.17830995] [ 0.06034061 0.0030954 0.99817305 -0.26997189] [ 0. 0. 0. 1. ]] SLAMing on 357.813133365 meters Centerline goodness : 0.108389 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.18, Z:-0.27 [[ 9.98223043e-01 -9.78657487e-04 -5.95801897e-02 -2.51684144e+00] [ 9.01225410e-04 9.99998714e-01 -1.32648550e-03 1.82098202e-01] [ 5.95814112e-02 1.27043321e-03 9.98222641e-01 -2.67650640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84313336499997 meters Centerline goodness : 0.205224 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.18, Z:-0.27 [[ 9.98256582e-01 -9.79769982e-04 -5.90155653e-02 -2.51853067e+00] [ 9.19642381e-04 9.99999030e-01 -1.04599477e-03 1.79654633e-01] [ 5.90165329e-02 9.89897944e-04 9.98256515e-01 -2.67104459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.873133365 meters SLAMing on 357.903133365 meters Centerline goodness : 0.249439 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.18, Z:-0.27 [[ 9.98244214e-01 -8.12394231e-04 -5.92269250e-02 -2.51828511e+00] [ 7.72790956e-04 9.99999462e-01 -6.91572176e-04 1.78064938e-01] [ 5.92274550e-02 6.44587891e-04 9.98244305e-01 -2.66705725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.933133365 meters Centerline goodness : 0.154185 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.18, Z:-0.27 [[ 9.98225421e-01 -7.24247111e-04 -5.95439712e-02 -2.51751060e+00] [ 6.93971597e-04 9.99999619e-01 -5.29134108e-04 1.77441560e-01] [ 5.95443318e-02 4.86873293e-04 9.98225543e-01 -2.66725740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.963133365 meters Centerline goodness : 0.090200 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.18, Z:-0.27 [[ 9.98210178e-01 -6.89616327e-04 -5.97993795e-02 -2.51691272e+00] [ 6.65098233e-04 9.99999686e-01 -4.29908902e-04 1.76824514e-01] [ 5.97996573e-02 3.89366979e-04 9.98210323e-01 -2.66673994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.993133365 meters Centerline goodness : 0.108122 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.17, Z:-0.27 [[ 9.98192429e-01 -5.49689219e-04 -6.00963631e-02 -2.51645509e+00] [ 5.51804679e-04 9.99999848e-01 1.86054148e-05 1.74204002e-01] [ 6.00963437e-02 -5.17332385e-05 9.98192580e-01 -2.66267184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.023133365 meters Centerline goodness : 0.140369 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.18, Z:-0.26 [[ 9.98192817e-01 -8.57229915e-03 -5.94778559e-02 -2.49769670e+00] [ 8.66262556e-03 9.99961684e-01 1.26097219e-03 1.77805520e-01] [ 5.94647675e-02 -1.77392777e-03 9.98228829e-01 -2.63855201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.053133365 meters Centerline goodness : 0.100357 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.17, Z:-0.27 [[ 9.98093822e-01 -8.81876459e-03 -6.10815220e-02 -2.54355625e+00] [ 8.89986792e-03 9.99959838e-01 1.05584765e-03 1.71730977e-01] [ 6.10697576e-02 -1.59745249e-03 9.98132222e-01 -2.65298723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.083133365 meters Centerline goodness : 0.095294 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.17, Z:-0.27 [[ 9.98106258e-01 -8.74845647e-03 -6.08881176e-02 -2.54394893e+00] [ 8.84964394e-03 9.99959872e-01 1.39238308e-03 1.69766598e-01] [ 6.08734931e-02 -1.92858443e-03 9.98143626e-01 -2.65252423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.113133365 meters Centerline goodness : 0.112649 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.16, Z:-0.27 [[ 9.98324011e-01 -4.75253521e-03 -5.76765367e-02 -2.56210629e+00] [ 4.70627618e-03 9.99988486e-01 -9.37850598e-04 1.59815855e-01] [ 5.76803297e-02 6.64837060e-04 9.98334882e-01 -2.67664398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.143133365 meters Centerline goodness : 0.101491 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.16, Z:-0.27 [[ 9.98311489e-01 -4.74273332e-03 -5.78936658e-02 -2.56172081e+00] [ 4.71758988e-03 9.99988709e-01 -5.70970832e-04 1.57283216e-01] [ 5.78957201e-02 2.96888170e-04 9.98322592e-01 -2.67340246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17313336499996 meters Centerline goodness : 0.120280 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.15, Z:-0.27 [[ 9.98298371e-01 -4.66771395e-03 -5.81255177e-02 -2.56109873e+00] [ 4.66595752e-03 9.99989101e-01 -1.65938877e-04 1.54713124e-01] [ 5.81256588e-02 -1.05554686e-04 9.98309269e-01 -2.67340543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.203133365 meters Centerline goodness : 0.100770 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.15, Z:-0.27 [[ 9.98282689e-01 -4.56062211e-03 -5.84026865e-02 -2.56039988e+00] [ 4.58617959e-03 9.99989437e-01 3.03577766e-04 1.51850939e-01] [ 5.84006851e-02 -5.70901638e-04 9.98293060e-01 -2.67290964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23313336499996 meters Centerline goodness : 0.093435 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.14, Z:-0.27 [[ 9.98404458e-01 7.81493655e-04 -5.64617317e-02 -2.58231944e+00] [-8.90292120e-04 9.99997795e-01 -1.90181360e-03 1.41167568e-01] [ 5.64601209e-02 1.94904661e-03 9.98402953e-01 -2.68711004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.263133365 meters Centerline goodness : 0.126452 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.14, Z:-0.27 [[ 9.98413209e-01 9.71849543e-04 -5.63038099e-02 -2.58280404e+00] [-1.04859537e-03 9.99998561e-01 -1.33353891e-03 1.38214093e-01] [ 5.63024328e-02 1.39046277e-03 9.98412792e-01 -2.68452132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29313336499996 meters Centerline goodness : 0.265206 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.13, Z:-0.27 [[ 9.98420396e-01 1.23564281e-03 -5.61710342e-02 -2.58315659e+00] [-1.27108769e-03 9.99999015e-01 -5.95293993e-04 1.34294734e-01] [ 5.61702433e-02 6.65751975e-04 9.98420984e-01 -2.68257499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.323133365 meters Centerline goodness : 0.099467 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.13, Z:-0.27 [[ 9.98424278e-01 -2.34207339e-03 -5.60667139e-02 -2.58339550e+00] [ 2.16840427e-03 9.99992662e-01 -3.15817946e-03 1.27138961e-01] [ 5.60736992e-02 3.03162774e-03 9.98422030e-01 -2.68124650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35313336499996 meters Centerline goodness : 0.053675 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.12, Z:-0.27 [[ 9.98417385e-01 -2.22709658e-03 -5.61939991e-02 -2.58297592e+00] [ 2.08696611e-03 9.99994565e-01 -2.55225165e-03 1.21818347e-01] [ 5.61993778e-02 2.43093745e-03 9.98416607e-01 -2.68206270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.383133365 meters Centerline goodness : 0.135915 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.12, Z:-0.27 [[ 9.98407526e-01 -1.92166388e-03 -5.63801391e-02 -2.58231349e+00] [ 1.82653736e-03 9.99996820e-01 -1.73871725e-03 1.16957013e-01] [ 5.63833010e-02 1.63296796e-03 9.98407861e-01 -2.68443497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41313336499996 meters Centerline goodness : 0.102599 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.11, Z:-0.27 [[ 9.98404922e-01 -1.51886676e-03 -5.64384976e-02 -2.58191026e+00] [ 1.47365573e-03 9.99998559e-01 -8.42677190e-04 1.12507264e-01] [ 5.64396962e-02 7.58162139e-04 9.98405722e-01 -2.68763497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.443133365 meters Centerline goodness : 0.088612 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.11, Z:-0.27 [[ 9.98404655e-01 -1.12333223e-03 -5.64524928e-02 -2.58157590e+00] [ 1.12616198e-03 9.99999366e-01 1.83135683e-05 1.08338649e-01] [ 5.64524364e-02 -8.18590028e-05 9.98405286e-01 -2.69106045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47313336499997 meters Centerline goodness : 0.055926 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.10, Z:-0.27 [[ 9.98348304e-01 6.14489871e-03 -5.71218368e-02 -2.56276516e+00] [-6.18158085e-03 9.99980786e-01 -4.65498305e-04 9.50729361e-02] [ 5.71178788e-02 8.17832696e-04 9.98367106e-01 -2.66504759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.503133365 meters Centerline goodness : 0.124480 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.09, Z:-0.27 [[ 9.98340590e-01 6.42893836e-03 -5.72253045e-02 -2.56223004e+00] [-6.42937676e-03 9.99979316e-01 1.76453278e-04 9.14382989e-02] [ 5.72252553e-02 1.91762574e-04 9.98361274e-01 -2.66906972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53313336499997 meters Centerline goodness : 0.106403 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.09, Z:-0.27 [[ 9.98323428e-01 6.73435645e-03 -5.74889644e-02 -2.56117741e+00] [-6.69777552e-03 9.99977226e-01 8.28974177e-04 8.80447874e-02] [ 5.74932378e-02 -4.42536164e-04 9.98345798e-01 -2.67486648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.563133365 meters Centerline goodness : 0.195845 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.09, Z:-0.27 [[ 9.98299967e-01 -4.81944039e-04 -5.82833066e-02 -2.54172317e+00] [ 6.14592660e-04 9.99997262e-01 2.25802413e-03 8.86621473e-02] [ 5.82820588e-02 -2.29000591e-03 9.98297530e-01 -2.65929369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59313336499997 meters Centerline goodness : 0.128634 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.09, Z:-0.27 [[ 9.98295749e-01 -1.61556016e-04 -5.83572778e-02 -2.54112527e+00] [ 3.33292017e-04 9.99995643e-01 2.93311646e-03 8.50480282e-02] [ 5.83565496e-02 -2.94756771e-03 9.98291453e-01 -2.66459239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.623133365 meters Centerline goodness : 0.138316 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.08, Z:-0.27 [[ 9.98299657e-01 -7.43380981e-04 -5.82858642e-02 -2.54054257e+00] [ 9.21770387e-04 9.99994973e-01 3.03376847e-03 7.60668787e-02] [ 5.82833160e-02 -3.08233621e-03 9.98295324e-01 -2.67229288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.653133365 meters Centerline goodness : 0.153920 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.07, Z:-0.27 [[ 9.98297150e-01 -6.04748970e-04 -5.83303981e-02 -2.54013988e+00] [ 7.98859767e-04 9.99994221e-01 3.30451976e-03 7.44797700e-02] [ 5.83280626e-02 -3.34549046e-03 9.98291864e-01 -2.67672463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.683133365 meters Centerline goodness : 0.135751 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.07, Z:-0.27 [[ 9.98287907e-01 -4.38023191e-04 -5.84898498e-02 -2.53944144e+00] [ 6.39585303e-04 9.99993922e-01 3.42742793e-03 7.41872181e-02] [ 5.84879930e-02 -3.45896910e-03 9.98282120e-01 -2.68194425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.713133365 meters Centerline goodness : 0.094683 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.07, Z:-0.27 [[ 9.98274780e-01 -2.26758359e-04 -5.87146750e-02 -2.53855368e+00] [ 4.28850806e-04 9.99994028e-01 3.42936309e-03 7.49853593e-02] [ 5.87135467e-02 -3.44862652e-03 9.98268915e-01 -2.68820020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.743133365 meters SLAMing on 358.773133365 meters Centerline goodness : 0.154825 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.08, Z:-0.27 [[ 0.99824043 0.00458258 -0.05911894 -2.53689844] [-0.00418505 0.99996781 0.00684636 0.08151763] [ 0.05914841 -0.00658689 0.99822747 -0.27030813] [ 0. 0. 0. 1. ]] SLAMing on 358.803133365 meters Centerline goodness : 0.128987 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.08, Z:-0.27 [[ 0.99826447 0.00483301 -0.05869147 -2.53785375] [-0.00445212 0.99996818 0.00661876 0.0844369 ] [ 0.05872159 -0.00634598 0.99825423 -0.27062048] [ 0. 0. 0. 1. ]] SLAMing on 358.833133365 meters Centerline goodness : 0.147408 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.09, Z:-0.27 [[ 0.99828155 0.00479879 -0.058403 -2.53847484] [-0.00444555 0.99997104 0.00617686 0.08735297] [ 0.05843095 -0.00590661 0.99827398 -0.27093162] [ 0. 0. 0. 1. ]] SLAMing on 358.863133365 meters Centerline goodness : 0.141199 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.09, Z:-0.27 [[ 0.99828735 0.0045547 -0.05832335 -2.5385499 ] [-0.00423607 0.99997543 0.00558562 0.09017841] [ 0.05834735 -0.00532899 0.99828212 -0.27126131] [ 0. 0. 0. 1. ]] SLAMing on 358.893133365 meters Centerline goodness : 0.160722 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.09, Z:-0.27 [[ 0.99826419 0.00404621 -0.05875579 -2.53777674] [-0.00378096 0.99998216 0.00462495 0.09411308] [ 0.05877346 -0.00439477 0.99826167 -0.27114496] [ 0. 0. 0. 1. ]] SLAMing on 358.92313336499996 meters Centerline goodness : 0.134398 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.10, Z:-0.27 [[ 0.99825682 -0.00311789 -0.05893725 -2.51979059] [ 0.00347665 0.99997604 0.00598555 0.10264883] [ 0.05891717 -0.00618002 0.99824374 -0.26808821] [ 0. 0. 0. 1. ]] SLAMing on 358.953133365 meters Centerline goodness : 0.067225 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.10, Z:-0.27 [[ 0.99827198 -0.00311458 -0.05868004 -2.52072862] [ 0.00346528 0.99997673 0.00587556 0.10420213] [ 0.05866037 -0.00606875 0.99825955 -0.26767807] [ 0. 0. 0. 1. ]] SLAMing on 358.98313336499996 meters Centerline goodness : 0.101962 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.27 [[ 0.99829284 -0.00319426 -0.05831985 -2.52197053] [ 0.00353426 0.99997735 0.00572773 0.10539329] [ 0.05830023 -0.00592407 0.99828152 -0.26709661] [ 0. 0. 0. 1. ]] SLAMing on 359.013133365 meters Centerline goodness : 0.098420 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.27 [[ 0.99830262 -0.00350642 -0.05813411 -2.52261894] [ 0.00382827 0.99997795 0.00542579 0.10595639] [ 0.05811381 -0.00563914 0.99829404 -0.26668105] [ 0. 0. 0. 1. ]] SLAMing on 359.04313336499996 meters Centerline goodness : 0.145398 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.27 [[ 0.99828255 -0.00396319 -0.05844863 -2.52209271] [ 0.00426252 0.99997843 0.00499749 0.10640923] [ 0.05842756 -0.00523804 0.99827791 -0.26631204] [ 0. 0. 0. 1. ]] SLAMing on 359.073133365 meters SLAMing on 359.10313336499996 meters Centerline goodness : 0.141547 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.27 [[ 0.99826744 -0.00472267 -0.05864995 -2.52206466] [ 0.00499564 0.99997736 0.00450846 0.10764448] [ 0.05862733 -0.00479365 0.99826843 -0.26565207] [ 0. 0. 0. 1. ]] SLAMing on 359.133133365 meters Centerline goodness : 0.110653 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.27 [[ 0.99828331 -0.00474711 -0.05837723 -2.52292288] [ 0.00501466 0.99997758 0.00443748 0.10851557] [ 0.05835486 -0.00472261 0.99828473 -0.26531408] [ 0. 0. 0. 1. ]] SLAMing on 359.16313336499996 meters Centerline goodness : 0.104650 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.27 [[ 0.99826471 -0.00545204 -0.05863316 -2.52220222] [ 0.00566692 0.99997782 0.00349915 0.1112772 ] [ 0.05861279 -0.00382535 0.99827346 -0.26546554] [ 0. 0. 0. 1. ]] SLAMing on 359.193133365 meters SLAMing on 359.22313336499997 meters Centerline goodness : 0.098252 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.27 [[ 0.99823665 -0.00573039 -0.05908257 -2.52124051] [ 0.00592504 0.99997758 0.00311996 0.11276303] [ 0.05906336 -0.00346453 0.99824822 -0.26540113] [ 0. 0. 0. 1. ]] SLAMing on 359.253133365 meters Centerline goodness : 0.105479 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.26 [[ 0.99824727 -0.0055353 -0.05892161 -2.52206606] [ 0.00574744 0.9999776 0.00343156 0.11214119] [ 0.05890129 -0.0037642 0.99825671 -0.2647512 ] [ 0. 0. 0. 1. ]] SLAMing on 359.28313336499997 meters Centerline goodness : 0.105479 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.26 [[ 0.99824727 -0.0055353 -0.05892161 -2.52206606] [ 0.00574744 0.9999776 0.00343156 0.11214119] [ 0.05890129 -0.0037642 0.99825671 -0.2647512 ] [ 0. 0. 0. 1. ]] SLAMing on 359.313133365 meters SLAMing on 359.34313336499997 meters Centerline goodness : 0.099928 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.26 [[ 9.98271094e-01 -9.58226495e-03 -5.79914121e-02 -2.52450963e+00] [ 9.61354321e-03 9.99953755e-01 2.60391538e-04 1.07757191e-01] [ 5.79862351e-02 -8.17444291e-04 9.98317048e-01 -2.63941027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.373133365 meters Centerline goodness : 0.095284 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.10, Z:-0.26 [[ 9.98245258e-01 -3.14331045e-03 -5.91314216e-02 -2.50623445e+00] [ 3.06603946e-03 9.99994323e-01 -1.39745082e-03 1.01750643e-01] [ 5.91354785e-02 1.21369938e-03 9.98249228e-01 -2.61114160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.403133365 meters Centerline goodness : 0.052090 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.10, Z:-0.26 [[ 9.98234963e-01 -2.75387964e-03 -5.93243173e-02 -2.50455186e+00] [ 2.71384065e-03 9.99996032e-01 -7.55475972e-04 9.95018862e-02] [ 5.93261624e-02 5.93145785e-04 9.98238476e-01 -2.62757453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.433133365 meters Centerline goodness : 0.096710 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.10, Z:-0.26 [[ 9.98228536e-01 -2.66903796e-03 -5.94362404e-02 -2.50383217e+00] [ 2.62979192e-03 9.99996269e-01 -7.38516765e-04 9.97520438e-02] [ 5.94379898e-02 5.80903564e-04 9.98231831e-01 -2.63443890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.463133365 meters SLAMing on 359.493133365 meters Centerline goodness : 0.102048 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.10, Z:-0.26 [[ 9.98146152e-01 5.95745177e-03 -6.05703482e-02 -2.48201719e+00] [-6.07763651e-03 9.99979911e-01 -1.80017796e-03 9.86532205e-02] [ 6.05584069e-02 2.16496526e-03 9.98162308e-01 -2.61220355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.523133365 meters Centerline goodness : 0.100035 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.10, Z:-0.26 [[ 9.98117274e-01 6.16473219e-03 -6.10238019e-02 -2.48094704e+00] [-6.28959686e-03 9.99978501e-01 -1.85428652e-03 9.97023301e-02] [ 6.10110588e-02 2.23461052e-03 9.98134589e-01 -2.61343676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.553133365 meters Centerline goodness : 0.228877 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.10, Z:-0.26 [[ 9.98053562e-01 6.94667202e-03 -6.19744424e-02 -2.47806547e+00] [-7.06578492e-03 9.99973587e-01 -1.70301279e-03 1.01806709e-01] [ 6.19609752e-02 2.13759606e-03 9.98076284e-01 -2.62518524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.583133365 meters Centerline goodness : 0.106618 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.10, Z:-0.26 [[ 9.98064449e-01 6.87933584e-03 -6.18063893e-02 -2.47854427e+00] [-7.01004937e-03 9.99973627e-01 -1.89829314e-03 1.02596625e-01] [ 6.17917004e-02 2.32788474e-03 9.98086352e-01 -2.62538011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.613133365 meters Centerline goodness : 0.099637 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.10, Z:-0.26 [[ 9.98090400e-01 6.85787069e-03 -6.13882963e-02 -2.47989315e+00] [-6.99093978e-03 9.99973656e-01 -1.95313885e-03 1.02717762e-01] [ 6.13732847e-02 2.37857102e-03 9.98112049e-01 -2.62104183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.643133365 meters Centerline goodness : 0.090490 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.11, Z:-0.26 [[ 9.98215445e-01 -5.53764200e-04 -5.97128090e-02 -2.46343996e+00] [ 5.34752434e-04 9.99999801e-01 -3.34366293e-04 1.07557875e-01] [ 5.97129823e-02 3.01838027e-04 9.98215542e-01 -2.59092866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67313336499996 meters Centerline goodness : 0.172916 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.11, Z:-0.26 [[ 9.98239949e-01 -4.33202075e-04 -5.93027543e-02 -2.46507337e+00] [ 4.27137167e-04 9.99999902e-01 -1.14946579e-04 1.06912479e-01] [ 5.93027983e-02 8.94138564e-05 9.98240036e-01 -2.58171766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.703133365 meters Centerline goodness : 0.098980 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.10, Z:-0.26 [[ 9.98261288e-01 -5.67113729e-04 -5.89413284e-02 -2.46660893e+00] [ 5.74451471e-04 9.99999829e-01 1.07548179e-04 1.04709010e-01] [ 5.89412574e-02 -1.41220117e-04 9.98261443e-01 -2.57104136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73313336499996 meters Centerline goodness : 0.101658 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.10, Z:-0.26 [[ 0.99824891 0.00474655 -0.05896258 -2.48860141] [-0.0049323 0.99998332 -0.00300516 0.09905014] [ 0.05894733 0.00329072 0.99825567 -0.25813091] [ 0. 0. 0. 1. ]] SLAMing on 359.763133365 meters Centerline goodness : 0.132597 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.10, Z:-0.26 [[ 9.98254743e-01 -3.38776504e-03 -5.89575432e-02 -2.46855068e+00] [ 3.27791767e-03 9.99992707e-01 -1.95977417e-03 1.01539752e-01] [ 5.89637525e-02 1.76309588e-03 9.98258567e-01 -2.55992237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79313336499996 meters Centerline goodness : 0.048749 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.10, Z:-0.26 [[ 9.98250298e-01 -3.24947227e-03 -5.90405247e-02 -2.46834138e+00] [ 3.16551877e-03 9.99993841e-01 -1.51543712e-03 9.92441412e-02] [ 5.90450855e-02 1.32589167e-03 9.98254436e-01 -2.55920904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.823133365 meters Centerline goodness : 0.056467 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.25 [[ 9.98394543e-01 1.43304841e-03 -5.66240439e-02 -2.44890574e+00] [-1.69755931e-03 9.99987871e-01 -4.62352921e-03 9.41185708e-02] [ 5.66167314e-02 4.71222901e-03 9.98384866e-01 -2.54536561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85313336499996 meters Centerline goodness : 0.102373 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.25 [[ 9.98406962e-01 1.48585279e-03 -5.64032914e-02 -2.44965389e+00] [-1.73187660e-03 9.99989198e-01 -4.31323954e-03 9.19247242e-02] [ 5.63962734e-02 4.40405192e-03 9.98398750e-01 -2.54180907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.883133365 meters Centerline goodness : 0.103656 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.25 [[ 9.98406476e-01 1.58538576e-03 -5.64091818e-02 -2.44973130e+00] [-1.81267903e-03 9.99990443e-01 -3.97842816e-03 8.98459170e-02] [ 5.64023354e-02 4.07434017e-03 9.98399808e-01 -2.54029611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91313336499996 meters Centerline goodness : 0.115406 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.25 [[ 9.98381825e-01 -5.92470109e-03 -5.65564219e-02 -2.43035953e+00] [ 5.78924022e-03 9.99979969e-01 -2.55868734e-03 9.27080381e-02] [ 5.65704485e-02 2.22712823e-03 9.98396126e-01 -2.51859794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.943133365 meters Centerline goodness : 0.234656 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.25 [[ 9.98348607e-01 -5.53414947e-03 -5.71789477e-02 -2.42827806e+00] [ 5.43902904e-03 9.99983554e-01 -1.81905041e-03 8.95047183e-02] [ 5.71880742e-02 1.50504849e-03 9.98362288e-01 -2.52660537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97313336499997 meters Centerline goodness : 0.105597 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.08, Z:-0.26 [[ 9.98358057e-01 1.99503476e-03 -5.72469225e-02 -2.44580083e+00] [-2.16806024e-03 9.99993267e-01 -2.96049245e-03 8.15668119e-02] [ 5.72406308e-02 3.07974626e-03 9.98355661e-01 -2.55650337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.003133365 meters Centerline goodness : 0.146455 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.08, Z:-0.26 [[ 9.98364751e-01 2.15456989e-03 -5.71242620e-02 -2.44621764e+00] [-2.30451084e-03 9.99994070e-01 -2.55907525e-03 7.93742292e-02] [ 5.71184095e-02 2.68653400e-03 9.98363796e-01 -2.55462848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03313336499997 meters Centerline goodness : 0.146623 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.25 [[ 9.98407272e-01 -5.25911569e-03 -5.61717071e-02 -2.42887813e+00] [ 5.21533128e-03 9.99985971e-01 -9.26039858e-04 8.20793566e-02] [ 5.61757893e-02 6.31610867e-04 9.98420694e-01 -2.52789685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.063133365 meters Centerline goodness : 0.058667 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.25 [[ 9.98430446e-01 -5.04513468e-03 -5.57780548e-02 -2.42997118e+00] [ 5.02468492e-03 9.99987248e-01 -5.06864946e-04 8.02027363e-02] [ 5.57799008e-02 2.25802243e-04 9.98443064e-01 -2.52567484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09313336499997 meters Centerline goodness : 0.091174 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.25 [[ 9.98452237e-01 -4.82167607e-03 -5.54065101e-02 -2.43081712e+00] [ 4.82972934e-03 9.99988337e-01 1.14469829e-05 7.73484048e-02] [ 5.54058087e-02 -2.79027713e-04 9.98463879e-01 -2.52574455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.123133365 meters Centerline goodness : 0.092566 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.07, Z:-0.26 [[ 9.98446316e-01 2.49835844e-03 -5.56660850e-02 -2.44833166e+00] [-2.58530335e-03 9.99995548e-01 -1.48994299e-03 7.00142093e-02] [ 5.56621147e-02 1.63154180e-03 9.98448330e-01 -2.55542445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.153133365 meters Centerline goodness : 0.167346 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.07, Z:-0.26 [[ 9.98431797e-01 2.53708686e-03 -5.59241375e-02 -2.44740809e+00] [-2.61449923e-03 9.99995723e-01 -1.31111817e-03 6.85845459e-02] [ 5.59205719e-02 1.45527569e-03 9.98434160e-01 -2.56019360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.183133365 meters Centerline goodness : 0.140855 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.07, Z:-0.26 [[ 9.98399569e-01 2.64962857e-03 -5.64914196e-02 -2.44525217e+00] [-2.70357234e-03 9.99995959e-01 -8.78497827e-04 6.55288432e-02] [ 5.64888637e-02 1.02982049e-03 9.98402698e-01 -2.57131273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.213133365 meters Centerline goodness : 0.112666 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.06, Z:-0.26 [[ 9.98391287e-01 2.71417142e-03 -5.66345422e-02 -2.44467306e+00] [-2.75845676e-03 9.99995948e-01 -7.03789079e-04 6.43394243e-02] [ 5.66324025e-02 8.58880820e-04 9.98394728e-01 -2.57481678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.243133365 meters Centerline goodness : 0.104682 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.06, Z:-0.26 [[ 9.98379911e-01 2.73172060e-03 -5.68338809e-02 -2.44382959e+00] [-2.77476868e-03 9.99995920e-01 -6.78536368e-04 6.40213692e-02] [ 5.68317955e-02 8.35137952e-04 9.98383418e-01 -2.58027315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.273133365 meters Centerline goodness : 0.103672 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.06, Z:-0.26 [[ 9.98363411e-01 2.76179111e-03 -5.71215559e-02 -2.44282430e+00] [-2.81220861e-03 9.99995724e-01 -8.02269391e-04 6.49256570e-02] [ 5.71190959e-02 9.61594137e-04 9.98366909e-01 -2.58547400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.303133365 meters Centerline goodness : 0.105728 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.26 [[ 9.98347167e-01 2.83173573e-03 -5.74013452e-02 -2.44187911e+00] [-2.89529874e-03 9.99995284e-01 -1.02420792e-03 6.66840593e-02] [ 5.73981742e-02 1.18870912e-03 9.98350658e-01 -2.59080914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.333133365 meters Centerline goodness : 0.144947 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.26 [[ 9.98323480e-01 6.74165530e-03 -5.74872039e-02 -2.44206664e+00] [-6.62860439e-03 9.99975704e-01 2.15700343e-03 7.03036866e-02] [ 5.75003490e-02 -1.77232724e-03 9.98343913e-01 -2.58735753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.363133365 meters Centerline goodness : 0.137876 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98371453e-01 1.32228950e-04 -5.70475663e-02 -2.42671746e+00] [ 7.82387189e-05 9.99993200e-01 3.68708725e-03 7.85733098e-02] [ 5.70476659e-02 -3.68554598e-03 9.98364653e-01 -2.55449157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.393133365 meters Centerline goodness : 0.135326 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.07, Z:-0.26 [[ 9.98374430e-01 7.95452216e-03 -5.64377754e-02 -2.44668097e+00] [-7.81918620e-03 9.99966002e-01 2.61839082e-03 7.46129158e-02] [ 5.64566847e-02 -2.17283696e-03 9.98402685e-01 -2.57449091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42313336499996 meters Centerline goodness : 0.111703 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98397814e-01 2.89625670e-04 -5.65837520e-02 -2.42832996e+00] [-1.00408724e-04 9.99994394e-01 3.34682995e-03 8.12461287e-02] [ 5.65844042e-02 -3.33578621e-03 9.98392246e-01 -2.55240688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.453133365 meters Centerline goodness : 0.138693 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98371839e-01 1.11153397e-04 -5.70408497e-02 -2.42691625e+00] [ 7.01148702e-05 9.99994954e-01 3.17585641e-03 8.13702255e-02] [ 5.70409149e-02 -3.17468502e-03 9.98366794e-01 -2.55674853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48313336499996 meters Centerline goodness : 0.095348 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.08, Z:-0.26 [[ 9.98317184e-01 -2.82208150e-03 -5.79209400e-02 -2.42368375e+00] [ 2.86389675e-03 9.99995695e-01 6.38939845e-04 7.98070102e-02] [ 5.79188875e-02 -8.03744219e-04 9.98320969e-01 -2.56842905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.513133365 meters Centerline goodness : 0.131380 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.08, Z:-0.26 [[ 9.98313657e-01 -2.81779996e-03 -5.79819184e-02 -2.42385907e+00] [ 2.87777988e-03 9.99995407e-01 9.50985128e-04 7.80128489e-02] [ 5.79789724e-02 -1.11624064e-03 9.98317180e-01 -2.56235043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54313336499996 meters Centerline goodness : 0.092279 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.08, Z:-0.26 [[ 9.98328358e-01 -2.87449588e-03 -5.77254464e-02 -2.42476169e+00] [ 2.95019707e-03 9.99994896e-01 1.22622151e-03 7.62441484e-02] [ 5.77216270e-02 -1.39447315e-03 9.98331743e-01 -2.55637106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.573133365 meters Centerline goodness : 0.106450 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.07, Z:-0.26 [[ 9.98350480e-01 -3.32169795e-03 -5.73174106e-02 -2.42568146e+00] [ 3.40452421e-03 9.99993297e-01 1.34745610e-03 7.35254053e-02] [ 5.73125506e-02 -1.54037195e-03 9.98355097e-01 -2.55393916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60313336499996 meters Centerline goodness : 0.101260 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.07, Z:-0.26 [[ 9.98345500e-01 -3.34040250e-03 -5.74029979e-02 -2.42513561e+00] [ 3.42596035e-03 9.99993162e-01 1.39212998e-03 7.30487910e-02] [ 5.73979551e-02 -1.58648709e-03 9.98350118e-01 -2.55873322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.633133365 meters Centerline goodness : 0.210983 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.07, Z:-0.26 [[ 9.98340633e-01 -3.33812000e-03 -5.74877200e-02 -2.42463281e+00] [ 3.42133642e-03 9.99993237e-01 1.34918802e-03 7.33819775e-02] [ 5.74828274e-02 -1.54363406e-03 9.98345302e-01 -2.56323812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66313336499996 meters Centerline goodness : 0.068202 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.07, Z:-0.26 [[ 9.98358015e-01 -3.26688416e-03 -5.71891736e-02 -2.42585560e+00] [ 3.34137585e-03 9.99993689e-01 1.20697356e-03 7.48001730e-02] [ 5.71848697e-02 -1.39608225e-03 9.98362630e-01 -2.55688078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.693133365 meters Centerline goodness : 0.092553 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98374783e-01 -3.24193717e-03 -5.68971209e-02 -2.42705948e+00] [ 3.31050584e-03 9.99993903e-01 1.11091989e-03 7.57485926e-02] [ 5.68931725e-02 -1.29747265e-03 9.98379429e-01 -2.55065978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72313336499997 meters Centerline goodness : 0.104943 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.25 [[ 9.98389980e-01 -3.21515494e-03 -5.66313485e-02 -2.42788715e+00] [ 3.27814815e-03 9.99994107e-01 1.01947561e-03 7.66778093e-02] [ 5.66277370e-02 -1.20348018e-03 9.98394637e-01 -2.54844759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.753133365 meters Centerline goodness : 0.104765 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.25 [[ 9.98398068e-01 -3.24609342e-03 -5.64868136e-02 -2.42828857e+00] [ 3.30050901e-03 9.99994175e-01 8.70067097e-04 7.76184890e-02] [ 5.64836603e-02 -1.05510855e-03 9.98402966e-01 -2.54832801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78313336499997 meters Centerline goodness : 0.153077 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98396238e-01 -3.29689558e-03 -5.65162106e-02 -2.42800645e+00] [ 3.33941748e-03 9.99994208e-01 6.57959353e-04 7.87922625e-02] [ 5.65137140e-02 -8.45635365e-04 9.98401465e-01 -2.55204810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.813133365 meters Centerline goodness : 0.220991 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98384944e-01 -3.42943839e-03 -5.67075210e-02 -2.42744968e+00] [ 3.44937547e-03 9.99994019e-01 2.53699321e-04 8.08145428e-02] [ 5.67063117e-02 -4.48895115e-04 9.98390802e-01 -2.55484840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84313336499997 meters Centerline goodness : 0.100563 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98378528e-01 -3.50602608e-03 -5.68156943e-02 -2.42709554e+00] [ 3.51422244e-03 9.99993824e-01 4.43505168e-05 8.19408239e-02] [ 5.68151879e-02 -2.43941592e-04 9.98384683e-01 -2.55685659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.873133365 meters Centerline goodness : 0.142445 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98370222e-01 -3.61681504e-03 -5.69545318e-02 -2.42660384e+00] [ 3.61016793e-03 9.99993459e-01 -2.19600192e-04 8.33002002e-02] [ 5.69549536e-02 1.36268686e-05 9.98376749e-01 -2.55969375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.903133365 meters Centerline goodness : 0.224661 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98362722e-01 -3.76145630e-03 -5.70765043e-02 -2.42621204e+00] [ 3.73759514e-03 9.99992877e-01 -5.24801873e-04 8.45975356e-02] [ 5.70780718e-02 3.10613762e-04 9.98369670e-01 -2.56161078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.933133365 meters Centerline goodness : 0.101791 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98351531e-01 -3.88258825e-03 -5.72638224e-02 -2.42573103e+00] [ 3.84462323e-03 9.99992311e-01 -7.73139335e-04 8.56927972e-02] [ 5.72663839e-02 5.51707018e-04 9.98358782e-01 -2.56274294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.963133365 meters Centerline goodness : 0.107286 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98347486e-01 -3.97119421e-03 -5.73282369e-02 -2.42572616e+00] [ 3.92278136e-03 9.99991848e-01 -9.56996598e-04 8.65957016e-02] [ 5.73315700e-02 7.30529008e-04 9.98354926e-01 -2.56085468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.993133365 meters Centerline goodness : 0.091527 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.09, Z:-0.25 [[ 9.98511255e-01 3.53168488e-03 -5.44316141e-02 -2.40767171e+00] [-3.66396873e-03 9.99990572e-01 -2.33067566e-03 8.69083692e-02] [ 5.44228697e-02 2.52664161e-03 9.98514781e-01 -2.53855923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.023133365 meters Centerline goodness : 0.158043 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98563354e-01 -4.69763464e-03 -5.33775243e-02 -2.42942369e+00] [ 4.62144380e-03 9.99988119e-01 -1.55073513e-03 9.05013128e-02] [ 5.33841749e-02 1.30182605e-03 9.98573200e-01 -2.55758956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.053133365 meters SLAMing on 361.083133365 meters Centerline goodness : 0.200604 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.25 [[ 9.98599996e-01 -4.76697327e-03 -5.26813421e-02 -2.43172862e+00] [ 4.68731885e-03 9.99987677e-01 -1.63545455e-03 9.11581984e-02] [ 5.26884891e-02 1.38623066e-03 9.98610035e-01 -2.54756218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.113133365 meters Centerline goodness : 0.105868 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.25 [[ 9.98591585e-01 -4.79093561e-03 -5.28383777e-02 -2.43125232e+00] [ 4.70835892e-03 9.99987492e-01 -1.68718444e-03 9.13861137e-02] [ 5.28458000e-02 1.43602613e-03 9.98601652e-01 -2.54947325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.143133365 meters Centerline goodness : 0.099650 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99858542 0.00281977 -0.05309628 -2.44903434] [-0.00299029 0.99999062 -0.00313244 0.0862889 ] [ 0.05308695 0.00328678 0.99858448 -0.2578389 ] [ 0. 0. 0. 1. ]] SLAMing on 361.17313336499996 meters Centerline goodness : 0.099650 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99858542 0.00281977 -0.05309628 -2.44903434] [-0.00299029 0.99999062 -0.00313244 0.0862889 ] [ 0.05308695 0.00328678 0.99858448 -0.2578389 ] [ 0. 0. 0. 1. ]] SLAMing on 361.203133365 meters Centerline goodness : 0.130720 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98567536e-01 -4.68542270e-03 -5.33003175e-02 -2.43013200e+00] [ 4.57872200e-03 9.99987262e-01 -2.12381226e-03 9.19830791e-02] [ 5.33095896e-02 1.87672263e-03 9.98576269e-01 -2.55804833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23313336499996 meters Centerline goodness : 0.087271 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98577549e-01 -4.71013115e-03 -5.31102007e-02 -2.43065902e+00] [ 4.60064591e-03 9.99987033e-01 -2.18354200e-03 9.23735038e-02] [ 5.31197968e-02 1.93609479e-03 9.98586270e-01 -2.55731403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.263133365 meters Centerline goodness : 0.132425 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98608418e-01 -4.66508452e-03 -5.25306014e-02 -2.43248239e+00] [ 4.55767249e-03 9.99987272e-01 -2.16435787e-03 9.28296944e-02] [ 5.25400297e-02 1.92192872e-03 9.98616969e-01 -2.55104807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29313336499996 meters Centerline goodness : 0.051840 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98604729e-01 -4.69224699e-03 -5.25982787e-02 -2.43227767e+00] [ 4.58217427e-03 9.99987053e-01 -2.21310193e-03 9.30083911e-02] [ 5.26079822e-02 1.96899957e-03 9.98613300e-01 -2.55173499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.323133365 meters Centerline goodness : 0.148077 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98589707e-01 -4.73758362e-03 -5.28786598e-02 -2.43123133e+00] [ 4.62442957e-03 9.99986749e-01 -2.26202923e-03 9.30003666e-02] [ 5.28886756e-02 2.01430547e-03 9.98598383e-01 -2.55755684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35313336499996 meters Centerline goodness : 0.086754 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98570759e-01 -4.74439686e-03 -5.32346633e-02 -2.42991938e+00] [ 4.62999662e-03 9.99986700e-01 -2.27210088e-03 9.29823786e-02] [ 5.32447351e-02 2.02237719e-03 9.98579445e-01 -2.56434397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.383133365 meters Centerline goodness : 0.110403 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98539620e-01 -4.80834318e-03 -5.38099130e-02 -2.42795762e+00] [ 4.69107638e-03 9.99986339e-01 -2.30537199e-03 9.26852273e-02] [ 5.38202630e-02 2.04957886e-03 9.98548536e-01 -2.57333518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41313336499996 meters Centerline goodness : 0.056896 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98528614e-01 -4.84031377e-03 -5.40109017e-02 -2.42734822e+00] [ 4.72260707e-03 9.99986188e-01 -2.30673109e-03 9.22946571e-02] [ 5.40213210e-02 2.04826473e-03 9.98537682e-01 -2.57505286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.443133365 meters Centerline goodness : 0.143217 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98525344e-01 -4.84017708e-03 -5.40713436e-02 -2.42715847e+00] [ 4.72437094e-03 9.99986265e-01 -2.26934404e-03 9.19966654e-02] [ 5.40815850e-02 2.01054446e-03 9.98534496e-01 -2.57570798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47313336499997 meters Centerline goodness : 0.110934 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99852702 0.00301707 -0.05417281 -2.44636691] [-0.00319871 0.99998955 -0.00326646 0.086462 ] [ 0.05416239 0.00343493 0.99852623 -0.25954214] [ 0. 0. 0. 1. ]] SLAMing on 361.503133365 meters Centerline goodness : 0.104615 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99852599 0.00303747 -0.05419058 -2.44632518] [-0.00321914 0.99998949 -0.0032656 0.08670508] [ 0.05418009 0.00343523 0.99852527 -0.25955847] [ 0. 0. 0. 1. ]] SLAMing on 361.53313336499997 meters Centerline goodness : 0.166281 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99852134 0.00298344 -0.05427918 -2.44602449] [-0.00317098 0.9999893 -0.00336934 0.08711785] [ 0.05426854 0.00353648 0.99852011 -0.25969611] [ 0. 0. 0. 1. ]] SLAMing on 361.563133365 meters Centerline goodness : 0.097630 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99851908 0.00286682 -0.05432707 -2.44611061] [-0.00306088 0.99998923 -0.00348922 0.0870535 ] [ 0.05431648 0.00365034 0.9985171 -0.25942791] [ 0. 0. 0. 1. ]] SLAMing on 361.59313336499997 meters Centerline goodness : 0.210820 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99852132 0.00291193 -0.05428346 -2.44647001] [-0.00309857 0.99998957 -0.00335435 0.08634582] [ 0.05427313 0.00351759 0.99851993 -0.25905432] [ 0. 0. 0. 1. ]] SLAMing on 361.623133365 meters Centerline goodness : 0.175505 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99852642 0.00299308 -0.05418517 -2.44682288] [-0.00316874 0.99999 -0.00315612 0.08544777] [ 0.05417519 0.00332316 0.99852592 -0.25884112] [ 0. 0. 0. 1. ]] SLAMing on 361.653133365 meters Centerline goodness : 0.126280 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.08, Z:-0.26 [[ 0.99853029 0.00307277 -0.05410941 -2.44709968] [-0.00323333 0.99999063 -0.00287998 0.08394113] [ 0.05410005 0.0030507 0.99853086 -0.25865465] [ 0. 0. 0. 1. ]] SLAMing on 361.683133365 meters Centerline goodness : 0.103066 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.08, Z:-0.26 [[ 0.99852522 0.00303926 -0.05420474 -2.4468212 ] [-0.00318906 0.99999133 -0.00267734 0.08220901] [ 0.05419614 0.00284625 0.99852625 -0.25870097] [ 0. 0. 0. 1. ]] SLAMing on 361.713133365 meters Centerline goodness : 0.098346 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.08, Z:-0.26 [[ 0.99848921 0.00272962 -0.05488021 -2.44475152] [-0.00286961 0.99999283 -0.00247219 0.07887431] [ 0.05487307 0.00262594 0.99848989 -0.25927069] [ 0. 0. 0. 1. ]] SLAMing on 361.743133365 meters Centerline goodness : 0.055419 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.08, Z:-0.26 [[ 9.98486693e-01 2.87542907e-03 -5.49186329e-02 -2.44457052e+00] [-2.99649765e-03 9.99993258e-01 -2.12229134e-03 7.72310164e-02] [ 5.49121601e-02 2.28364321e-03 9.98488578e-01 -2.59365236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.773133365 meters Centerline goodness : 0.062437 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.08, Z:-0.26 [[ 9.98498078e-01 3.03694392e-03 -5.47025208e-02 -2.44533957e+00] [-3.13785386e-03 9.99993530e-01 -1.75890945e-03 7.56459434e-02] [ 5.46968252e-02 1.92791622e-03 9.98501147e-01 -2.58949148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.803133365 meters Centerline goodness : 0.095237 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98576092e-01 -4.37701846e-03 -5.31660704e-02 -2.42830942e+00] [ 4.37849914e-03 9.99990410e-01 -8.86265714e-05 7.89907703e-02] [ 5.31659485e-02 -1.44287218e-04 9.98585680e-01 -2.56101722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.833133365 meters Centerline goodness : 0.092471 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98597391e-01 -4.29723434e-03 -5.27710497e-02 -2.42964210e+00] [ 4.30914302e-03 9.99990709e-01 1.11890237e-04 7.77452219e-02] [ 5.27700786e-02 -3.39131299e-04 9.98606631e-01 -2.55511694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.863133365 meters Centerline goodness : 0.091795 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98590585e-01 -4.21330043e-03 -5.29064378e-02 -2.42903644e+00] [ 4.23220083e-03 9.99991014e-01 2.45212884e-04 7.71643530e-02] [ 5.29049293e-02 -4.68777948e-04 9.98599444e-01 -2.55967030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.893133365 meters Centerline goodness : 0.095896 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98580331e-01 -4.13622655e-03 -5.31056823e-02 -2.42795438e+00] [ 4.15940356e-03 9.99991297e-01 3.25916810e-04 7.69841804e-02] [ 5.31038720e-02 -5.46342080e-04 9.98588844e-01 -2.56908602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92313336499996 meters Centerline goodness : 0.096085 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98571960e-01 -4.08277858e-03 -5.32669852e-02 -2.42695802e+00] [ 4.10938330e-03 9.99991480e-01 3.89944064e-04 7.67384713e-02] [ 5.32649393e-02 -6.08281667e-04 9.98580230e-01 -2.57807717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.953133365 meters Centerline goodness : 0.108206 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98568166e-01 -4.06287739e-03 -5.33395757e-02 -2.42653613e+00] [ 4.09342813e-03 9.99991514e-01 4.63522699e-04 7.60727155e-02] [ 5.33372399e-02 -6.81200731e-04 9.98576324e-01 -2.58166231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98313336499996 meters Centerline goodness : 0.131781 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.07, Z:-0.26 [[ 9.98574230e-01 3.38821233e-03 -5.32731311e-02 -2.44523813e+00] [-3.44129812e-03 9.99993669e-01 -9.04785245e-04 6.93722867e-02] [ 5.32697282e-02 1.08682396e-03 9.98579569e-01 -2.60518820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.013133365 meters Centerline goodness : 0.107604 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.07, Z:-0.26 [[ 9.98588271e-01 3.56506137e-03 -5.29977002e-02 -2.44642285e+00] [-3.59550685e-03 9.99993421e-01 -4.79134936e-04 6.73366757e-02] [ 5.29956434e-02 6.69012122e-04 9.98594519e-01 -2.59741428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04313336499996 meters Centerline goodness : 0.107133 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.07, Z:-0.26 [[ 9.98594260e-01 3.68670051e-03 -5.28763901e-02 -2.44690269e+00] [-3.70342810e-03 9.99993118e-01 -2.18375332e-04 6.62167751e-02] [ 5.28752211e-02 4.13892262e-04 9.98601041e-01 -2.59449364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.073133365 meters SLAMing on 362.10313336499996 meters Centerline goodness : 0.107618 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98600971e-01 3.73775839e-03 -5.27458939e-02 -2.44682114e+00] [-3.73272540e-03 9.99993015e-01 1.93931261e-04 6.31861551e-02] [ 5.27462503e-02 3.22599163e-06 9.98607948e-01 -2.59924867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.133133365 meters Centerline goodness : 0.113577 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98599189e-01 3.82025165e-03 -5.27737119e-02 -2.44662778e+00] [-3.79496226e-03 9.99992631e-01 5.79403289e-04 6.08726447e-02] [ 5.27755365e-02 -3.78317410e-04 9.98606329e-01 -2.60057593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16313336499996 meters Centerline goodness : 0.107861 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98595797e-01 3.94559111e-03 -5.28286573e-02 -2.44645821e+00] [-3.89578147e-03 9.99991865e-01 1.04579618e-03 5.82937948e-02] [ 5.28323538e-02 -8.38518766e-04 9.98603044e-01 -2.60028675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.193133365 meters Centerline goodness : 0.107971 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98609727e-01 3.35349448e-04 -5.27114783e-02 -2.44668749e+00] [-4.31040215e-04 9.99998280e-01 -1.80401089e-03 5.41511641e-02] [ 5.27107827e-02 1.82422359e-03 9.98608154e-01 -2.60048851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22313336499997 meters Centerline goodness : 0.108565 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98601441e-01 3.95199986e-04 -5.28678227e-02 -2.44606146e+00] [-4.73432717e-04 9.99998811e-01 -1.46726445e-03 5.19270175e-02] [ 5.28671800e-02 1.49024175e-03 9.98600441e-01 -2.60398112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.253133365 meters Centerline goodness : 0.110137 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98594961e-01 4.95685453e-04 -5.29892253e-02 -2.44555811e+00] [-5.57059829e-04 9.99999191e-01 -1.14347938e-03 5.00458045e-02] [ 5.29886156e-02 1.17139091e-03 9.98594429e-01 -2.60688038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28313336499997 meters Centerline goodness : 0.105142 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98585189e-01 5.88877044e-04 -5.31721127e-02 -2.44490594e+00] [-6.36910955e-04 9.99999404e-01 -8.86426195e-04 4.86130293e-02] [ 5.31715591e-02 9.19037970e-04 9.98584969e-01 -2.60994281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.313133365 meters Centerline goodness : 0.105229 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98574364e-01 7.49401605e-04 -5.33730060e-02 -2.44407219e+00] [-7.83500622e-04 9.99999502e-01 -6.17960387e-04 4.74335272e-02] [ 5.33725164e-02 6.58897184e-04 9.98574454e-01 -2.61546108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34313336499997 meters Centerline goodness : 0.109875 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98579268e-01 7.87330155e-04 -5.32806288e-02 -2.44415461e+00] [-8.20854089e-04 9.99999479e-01 -6.07315101e-04 4.75147730e-02] [ 5.32801228e-02 6.50187891e-04 9.98579394e-01 -2.61767165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.373133365 meters Centerline goodness : 0.108726 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98586415e-01 8.02209720e-04 -5.31462841e-02 -2.44432147e+00] [-8.38119481e-04 9.99999435e-01 -6.53393962e-04 4.78501468e-02] [ 5.31457299e-02 6.97013271e-04 9.98586524e-01 -2.62005081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.403133365 meters Centerline goodness : 0.111984 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98593640e-01 7.31109258e-04 -5.30113945e-02 -2.44456047e+00] [-7.74750399e-04 9.99999378e-01 -8.02695693e-04 4.83715243e-02] [ 5.30107746e-02 8.42637413e-04 9.98593585e-01 -2.62153230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.433133365 meters Centerline goodness : 0.109998 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98597037e-01 6.16471439e-04 -5.29488129e-02 -2.44468354e+00] [-6.72205857e-04 9.99999239e-01 -1.03480709e-03 4.91135854e-02] [ 5.29481346e-02 1.06894780e-03 9.98596692e-01 -2.62247728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.463133365 meters Centerline goodness : 0.112651 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98599609e-01 6.78428716e-04 -5.28995280e-02 -2.44492198e+00] [-7.33122349e-04 9.99999217e-01 -1.01451768e-03 4.93655542e-02] [ 5.28987983e-02 1.05187879e-03 9.98599324e-01 -2.62155779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.493133365 meters Centerline goodness : 0.115157 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98609562e-01 8.28015540e-04 -5.27091827e-02 -2.44548081e+00] [-8.71565840e-04 9.99999298e-01 -8.03257053e-04 4.89273134e-02] [ 5.27084806e-02 8.48079696e-04 9.98609582e-01 -2.62039849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.523133365 meters Centerline goodness : 0.110343 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98617518e-01 9.02174444e-04 -5.25569963e-02 -2.44604630e+00] [-9.38301615e-04 9.99999340e-01 -6.62720178e-04 4.84572107e-02] [ 5.25563637e-02 7.11118294e-04 9.98617706e-01 -2.61732783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.553133365 meters Centerline goodness : 0.117314 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98617444e-01 8.76393187e-04 -5.25588518e-02 -2.44611659e+00] [-9.10716471e-04 9.99999387e-01 -6.29098680e-04 4.78819446e-02] [ 5.25582683e-02 6.76095127e-04 9.98617630e-01 -2.61592916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.583133365 meters Centerline goodness : 0.110567 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98606933e-01 7.64153415e-04 -5.27599191e-02 -2.44551825e+00] [-8.05510865e-04 9.99999385e-01 -7.62620379e-04 4.78707359e-02] [ 5.27593039e-02 8.04056685e-04 9.98606934e-01 -2.61771668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.613133365 meters Centerline goodness : 0.110307 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98595330e-01 7.93878197e-04 -5.29786490e-02 -2.44462412e+00] [-8.45600152e-04 9.99999188e-01 -9.53871257e-04 4.93852212e-02] [ 5.29778487e-02 9.97330136e-04 9.98595190e-01 -2.62407529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.643133365 meters Centerline goodness : 0.130868 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98617962e-01 9.70458624e-04 -5.25473441e-02 -2.44589498e+00] [-1.02250125e-03 9.99999013e-01 -9.63520693e-04 5.07145545e-02] [ 5.25463572e-02 1.01591880e-03 9.98617969e-01 -2.62126238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67313336499996 meters Centerline goodness : 0.112891 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.05, Z:-0.26 [[ 9.98642894e-01 9.32446167e-03 -5.12388890e-02 -2.46814336e+00] [-9.40998210e-03 9.99954705e-01 -1.42806447e-03 4.70300153e-02] [ 5.12232522e-02 1.90828347e-03 9.98685404e-01 -2.63480172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.703133365 meters Centerline goodness : 0.115704 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.05, Z:-0.26 [[ 9.98668131e-01 9.25090842e-03 -5.07580914e-02 -2.46963943e+00] [-9.34994851e-03 9.99954819e-01 -1.71411386e-03 4.85209148e-02] [ 5.07399410e-02 2.18641643e-03 9.98709506e-01 -2.62964309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73313336499996 meters Centerline goodness : 0.114055 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98625658e-01 2.85229407e-03 -5.23322080e-02 -2.45232629e+00] [-2.91826306e-03 9.99995041e-01 -1.18421216e-03 5.69467551e-02] [ 5.23285707e-02 1.33530380e-03 9.98629029e-01 -2.60392290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.763133365 meters Centerline goodness : 0.143601 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98624199e-01 2.78915015e-03 -5.23634405e-02 -2.45187235e+00] [-2.87022875e-03 9.99994796e-01 -1.47324639e-03 5.86788815e-02] [ 5.23590589e-02 1.62151455e-03 9.98627007e-01 -2.61040007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79313336499996 meters Centerline goodness : 0.110932 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98638726e-01 2.74806173e-03 -5.20878489e-02 -2.45231749e+00] [-2.83782307e-03 9.99994613e-01 -1.64938839e-03 5.97635307e-02] [ 5.20830357e-02 1.79495922e-03 9.98641145e-01 -2.61415793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.823133365 meters Centerline goodness : 0.126441 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98653837e-01 2.68236290e-03 -5.18007582e-02 -2.45307125e+00] [-2.77743885e-03 9.99994588e-01 -1.76351814e-03 6.01060336e-02] [ 5.17957475e-02 1.90501759e-03 9.98655882e-01 -2.61342878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85313336499996 meters Centerline goodness : 0.128177 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98662988e-01 2.60890750e-03 -5.16278094e-02 -2.45369502e+00] [-2.70654477e-03 9.99994679e-01 -1.82135307e-03 5.99792145e-02] [ 5.16227829e-02 1.95865088e-03 9.98664735e-01 -2.61041011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.883133365 meters Centerline goodness : 0.130333 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98659041e-01 2.61958373e-03 -5.17035483e-02 -2.45359196e+00] [-2.71198803e-03 9.99994848e-01 -1.71711867e-03 5.92264478e-02] [ 5.16987838e-02 1.85503549e-03 9.98661001e-01 -2.60942615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91313336499996 meters Centerline goodness : 0.130343 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98642444e-01 2.65149408e-03 -5.20215142e-02 -2.45272286e+00] [-2.73946292e-03 9.99994936e-01 -1.61977789e-03 5.87723112e-02] [ 5.20169559e-02 1.76008996e-03 9.98644651e-01 -2.61109258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.943133365 meters Centerline goodness : 0.114794 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98617011e-01 2.69324016e-03 -5.25053489e-02 -2.45119770e+00] [-2.77397157e-03 9.99995080e-01 -1.46477056e-03 5.79396813e-02] [ 5.25011455e-02 1.60839314e-03 9.98619569e-01 -2.61610696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97313336499997 meters Centerline goodness : 0.127530 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98619510e-01 2.67785584e-03 -5.24585836e-02 -2.45131540e+00] [-2.75741441e-03 9.99995155e-01 -1.44428143e-03 5.76202667e-02] [ 5.24544619e-02 1.58693767e-03 9.98622056e-01 -2.61602179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.003133365 meters Centerline goodness : 0.113863 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98626514e-01 2.68754433e-03 -5.23245941e-02 -2.45170653e+00] [-2.76451106e-03 9.99995201e-01 -1.39862732e-03 5.72613673e-02] [ 5.23205842e-02 1.54135824e-03 9.98629151e-01 -2.61502547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03313336499997 meters Centerline goodness : 0.145402 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98625043e-01 2.73731572e-03 -5.23500734e-02 -2.45156554e+00] [-2.80899159e-03 9.99995215e-01 -1.29563767e-03 5.67818083e-02] [ 5.23462764e-02 1.44090714e-03 9.98627954e-01 -2.61622201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.063133365 meters Centerline goodness : 0.138589 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98614975e-01 2.76389075e-03 -5.25403937e-02 -2.45075312e+00] [-2.83244289e-03 9.99995232e-01 -1.23033559e-03 5.64056526e-02] [ 5.25367427e-02 1.37744921e-03 9.98618042e-01 -2.62157120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09313336499997 meters Centerline goodness : 0.138589 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98614975e-01 2.76389075e-03 -5.25403937e-02 -2.45075312e+00] [-2.83244289e-03 9.99995232e-01 -1.23033559e-03 5.64056526e-02] [ 5.25367427e-02 1.37744921e-03 9.98618042e-01 -2.62157120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.123133365 meters Centerline goodness : 0.124748 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98583653e-01 2.71943047e-03 -5.31346671e-02 -2.44865025e+00] [-2.78707218e-03 9.99995397e-01 -1.19896792e-03 5.57264110e-02] [ 5.31311620e-02 1.34535992e-03 9.98586636e-01 -2.63139466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.153133365 meters Centerline goodness : 0.121466 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98576541e-01 2.69035395e-03 -5.32696288e-02 -2.44819177e+00] [-2.76069323e-03 9.99995412e-01 -1.24689982e-03 5.57846452e-02] [ 5.32660298e-02 1.39218601e-03 9.98579387e-01 -2.63368251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.183133365 meters Centerline goodness : 0.161962 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98573204e-01 2.66869487e-03 -5.33332455e-02 -2.44806946e+00] [-2.74191985e-03 9.99995396e-01 -1.29984784e-03 5.60164639e-02] [ 5.33295311e-02 1.44422871e-03 9.98575924e-01 -2.63354766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.213133365 meters Centerline goodness : 0.123858 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98577037e-01 2.63292511e-03 -5.32632093e-02 -2.44831661e+00] [-2.71091415e-03 9.99995357e-01 -1.39202511e-03 5.64885601e-02] [ 5.32592969e-02 1.53443629e-03 9.98579538e-01 -2.63247662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.243133365 meters Centerline goodness : 0.108682 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98583688e-01 2.56057703e-03 -5.31418960e-02 -2.44859201e+00] [-2.65168158e-03 9.99995133e-01 -1.64392725e-03 5.79909720e-02] [ 5.31374280e-02 1.78251432e-03 9.98585618e-01 -2.63321690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.273133365 meters Centerline goodness : 0.109526 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98586289e-01 2.43958730e-03 -5.30987045e-02 -2.44865329e+00] [-2.54097135e-03 9.99995075e-01 -1.84192555e-03 5.86497835e-02] [ 5.30939495e-02 1.97424388e-03 9.98587570e-01 -2.63389414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.303133365 meters Centerline goodness : 0.133250 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.06, Z:-0.26 [[ 9.98588800e-01 -5.16580765e-03 -5.28556871e-02 -2.42988685e+00] [ 5.12318102e-03 9.99986433e-01 -9.41930400e-04 6.40204592e-02] [ 5.28598359e-02 6.69811895e-04 9.98601717e-01 -2.61360143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.333133365 meters Centerline goodness : 0.106495 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.06, Z:-0.26 [[ 9.98603328e-01 -5.17148778e-03 -5.25799252e-02 -2.43069483e+00] [ 5.12710443e-03 9.99986377e-01 -9.78962674e-04 6.43151596e-02] [ 5.25842716e-02 7.08012617e-04 9.98616239e-01 -2.61202517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.363133365 meters Centerline goodness : 0.121101 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.07, Z:-0.26 [[ 9.98623506e-01 -5.17113082e-03 -5.21953303e-02 -2.43189919e+00] [ 5.12225644e-03 9.99986309e-01 -1.07010226e-03 6.51030492e-02] [ 5.22001493e-02 8.01271404e-04 9.98636321e-01 -2.60808905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.393133365 meters Centerline goodness : 0.102306 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.07, Z:-0.26 [[ 9.98640155e-01 -5.19656873e-03 -5.18732761e-02 -2.43275896e+00] [ 5.14043690e-03 9.99986049e-01 -1.21545307e-03 6.61516508e-02] [ 5.18788686e-02 9.47148941e-04 9.98652936e-01 -2.60724545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42313336499996 meters Centerline goodness : 0.106122 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.07, Z:-0.26 [[ 0.99866601 0.00326372 -0.05153193 -2.4123698 ] [-0.00340148 0.99999087 -0.00258593 0.06841914] [ 0.05152302 0.00275777 0.998668 -0.25906493] [ 0. 0. 0. 1. ]] SLAMing on 363.453133365 meters Centerline goodness : 0.104265 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.07, Z:-0.26 [[ 0.99866016 0.00313378 -0.05165329 -2.41198268] [-0.00329601 0.9999899 -0.00305588 0.07096562] [ 0.05164319 0.00322203 0.9986604 -0.25931571] [ 0. 0. 0. 1. ]] SLAMing on 363.48313336499996 meters Centerline goodness : 0.106644 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.26 [[ 9.98680679e-01 -3.04852600e-03 -5.12601938e-02 -2.43508768e+00] [ 3.02114119e-03 9.99995249e-01 -6.11706195e-04 7.46593778e-02] [ 5.12618151e-02 4.56034875e-04 9.98685145e-01 -2.60671235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.513133365 meters Centerline goodness : 0.107066 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.08, Z:-0.26 [[ 9.98817106e-01 6.37290498e-03 -4.82055530e-02 -2.41740516e+00] [-6.44051800e-03 9.99978482e-01 -1.24740214e-03 8.04231614e-02] [ 4.81965661e-02 1.55639532e-03 9.98836658e-01 -2.58707261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54313336499996 meters Centerline goodness : 0.107067 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.09, Z:-0.26 [[ 9.98961957e-01 -7.43395773e-04 -4.55461941e-02 -2.43820492e+00] [ 7.30478433e-04 9.99999688e-01 -3.00252884e-04 8.73934265e-02] [ 4.55464031e-02 2.66670696e-04 9.98962188e-01 -2.61714769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.573133365 meters Centerline goodness : 0.131893 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.09, Z:-0.26 [[ 9.98976653e-01 7.38929025e-03 -4.46211285e-02 -2.41855729e+00] [-7.47176259e-03 9.99970672e-01 -1.68177828e-03 8.94939445e-02] [ 4.46073927e-02 2.01345571e-03 9.99002566e-01 -2.60053235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60313336499996 meters Centerline goodness : 0.108175 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.09, Z:-0.26 [[ 9.98966837e-01 7.16835556e-03 -4.48761930e-02 -2.41767953e+00] [-7.27738140e-03 9.99970951e-01 -2.26657704e-03 9.25665772e-02] [ 4.48586417e-02 2.59081647e-03 9.98989985e-01 -2.60552352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.633133365 meters Centerline goodness : 0.131357 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.10, Z:-0.26 [[ 0.99895227 0.00690812 -0.04523984 -2.41652747] [-0.00704398 0.99997115 -0.00284433 0.09527659] [ 0.04521888 0.00316002 0.99897211 -0.26108533] [ 0. 0. 0. 1. ]] SLAMing on 363.66313336499996 meters Centerline goodness : 0.094840 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.10, Z:-0.26 [[ 0.99894252 0.00666221 -0.04549128 -2.41584889] [-0.00682376 0.99997095 -0.00339688 0.09797224] [ 0.04546733 0.00370371 0.99895896 -0.2612855 ] [ 0. 0. 0. 1. ]] SLAMing on 363.693133365 meters Centerline goodness : 0.049540 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.11, Z:-0.26 [[ 9.98833769e-01 1.10580375e-03 -4.82688249e-02 -2.40217852e+00] [-1.27609135e-03 9.99993070e-01 -3.49722714e-03 1.09038920e-01] [ 4.82646232e-02 3.55474400e-03 9.98828258e-01 -2.57638426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72313336499997 meters Centerline goodness : 0.094191 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.11, Z:-0.26 [[ 9.98835701e-01 9.17080573e-04 -4.82327819e-02 -2.40242628e+00] [-1.10495736e-03 9.99991906e-01 -3.86869065e-03 1.10881274e-01] [ 4.82288436e-02 3.91748150e-03 9.98828630e-01 -2.57423979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.753133365 meters Centerline goodness : 0.133928 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.11, Z:-0.26 [[ 9.98830781e-01 7.07242178e-04 -4.83380873e-02 -2.40220006e+00] [-9.12472682e-04 9.99990663e-01 -4.22379615e-03 1.12447202e-01] [ 4.83346488e-02 4.26296479e-03 9.98822101e-01 -2.57429802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78313336499997 meters Centerline goodness : 0.094100 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.11, Z:-0.26 [[ 9.98814560e-01 2.38418171e-04 -4.86766768e-02 -2.40144410e+00] [-4.71878672e-04 9.99988442e-01 -4.78471186e-03 1.14216452e-01] [ 4.86749734e-02 4.80200935e-03 9.98803128e-01 -2.57376846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.813133365 meters SLAMing on 363.84313336499997 meters Centerline goodness : 0.140031 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.11, Z:-0.26 [[ 9.98822319e-01 2.38026380e-05 -4.85177778e-02 -2.40206211e+00] [-2.62084745e-04 9.99987937e-01 -4.90487720e-03 1.14610614e-01] [ 4.85170758e-02 4.91181659e-03 9.98810276e-01 -2.56899687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.873133365 meters Centerline goodness : 0.104762 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.11, Z:-0.26 [[ 9.98826206e-01 2.99769580e-05 -4.84376911e-02 -2.40234411e+00] [-2.67749597e-04 9.99987948e-01 -4.90235417e-03 1.14956739e-01] [ 4.84369604e-02 4.90956899e-03 9.98814175e-01 -2.56761021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.903133365 meters Centerline goodness : 0.161956 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.12, Z:-0.26 [[ 9.98829371e-01 1.41326906e-05 -4.83723761e-02 -2.40248842e+00] [-2.53124214e-04 9.99987793e-01 -4.93453910e-03 1.15303973e-01] [ 4.83717159e-02 4.94100680e-03 9.98817182e-01 -2.56771193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.933133365 meters Centerline goodness : 0.107188 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.12, Z:-0.26 [[ 9.98827210e-01 -4.07136907e-05 -4.84169765e-02 -2.40233435e+00] [-2.01677810e-04 9.99987472e-01 -5.00143714e-03 1.15530617e-01] [ 4.84165736e-02 5.00533613e-03 9.98814689e-01 -2.56829227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.963133365 meters Centerline goodness : 0.108171 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.12, Z:-0.26 [[ 9.98817360e-01 -1.97971817e-04 -4.86193616e-02 -2.40184160e+00] [-4.82856479e-05 9.99987178e-01 -5.06378146e-03 1.15053744e-01] [ 4.86197407e-02 5.06014045e-03 9.98804543e-01 -2.56824423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.993133365 meters Centerline goodness : 0.166522 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.11, Z:-0.26 [[ 0.99879447 0.0073811 -0.04852966 -2.42079209] [-0.00769772 0.99995027 -0.00634065 0.10863472] [ 0.04848045 0.00670657 0.99880162 -0.25914358] [ 0. 0. 0. 1. ]] SLAMing on 364.023133365 meters Centerline goodness : 0.131253 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.11, Z:-0.26 [[ 0.99880178 0.0073891 -0.04837766 -2.42130418] [-0.00770146 0.99995066 -0.00627358 0.10821035] [ 0.04832892 0.00663864 0.99880941 -0.25891058] [ 0. 0. 0. 1. ]] SLAMing on 364.053133365 meters Centerline goodness : 0.173085 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.11, Z:-0.26 [[ 0.99881218 0.00734524 -0.04816928 -2.4218821 ] [-0.0076576 0.99995081 -0.00630323 0.10821003] [ 0.04812062 0.00666461 0.9988193 -0.25876647] [ 0. 0. 0. 1. ]] SLAMing on 364.083133365 meters Centerline goodness : 0.098681 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.11, Z:-0.26 [[ 0.99882157 0.00729611 -0.04798164 -2.42217017] [-0.00761333 0.99995033 -0.00643185 0.10887121] [ 0.04793232 0.00678957 0.99882751 -0.25902632] [ 0. 0. 0. 1. ]] SLAMing on 364.113133365 meters Centerline goodness : 0.107982 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.11, Z:-0.26 [[ 0.99882366 0.00727508 -0.04794138 -2.42180771] [-0.00760887 0.99994804 -0.00678369 0.11108342] [ 0.04788954 0.00714049 0.99882711 -0.2597633 ] [ 0. 0. 0. 1. ]] SLAMing on 364.143133365 meters Centerline goodness : 0.108400 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.11, Z:-0.26 [[ 0.99882464 0.00722229 -0.04792879 -2.42166867] [-0.00756939 0.9999464 -0.0070644 0.11276118] [ 0.0478752 0.00741889 0.99882577 -0.26007436] [ 0. 0. 0. 1. ]] SLAMing on 364.17313336499996 meters Centerline goodness : 0.112324 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.11, Z:-0.26 [[ 0.99882357 0.00716392 -0.04795991 -2.42147202] [-0.00752633 0.99994444 -0.00738004 0.11452242] [ 0.04790438 0.00773232 0.998822 -0.26033108] [ 0. 0. 0. 1. ]] SLAMing on 364.203133365 meters Centerline goodness : 0.101576 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.12, Z:-0.26 [[ 9.98829895e-01 2.60025687e-04 -4.83608739e-02 -2.40416656e+00] [-5.53569113e-04 9.99981506e-01 -6.05655932e-03 1.21627812e-01] [ 4.83584047e-02 6.07624359e-03 9.98811566e-01 -2.57781644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23313336499996 meters Centerline goodness : 0.101624 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.12, Z:-0.26 [[ 9.98826220e-01 2.80417080e-04 -4.84365918e-02 -2.40369450e+00] [-5.90740890e-04 9.99979393e-01 -6.39260891e-03 1.23859603e-01] [ 4.84338011e-02 6.41371887e-03 9.98805803e-01 -2.58369431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.263133365 meters Centerline goodness : 0.090160 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.12, Z:-0.26 [[ 9.98818093e-01 2.29614451e-04 -4.86041582e-02 -2.40310290e+00] [-5.48834691e-04 9.99978368e-01 -6.55451194e-03 1.24613445e-01] [ 4.86016018e-02 6.57344077e-03 9.98796613e-01 -2.58709606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29313336499996 meters Centerline goodness : 0.095693 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.13, Z:-0.26 [[ 9.98805458e-01 2.05250208e-04 -4.88632362e-02 -2.40214061e+00] [-5.33927379e-04 9.99977322e-01 -6.71351414e-03 1.25533592e-01] [ 4.88607501e-02 6.73158399e-03 9.98782916e-01 -2.59285273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.323133365 meters Centerline goodness : 0.172011 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.13, Z:-0.26 [[ 9.98793342e-01 1.18985676e-04 -4.91105559e-02 -2.40131185e+00] [-4.59921957e-04 9.99975875e-01 -6.93097801e-03 1.26498968e-01] [ 4.91085464e-02 6.94520171e-03 9.98769300e-01 -2.59701210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35313336499996 meters Centerline goodness : 0.098791 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.13, Z:-0.26 [[ 9.98787930e-01 5.34913141e-05 -4.92206141e-02 -2.40087350e+00] [-4.03557196e-04 9.99974697e-01 -7.10227009e-03 1.27284946e-01] [ 4.92189888e-02 7.11352497e-03 9.98762679e-01 -2.60038831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.383133365 meters Centerline goodness : 0.177951 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.13, Z:-0.26 [[ 9.98789408e-01 2.80162605e-06 -4.91906383e-02 -2.40096587e+00] [-3.58145626e-04 9.99973907e-01 -7.21500100e-03 1.27815555e-01] [ 4.91893346e-02 7.22388399e-03 9.98763348e-01 -2.60029723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41313336499996 meters Centerline goodness : 0.090919 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.13, Z:-0.26 [[ 9.98916048e-01 2.71611101e-04 -4.65473510e-02 -2.36020249e+00] [-6.00921693e-04 9.99974891e-01 -7.06089679e-03 1.31160660e-01] [ 4.65442644e-02 7.08121443e-03 9.98891129e-01 -2.56899721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.443133365 meters Centerline goodness : 0.099896 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.13, Z:-0.26 [[ 9.98914413e-01 2.68812992e-04 -4.65824400e-02 -2.36018636e+00] [-5.97839482e-04 9.99974973e-01 -7.04952791e-03 1.31041401e-01] [ 4.65793792e-02 7.06972385e-03 9.98889574e-01 -2.56813752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47313336499997 meters Centerline goodness : 0.092174 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.13, Z:-0.26 [[ 9.98905041e-01 2.48176059e-04 -4.67830956e-02 -2.35950893e+00] [-5.81392361e-04 9.99974561e-01 -7.10910661e-03 1.31328801e-01] [ 4.67801412e-02 7.12852177e-03 9.98879774e-01 -2.57142434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.503133365 meters Centerline goodness : 0.093225 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.13, Z:-0.26 [[ 9.98889545e-01 2.23710878e-04 -4.71129066e-02 -2.35831711e+00] [-5.63341834e-04 9.99973952e-01 -7.19571859e-03 1.31756431e-01] [ 4.71100696e-02 7.21426874e-03 9.98863652e-01 -2.57774741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53313336499997 meters Centerline goodness : 0.090954 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.13, Z:-0.26 [[ 9.98869450e-01 3.01304276e-04 -4.75366280e-02 -2.35672503e+00] [-6.59448427e-04 9.99971518e-01 -7.51856429e-03 1.34003565e-01] [ 4.75330087e-02 7.54141213e-03 9.98841199e-01 -2.58790504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.563133365 meters Centerline goodness : 0.160587 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.26 [[ 9.98878396e-01 2.63010892e-04 -4.73484988e-02 -2.35723967e+00] [-6.30287898e-04 9.99969831e-01 -7.74212526e-03 1.35384506e-01] [ 4.73450340e-02 7.76328485e-03 9.98848427e-01 -2.58783036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59313336499997 meters Centerline goodness : 0.102800 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.26 [[ 9.98896267e-01 2.25354833e-04 -4.69701636e-02 -2.35843017e+00] [-5.98804385e-04 9.99968323e-01 -7.93686336e-03 1.36614271e-01] [ 4.69668871e-02 7.95622913e-03 9.98864761e-01 -2.58425311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.623133365 meters Centerline goodness : 0.153170 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.14, Z:-0.26 [[ 0.99894525 -0.00725724 -0.0453401 -2.34119996] [ 0.00696225 0.99995358 -0.00666087 0.14301428] [ 0.04538633 0.00633817 0.9989494 -0.25602913] [ 0. 0. 0. 1. ]] SLAMing on 364.653133365 meters Centerline goodness : 0.102389 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.26 [[ 0.9989237 -0.00666555 -0.04590215 -2.38973131] [ 0.00638658 0.99996025 -0.00622131 0.13952694] [ 0.04594179 0.00592146 0.99892657 -0.2561908 ] [ 0. 0. 0. 1. ]] SLAMing on 364.683133365 meters Centerline goodness : 0.152216 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.14, Z:-0.25 [[ 9.98975265e-01 1.36191417e-03 -4.52389858e-02 -2.36997273e+00] [-1.69177832e-03 9.99972258e-01 -7.25410397e-03 1.38964576e-01] [ 4.52278513e-02 7.32320477e-03 9.98949855e-01 -2.54263184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.713133365 meters Centerline goodness : 0.219791 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.14, Z:-0.26 [[ 9.98867068e-01 1.47113936e-03 -4.75648536e-02 -2.41453188e+00] [-1.82014387e-03 9.99971735e-01 -7.29496606e-03 1.36465111e-01] [ 4.75527773e-02 7.37327624e-03 9.98841513e-01 -2.55692320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.743133365 meters Centerline goodness : 0.097167 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.14, Z:-0.25 [[ 0.99882048 -0.0059173 -0.04819374 -2.3962369 ] [ 0.00560553 0.9999625 -0.00660163 0.14425407] [ 0.048231 0.00632369 0.99881619 -0.25358972] [ 0. 0. 0. 1. ]] SLAMing on 364.773133365 meters Centerline goodness : 0.101207 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.15, Z:-0.25 [[ 0.99881779 -0.00610359 -0.04822627 -2.39628158] [ 0.00576878 0.99995831 -0.00707864 0.1464242 ] [ 0.04826747 0.00679207 0.99881135 -0.25352945] [ 0. 0. 0. 1. ]] SLAMing on 364.803133365 meters Centerline goodness : 0.102052 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.15, Z:-0.25 [[ 9.98885881e-01 1.83212293e-03 -4.71554801e-02 -2.37750632e+00] [-2.24059489e-03 9.99960416e-01 -8.61083782e-03 1.47787502e-01] [ 4.71378374e-02 8.70690065e-03 9.98850446e-01 -2.50839505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.833133365 meters Centerline goodness : 0.145476 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.15, Z:-0.25 [[ 0.99893376 0.00415334 -0.04597919 -2.38297184] [-0.0044668 0.99996747 -0.0067167 0.15162504] [ 0.0459498 0.00691492 0.99891982 -0.24797288] [ 0. 0. 0. 1. ]] SLAMing on 364.863133365 meters Centerline goodness : 0.150912 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.15, Z:-0.25 [[ 0.99894565 0.00407874 -0.04572694 -2.3835222 ] [-0.00440181 0.99996604 -0.00696657 0.15311889] [ 0.04569697 0.00716051 0.99892968 -0.24809491] [ 0. 0. 0. 1. ]] SLAMing on 364.893133365 meters Centerline goodness : 0.096755 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.16, Z:-0.25 [[ 0.9989466 0.00380269 -0.04572992 -2.38345653] [-0.00415091 0.99996309 -0.00752215 0.15540602] [ 0.04569963 0.00770404 0.99892552 -0.24827715] [ 0. 0. 0. 1. ]] SLAMing on 364.92313336499996 meters Centerline goodness : 0.173175 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.16, Z:-0.25 [[ 0.99893501 0.00371568 -0.04598965 -2.38309189] [-0.00407424 0.99996201 -0.00770534 0.15630743] [ 0.04595927 0.00788451 0.9989122 -0.24794659] [ 0. 0. 0. 1. ]] SLAMing on 364.953133365 meters Centerline goodness : 0.060439 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.16, Z:-0.24 [[ 0.99889519 -0.00338513 -0.04687159 -2.36523427] [ 0.00310206 0.99997652 -0.00611072 0.16332897] [ 0.04689117 0.00595857 0.99888223 -0.24489992] [ 0. 0. 0. 1. ]] SLAMing on 364.98313336499996 meters Centerline goodness : 0.060439 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.16, Z:-0.24 [[ 0.99889519 -0.00338513 -0.04687159 -2.36523427] [ 0.00310206 0.99997652 -0.00611072 0.16332897] [ 0.04689117 0.00595857 0.99888223 -0.24489992] [ 0. 0. 0. 1. ]] SLAMing on 365.013133365 meters Centerline goodness : 0.106067 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.16, Z:-0.24 [[ 0.99888747 -0.00336268 -0.04703739 -2.36477919] [ 0.0030776 0.99997646 -0.00613178 0.16395319] [ 0.0470569 0.00598019 0.99887431 -0.24499079] [ 0. 0. 0. 1. ]] SLAMing on 365.04313336499996 meters Centerline goodness : 0.100686 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.16, Z:-0.25 [[ 0.99888367 -0.00338688 -0.04711633 -2.36447501] [ 0.0030988 0.99997607 -0.00618585 0.16434151] [ 0.04713615 0.00603294 0.99887026 -0.24515287] [ 0. 0. 0. 1. ]] SLAMing on 365.073133365 meters Centerline goodness : 0.055024 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.16, Z:-0.25 [[ 0.99888513 -0.00348969 -0.04707778 -2.36459551] [ 0.00319466 0.9999748 -0.00634059 0.16483582] [ 0.04709872 0.00618312 0.9988711 -0.2451129 ] [ 0. 0. 0. 1. ]] SLAMing on 365.10313336499996 meters Centerline goodness : 0.228972 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.17, Z:-0.25 [[ 0.99887819 -0.00366202 -0.04721169 -2.36434293] [ 0.00335575 0.99997282 -0.00656471 0.16551343] [ 0.04723445 0.00639891 0.99886333 -0.24502545] [ 0. 0. 0. 1. ]] SLAMing on 365.133133365 meters Centerline goodness : 0.116619 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.17, Z:-0.25 [[ 0.99887102 -0.00369212 -0.04736088 -2.36377734] [ 0.00338213 0.99997234 -0.00662373 0.16579668] [ 0.04738403 0.00645607 0.99885588 -0.24532573] [ 0. 0. 0. 1. ]] SLAMing on 365.16313336499996 meters Centerline goodness : 0.105856 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.16, Z:-0.24 [[ 0.9988684 0.00385601 -0.04740314 -2.34385798] [-0.00422684 0.99996123 -0.00772516 0.16422187] [ 0.04737151 0.00791678 0.99884597 -0.24347595] [ 0. 0. 0. 1. ]] SLAMing on 365.193133365 meters Centerline goodness : 0.090511 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.16, Z:-0.24 [[ 0.99886992 0.00381844 -0.04737415 -2.34396488] [-0.00419078 0.99996109 -0.00776269 0.16424852] [ 0.04734266 0.00795245 0.99884705 -0.24337277] [ 0. 0. 0. 1. ]] SLAMing on 365.22313336499997 meters Centerline goodness : 0.102673 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.16, Z:-0.24 [[ 0.99887862 0.00371076 -0.04719887 -2.34448438] [-0.00408612 0.99996077 -0.00785862 0.16424338] [ 0.04716786 0.00804266 0.9988546 -0.2432304 ] [ 0. 0. 0. 1. ]] SLAMing on 365.253133365 meters Centerline goodness : 0.197205 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.16, Z:-0.24 [[ 0.99887981 0.00358066 -0.04718377 -2.34442252] [-0.00395648 0.99996117 -0.00787399 0.16376653] [ 0.04715374 0.00805185 0.99885519 -0.24331996] [ 0. 0. 0. 1. ]] SLAMing on 365.28313336499997 meters Centerline goodness : 0.095176 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.16, Z:-0.24 [[ 0.99885967 0.0035143 -0.04761306 -2.34300457] [-0.00389514 0.99996114 -0.00790824 0.16373163] [ 0.04758341 0.00808468 0.99883455 -0.24388685] [ 0. 0. 0. 1. ]] SLAMing on 365.313133365 meters SLAMing on 365.34313336499997 meters Centerline goodness : 0.244708 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.16, Z:-0.24 [[ 0.99881932 0.00332834 -0.04846528 -2.3403606 ] [-0.0037176 0.99996154 -0.00794384 0.16303305] [ 0.04843698 0.00811463 0.99879328 -0.24476327] [ 0. 0. 0. 1. ]] SLAMing on 365.373133365 meters Centerline goodness : 0.145954 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.16, Z:-0.25 [[ 0.99881235 0.00330448 -0.04861029 -2.33983248] [-0.00369347 0.99996186 -0.00791456 0.16263827] [ 0.04858228 0.0080847 0.99878646 -0.24504164] [ 0. 0. 0. 1. ]] SLAMing on 365.403133365 meters Centerline goodness : 0.097032 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.17, Z:-0.24 [[ 0.99882434 -0.00444425 -0.04827206 -2.32182838] [ 0.00413354 0.99997011 -0.00653456 0.16775735] [ 0.04829966 0.00632735 0.99881285 -0.24258294] [ 0. 0. 0. 1. ]] SLAMing on 365.433133365 meters Centerline goodness : 0.105092 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.17, Z:-0.24 [[ 0.99884756 -0.00440741 -0.04779247 -2.32378111] [ 0.00410165 0.9999705 -0.00649384 0.16812296] [ 0.04781968 0.00629033 0.99883618 -0.24133232] [ 0. 0. 0. 1. ]] SLAMing on 365.463133365 meters Centerline goodness : 0.182377 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.17, Z:-0.24 [[ 0.99885197 -0.00444773 -0.04769645 -2.32427117] [ 0.00413876 0.99996982 -0.00657468 0.1685049 ] [ 0.04772425 0.00636972 0.99884024 -0.24095829] [ 0. 0. 0. 1. ]] SLAMing on 365.493133365 meters Centerline goodness : 0.083896 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.17, Z:-0.24 [[ 0.99883531 -0.00454884 -0.04803462 -2.32353582] [ 0.00423493 0.99996902 -0.00663499 0.16798911] [ 0.04806331 0.00642384 0.99882363 -0.2408719 ] [ 0. 0. 0. 1. ]] SLAMing on 365.523133365 meters Centerline goodness : 0.172257 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.17, Z:-0.24 [[ 0.99883246 -0.00449189 -0.04809937 -2.32337008] [ 0.00418508 0.99997026 -0.00647748 0.16718603] [ 0.04812704 0.00626861 0.99882155 -0.24087387] [ 0. 0. 0. 1. ]] SLAMing on 365.553133365 meters Centerline goodness : 0.104627 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.17, Z:-0.24 [[ 0.99883604 -0.00440113 -0.04803325 -2.3235648 ] [ 0.00410742 0.99997227 -0.00621159 0.16576507] [ 0.04805925 0.00600706 0.99882642 -0.24078833] [ 0. 0. 0. 1. ]] SLAMing on 365.583133365 meters Centerline goodness : 0.163439 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.16, Z:-0.24 [[ 0.998845 -0.0043037 -0.04785535 -2.32410322] [ 0.00402773 0.99997471 -0.00586174 0.16375979] [ 0.04787936 0.00566223 0.99883708 -0.2405513 ] [ 0. 0. 0. 1. ]] SLAMing on 365.613133365 meters Centerline goodness : 0.052072 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.16, Z:-0.24 [[ 0.99885436 -0.00420294 -0.04766868 -2.3247 ] [ 0.00394796 0.9999774 -0.00544191 0.16115802] [ 0.04769047 0.00524748 0.99884838 -0.24022722] [ 0. 0. 0. 1. ]] SLAMing on 365.643133365 meters Centerline goodness : 0.088473 Centerline is valid? [False, False] Translation: X:-2.33, Y:0.16, Z:-0.24 [[ 0.99886537 -0.00417008 -0.04744031 -2.32515538] [ 0.00393372 0.99997939 -0.00507463 0.15847213] [ 0.0474605 0.00488225 0.99886118 -0.24022595] [ 0. 0. 0. 1. ]] SLAMing on 365.67313336499996 meters Centerline goodness : 0.076740 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.15, Z:-0.24 [[ 0.99885322 -0.00406194 -0.0477047 -2.32423953] [ 0.00384966 0.99998228 -0.00454088 0.15461725] [ 0.0477223 0.00435203 0.99885116 -0.24056064] [ 0. 0. 0. 1. ]] SLAMing on 365.703133365 meters Centerline goodness : 0.077362 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.15, Z:-0.24 [[ 0.99884581 -0.00392356 -0.04787125 -2.32358517] [ 0.00372137 0.99998378 -0.00431195 0.15372505] [ 0.0478874 0.00412883 0.99884421 -0.24096894] [ 0. 0. 0. 1. ]] SLAMing on 365.73313336499996 meters Centerline goodness : 0.105720 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.15, Z:-0.24 [[ 0.99884741 -0.00374506 -0.04785208 -2.32336426] [ 0.00355363 0.99998534 -0.0040848 0.15326481] [ 0.04786668 0.00391004 0.99884608 -0.24139215] [ 0. 0. 0. 1. ]] SLAMing on 365.763133365 meters Centerline goodness : 0.165883 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.15, Z:-0.24 [[ 0.99885521 -0.00357925 -0.04770168 -2.32357692] [ 0.00339759 0.99998667 -0.00388867 0.15287077] [ 0.04771496 0.00372214 0.99885406 -0.24162505] [ 0. 0. 0. 1. ]] SLAMing on 365.79313336499996 meters Centerline goodness : 0.093110 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.15, Z:-0.24 [[ 0.99886669 -0.0034806 -0.04746803 -2.32406118] [ 0.00330592 0.99998747 -0.00375796 0.15252331] [ 0.04748052 0.00359678 0.99886569 -0.24177509] [ 0. 0. 0. 1. ]] SLAMing on 365.823133365 meters Centerline goodness : 0.109057 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.15, Z:-0.24 [[ 0.99887401 0.00440905 -0.04723633 -2.34315397] [-0.00464563 0.9999772 -0.00489986 0.14597279] [ 0.04721365 0.00511378 0.99887172 -0.24427072] [ 0. 0. 0. 1. ]] SLAMing on 365.85313336499996 meters Centerline goodness : 0.091317 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.15, Z:-0.25 [[ 0.99885012 0.00448051 -0.04773213 -2.34144899] [-0.00471377 0.99997749 -0.00477545 0.14513413] [ 0.04770966 0.00499496 0.99884876 -0.24512227] [ 0. 0. 0. 1. ]] SLAMing on 365.883133365 meters Centerline goodness : 0.112177 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.14, Z:-0.25 [[ 0.99883626 0.0045152 -0.04801818 -2.34053828] [-0.00474629 0.99997769 -0.0046997 0.14470013] [ 0.04799589 0.00492214 0.99883541 -0.24548788] [ 0. 0. 0. 1. ]] SLAMing on 365.91313336499996 meters Centerline goodness : 0.095631 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.14, Z:-0.25 [[ 0.99883526 0.00455288 -0.04803536 -2.34051413] [-0.00477956 0.99997797 -0.00460517 0.14420484] [ 0.04801334 0.00482939 0.99883502 -0.24546121] [ 0. 0. 0. 1. ]] SLAMing on 365.943133365 meters Centerline goodness : 0.106519 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.14, Z:-0.24 [[ 0.99884475 0.00464176 -0.04782915 -2.3413519 ] [-0.00485691 0.9999786 -0.00438316 0.14315591] [ 0.04780778 0.0046104 0.99884591 -0.24493987] [ 0. 0. 0. 1. ]] SLAMing on 365.97313336499997 meters Centerline goodness : 0.103192 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.14, Z:-0.24 [[ 0.99894129 0.00294498 -0.04590883 -2.34825102] [-0.00320026 0.99997982 -0.00548823 0.13916338] [ 0.04589174 0.00562934 0.99893056 -0.24224581] [ 0. 0. 0. 1. ]] SLAMing on 366.003133365 meters Centerline goodness : 0.095028 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.14, Z:-0.24 [[ 0.99894538 0.00305697 -0.04581248 -2.34846054] [-0.00329135 0.99998187 -0.00504151 0.13649157] [ 0.04579624 0.00518698 0.99893734 -0.24218381] [ 0. 0. 0. 1. ]] SLAMing on 366.03313336499997 meters Centerline goodness : 0.103255 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.13, Z:-0.24 [[ 0.99893516 0.00316951 -0.04602708 -2.34760096] [-0.00338432 0.99998374 -0.00458981 0.13367518] [ 0.04601178 0.0047407 0.99892965 -0.24261343] [ 0. 0. 0. 1. ]] SLAMing on 366.063133365 meters Centerline goodness : 0.139868 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.13, Z:-0.24 [[ 0.99891778 0.00332274 -0.04639217 -2.34638828] [-0.00351706 0.99998538 -0.00410763 0.13092156] [ 0.04637784 0.00426635 0.99891486 -0.24308307] [ 0. 0. 0. 1. ]] SLAMing on 366.09313336499997 meters Centerline goodness : 0.047334 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.13, Z:-0.24 [[ 0.99890947 0.00345158 -0.04656142 -2.34587512] [-0.00363011 0.99998638 -0.00375028 0.12889136] [ 0.04654784 0.00391522 0.99890839 -0.24321433] [ 0. 0. 0. 1. ]] SLAMing on 366.123133365 meters Centerline goodness : 0.139184 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.13, Z:-0.24 [[ 0.99890536 0.00369341 -0.04663098 -2.34579376] [-0.00384941 0.99998729 -0.00325608 0.12644786] [ 0.04661836 0.00343202 0.99890688 -0.24308798] [ 0. 0. 0. 1. ]] SLAMing on 366.153133365 meters Centerline goodness : 0.102030 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.13, Z:-0.24 [[ 0.99890518 0.00383434 -0.04662347 -2.3457139 ] [-0.00397793 0.99998763 -0.0029875 0.12521435] [ 0.04661144 0.0031697 0.99890807 -0.24323309] [ 0. 0. 0. 1. ]] SLAMing on 366.183133365 meters SLAMing on 366.213133365 meters Centerline goodness : 0.161208 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.12, Z:-0.24 [[ 0.99890386 0.00416217 -0.04662346 -2.34525248] [-0.00427698 0.99998806 -0.00236298 0.12230712] [ 0.04661306 0.0025598 0.99890974 -0.24391306] [ 0. 0. 0. 1. ]] SLAMing on 366.243133365 meters Centerline goodness : 0.128785 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.24 [[ 9.98896390e-01 4.38636578e-03 -4.67628235e-02 -2.34454975e+00] [-4.47385973e-03 9.99988432e-01 -1.76651643e-03 1.18814019e-01] [ 4.67545340e-02 1.97377719e-03 9.98904459e-01 -2.44415848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.273133365 meters SLAMing on 366.303133365 meters Centerline goodness : 0.104756 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.24 [[ 9.98899520e-01 4.55980826e-03 -4.66793097e-02 -2.34447350e+00] [-4.62109429e-03 9.99988597e-01 -1.20508633e-03 1.15188027e-01] [ 4.66732824e-02 1.41946965e-03 9.98909200e-01 -2.44728884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.333133365 meters Centerline goodness : 0.107841 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.11, Z:-0.24 [[ 9.98911038e-01 4.62674671e-03 -4.64255389e-02 -2.34502710e+00] [-4.67872452e-03 9.99988544e-01 -1.01099236e-03 1.14049666e-01] [ 4.64203294e-02 1.22710374e-03 9.98921242e-01 -2.44817222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.363133365 meters Centerline goodness : 0.120322 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.11, Z:-0.24 [[ 9.98921455e-01 4.67022663e-03 -4.61964944e-02 -2.34561735e+00] [-4.71810649e-03 9.99988440e-01 -9.27454861e-04 1.13625345e-01] [ 4.61916289e-02 1.14441454e-03 9.98931941e-01 -2.44771258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.393133365 meters Centerline goodness : 0.103987 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.11, Z:-0.24 [[ 9.98926342e-01 4.71039072e-03 -4.60866142e-02 -2.34585353e+00] [-4.75622321e-03 9.99988298e-01 -8.84878453e-04 1.13520182e-01] [ 4.60819068e-02 1.10312662e-03 9.98937056e-01 -2.44843153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42313336499996 meters Centerline goodness : 0.105435 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.25 [[ 9.98899179e-01 4.80562733e-03 -4.66619381e-02 -2.34382579e+00] [-4.85634495e-03 9.99987734e-01 -9.73611424e-04 1.14512887e-01] [ 4.66566869e-02 1.19914612e-03 9.98910264e-01 -2.45949765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.453133365 meters Centerline goodness : 0.105762 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.25 [[ 9.98889319e-01 4.76712188e-03 -4.68764660e-02 -2.34298933e+00] [-4.82303963e-03 9.99987786e-01 -1.07984084e-03 1.14924100e-01] [ 4.68707457e-02 1.30472854e-03 9.98900111e-01 -2.46468033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48313336499996 meters Centerline goodness : 0.097501 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.11, Z:-0.25 [[ 9.98788089e-01 4.14314342e-03 -4.90427052e-02 -2.38807173e+00] [-4.21707570e-03 9.99990122e-01 -1.40413311e-03 1.11424148e-01] [ 4.90364033e-02 1.60924822e-03 9.98795696e-01 -2.47731198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.513133365 meters Centerline goodness : 0.062417 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.25 [[ 9.98825068e-01 -3.38573680e-03 -4.83427368e-02 -2.37024430e+00] [ 3.38813510e-03 9.99994260e-01 -3.23335407e-05 1.16203154e-01] [ 4.83425687e-02 -1.31496172e-04 9.98830806e-01 -2.45260007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54313336499996 meters Centerline goodness : 0.092158 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.24 [[ 9.98840258e-01 -3.33439056e-03 -4.80314585e-02 -2.37123680e+00] [ 3.34675928e-03 9.99994384e-01 1.77093660e-04 1.15128385e-01] [ 4.80305982e-02 -3.37638006e-04 9.98845808e-01 -2.44856038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.573133365 meters Centerline goodness : 0.140200 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.11, Z:-0.25 [[ 9.98842116e-01 -3.34541639e-03 -4.79920398e-02 -2.37116455e+00] [ 3.36038330e-03 9.99994327e-01 2.31183099e-04 1.14572072e-01] [ 4.79909942e-02 -3.92187065e-04 9.98847691e-01 -2.45069642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60313336499996 meters Centerline goodness : 0.091660 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.11, Z:-0.25 [[ 9.98833806e-01 -3.39705626e-03 -4.81610675e-02 -2.37049316e+00] [ 3.41026033e-03 9.99994167e-01 1.91998755e-04 1.14424611e-01] [ 4.81601344e-02 -3.56016625e-04 9.98839564e-01 -2.45472160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.633133365 meters Centerline goodness : 0.097506 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.11, Z:-0.25 [[ 9.98822712e-01 -3.43631571e-03 -4.83878348e-02 -2.36961138e+00] [ 3.44522875e-03 9.99994060e-01 1.00798625e-04 1.14843510e-01] [ 4.83872010e-02 -2.67387115e-04 9.98828618e-01 -2.46002827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66313336499996 meters Centerline goodness : 0.104837 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.11, Z:-0.25 [[ 9.98643882e-01 -1.74637597e-03 -5.20321816e-02 -2.41055521e+00] [ 1.83808531e-03 9.99996841e-01 1.71475027e-03 1.13875180e-01] [ 5.20290226e-02 -1.80806445e-03 9.98643936e-01 -2.48651264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.693133365 meters Centerline goodness : 0.105888 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.11, Z:-0.25 [[ 9.98657090e-01 6.63472027e-03 -5.13809088e-02 -2.39004281e+00] [-6.60440196e-03 9.99977902e-01 7.59831103e-04 1.14742532e-01] [ 5.13848147e-02 -4.19470543e-04 9.98678840e-01 -2.47133600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72313336499997 meters Centerline goodness : 0.105020 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.12, Z:-0.25 [[ 9.98668228e-01 6.47615437e-03 -5.11842815e-02 -2.39062977e+00] [-6.46591079e-03 9.99979029e-01 3.65715577e-04 1.16749350e-01] [ 5.11855765e-02 -3.42755289e-05 9.98689159e-01 -2.47057823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.753133365 meters Centerline goodness : 0.093965 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.12, Z:-0.25 [[ 9.98680788e-01 6.34846211e-03 -5.09546912e-02 -2.39140454e+00] [-6.35439949e-03 9.99979810e-01 4.54765965e-05 1.18406810e-01] [ 5.09539511e-02 2.78369861e-04 9.98700965e-01 -2.46806628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78313336499997 meters Centerline goodness : 0.092872 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.24 [[ 9.98708575e-01 -9.16798152e-04 -5.07970712e-02 -2.37465827e+00] [ 9.78394546e-04 9.99998816e-01 1.18774479e-03 1.27346282e-01] [ 5.07959221e-02 -1.23591048e-03 9.98708289e-01 -2.43940144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.813133365 meters SLAMing on 366.84313336499997 meters Centerline goodness : 0.130685 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.24 [[ 9.98715286e-01 -1.08880790e-03 -5.06615435e-02 -2.37527400e+00] [ 1.13697725e-03 9.99998929e-01 9.21997879e-04 1.28390707e-01] [ 5.06604853e-02 -9.78414398e-04 9.98715454e-01 -2.43528467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.873133365 meters Centerline goodness : 0.156294 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.24 [[ 9.98721840e-01 -1.12750210e-03 -5.05313223e-02 -2.37600451e+00] [ 1.17661522e-03 9.99998864e-01 9.42197769e-04 1.28098480e-01] [ 5.05302026e-02 -1.00044941e-03 9.98722032e-01 -2.42874896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.903133365 meters Centerline goodness : 0.156294 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.24 [[ 9.98721840e-01 -1.12750210e-03 -5.05313223e-02 -2.37600451e+00] [ 1.17661522e-03 9.99998864e-01 9.42197769e-04 1.28098480e-01] [ 5.05302026e-02 -1.00044941e-03 9.98722032e-01 -2.42874896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.933133365 meters Centerline goodness : 0.086450 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.24 [[ 9.98728444e-01 -1.16108384e-03 -5.03998655e-02 -2.37667205e+00] [ 1.21085286e-03 9.99998809e-01 9.56961770e-04 1.27944544e-01] [ 5.03986944e-02 -1.01677176e-03 9.98728661e-01 -2.42327789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.963133365 meters Centerline goodness : 0.091832 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.24 [[ 9.98733671e-01 -1.11955628e-03 -5.02971264e-02 -2.37709686e+00] [ 1.17501235e-03 9.99998734e-01 1.07301436e-03 1.27727006e-01] [ 5.02958614e-02 -1.13075531e-03 9.98733722e-01 -2.42054039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.993133365 meters Centerline goodness : 0.090646 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.24 [[ 9.98724964e-01 -1.13443813e-03 -5.04693964e-02 -2.37642396e+00] [ 1.19177512e-03 9.99998678e-01 1.10599584e-03 1.27265624e-01] [ 5.04680750e-02 -1.16473383e-03 9.98724996e-01 -2.42384199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.023133365 meters Centerline goodness : 0.051946 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.24 [[ 9.98711384e-01 -1.14207061e-03 -5.07372369e-02 -2.37527996e+00] [ 1.20292680e-03 9.99998593e-01 1.16891840e-03 1.26605614e-01] [ 5.07358305e-02 -1.22844530e-03 9.98711353e-01 -2.43066042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.053133365 meters Centerline goodness : 0.098741 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.12, Z:-0.25 [[ 9.98543628e-01 -1.90376169e-03 -5.39165962e-02 -2.41752179e+00] [ 1.95088137e-03 9.99997760e-01 8.21319108e-04 1.21430233e-01] [ 5.39149118e-02 -9.25307845e-04 9.98545105e-01 -2.45420625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.083133365 meters Centerline goodness : 0.146376 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.12, Z:-0.25 [[ 9.98522821e-01 -1.78875547e-03 -5.43044729e-02 -2.41635974e+00] [ 1.85427574e-03 9.99997612e-01 1.15617449e-03 1.19656989e-01] [ 5.43022751e-02 -1.25516208e-03 9.98523754e-01 -2.45732744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.113133365 meters Centerline goodness : 0.102981 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.12, Z:-0.25 [[ 9.98524930e-01 -1.66822472e-03 -5.42695207e-02 -2.41660795e+00] [ 1.76073824e-03 9.99997077e-01 1.65693710e-03 1.16434660e-01] [ 5.42665980e-02 -1.75004742e-03 9.98524949e-01 -2.45361760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.143133365 meters Centerline goodness : 0.101291 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.12, Z:-0.25 [[ 9.98538648e-01 -1.59893706e-03 -5.40186192e-02 -2.41737885e+00] [ 1.70320848e-03 9.99996774e-01 1.88430569e-03 1.15040602e-01] [ 5.40154321e-02 -1.97355703e-03 9.98538151e-01 -2.45073288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17313336499996 meters Centerline goodness : 0.094164 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.11, Z:-0.25 [[ 9.98547436e-01 6.21954357e-03 -5.35194872e-02 -2.43653433e+00] [-6.17691998e-03 9.99980460e-01 9.61788610e-04 1.08238163e-01] [ 5.35244233e-02 -6.29805961e-04 9.98566342e-01 -2.47385462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.203133365 meters Centerline goodness : 0.103447 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.11, Z:-0.25 [[ 9.98546791e-01 6.30183065e-03 -5.35218893e-02 -2.43632837e+00] [-6.25645725e-03 9.99979913e-01 1.01526221e-03 1.08387053e-01] [ 5.35272122e-02 -6.78929407e-04 9.98566160e-01 -2.47660616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23313336499996 meters Centerline goodness : 0.103464 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.11, Z:-0.25 [[ 9.98522181e-01 6.47169212e-03 -5.39589866e-02 -2.43455610e+00] [-6.42630230e-03 9.99978836e-01 1.01465537e-03 1.09187775e-01] [ 5.39644111e-02 -6.66399136e-04 9.98542637e-01 -2.48734441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.263133365 meters Centerline goodness : 0.111768 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.11, Z:-0.25 [[ 9.98520455e-01 6.46824985e-03 -5.39913123e-02 -2.43433025e+00] [-6.42445743e-03 9.99978878e-01 9.84622674e-04 1.09259782e-01] [ 5.39965407e-02 -6.36300993e-04 9.98540920e-01 -2.48969438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29313336499996 meters Centerline goodness : 0.098136 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.11, Z:-0.25 [[ 9.98591065e-01 -1.76063422e-03 -5.30356946e-02 -2.45575512e+00] [ 1.85746976e-03 9.99996697e-01 1.77662050e-03 1.11706701e-01] [ 5.30323914e-02 -1.87262956e-03 9.98591037e-01 -2.51170395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.323133365 meters Centerline goodness : 0.053010 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.11, Z:-0.25 [[ 9.98610991e-01 -1.69478508e-03 -5.26613322e-02 -2.45695951e+00] [ 1.79973783e-03 9.99996488e-01 1.94561813e-03 1.10958034e-01] [ 5.26578498e-02 -2.03769224e-03 9.98610534e-01 -2.50667109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35313336499996 meters Centerline goodness : 0.107932 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.11, Z:-0.25 [[ 9.98626568e-01 -1.58338074e-03 -5.23685940e-02 -2.45793678e+00] [ 1.70117669e-03 9.99996122e-01 2.20486438e-03 1.09807250e-01] [ 5.23648998e-02 -2.29092438e-03 9.98625390e-01 -2.50128605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.383133365 meters Centerline goodness : 0.176199 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.11, Z:-0.25 [[ 9.98715083e-01 -2.52742361e-03 -5.06141816e-02 -2.41354594e+00] [ 2.60750034e-03 9.99995451e-01 1.51613248e-03 1.10983772e-01] [ 5.06101195e-02 -1.64616087e-03 9.98717130e-01 -2.48658471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41313336499996 meters Centerline goodness : 0.142982 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.11, Z:-0.25 [[ 9.98624349e-01 -3.28499859e-03 -5.23318184e-02 -2.45849986e+00] [ 3.36384506e-03 9.99993336e-01 1.41865656e-03 1.05317252e-01] [ 5.23268093e-02 -1.59274111e-03 9.98628744e-01 -2.50956425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.443133365 meters Centerline goodness : 0.176008 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.25 [[ 9.98631787e-01 -3.16675441e-03 -5.21969910e-02 -2.45860295e+00] [ 3.25975871e-03 9.99993247e-01 1.69675763e-03 1.04083978e-01] [ 5.21912653e-02 -1.86458570e-03 9.98635366e-01 -2.51158101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47313336499997 meters Centerline goodness : 0.093418 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.25 [[ 9.98639239e-01 -3.05741251e-03 -5.20607583e-02 -2.45861396e+00] [ 3.16125025e-03 9.99993175e-01 1.91232139e-03 1.03333561e-01] [ 5.20545562e-02 -2.07429626e-03 9.98642088e-01 -2.51461616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.503133365 meters Centerline goodness : 0.112538 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.25 [[ 9.98644441e-01 -2.91399060e-03 -5.19691226e-02 -2.45795516e+00] [ 3.02803597e-03 9.99993177e-01 2.11588286e-03 1.02777663e-01] [ 5.19626023e-02 -2.27037903e-03 9.98646451e-01 -2.52475945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53313336499997 meters Centerline goodness : 0.090331 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.25 [[ 9.98640061e-01 -2.88911892e-03 -5.20546064e-02 -2.45716157e+00] [ 3.00391971e-03 9.99993226e-01 2.12728943e-03 1.02669944e-01] [ 5.20481077e-02 -2.28076431e-03 9.98641974e-01 -2.53299586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.563133365 meters Centerline goodness : 0.091075 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.25 [[ 9.98641328e-01 -2.81314361e-03 -5.20344553e-02 -2.45667140e+00] [ 2.93411073e-03 9.99993168e-01 2.24850706e-03 1.02197161e-01] [ 5.20277744e-02 -2.39812693e-03 9.98642759e-01 -2.53998216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59313336499997 meters Centerline goodness : 0.100085 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.25 [[ 9.98648356e-01 -2.71759153e-03 -5.19044826e-02 -2.45662991e+00] [ 2.84574298e-03 9.99993082e-01 2.39524245e-03 1.01824659e-01] [ 5.18976142e-02 -2.53971175e-03 9.98649181e-01 -2.54403263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.623133365 meters Centerline goodness : 0.114717 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.26 [[ 0.99866821 -0.00261559 -0.05152629 -2.45674131] [ 0.00275346 0.99999282 0.00260505 0.10079182] [ 0.05151911 -0.00274346 0.99866824 -0.255181 ] [ 0. 0. 0. 1. ]] SLAMing on 367.653133365 meters Centerline goodness : 0.053182 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.26 [[ 0.99868198 -0.00261953 -0.05125858 -2.45699528] [ 0.00276098 0.99999257 0.00268887 0.09988085] [ 0.05125116 -0.00282685 0.9986818 -0.25564541] [ 0. 0. 0. 1. ]] SLAMing on 367.683133365 meters Centerline goodness : 0.092636 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.10, Z:-0.25 [[ 9.98676944e-01 4.89001825e-03 -5.11903251e-02 -2.43823088e+00] [-4.83908356e-03 9.99987666e-01 1.11889810e-03 9.68603525e-02] [ 5.11951651e-02 -8.69703474e-04 9.98688289e-01 -2.52799423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.713133365 meters Centerline goodness : 0.130176 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.10, Z:-0.25 [[ 9.98697409e-01 4.96519203e-03 -5.07821931e-02 -2.43886241e+00] [-4.90893735e-03 9.99987192e-01 1.23242843e-03 9.66465645e-02] [ 5.07876619e-02 -9.81536477e-04 9.98708992e-01 -2.53162452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.743133365 meters SLAMing on 367.773133365 meters SLAMing on 367.803133365 meters Centerline goodness : 0.202464 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.10, Z:-0.25 [[ 9.98755880e-01 5.31580337e-03 -4.95826078e-02 -2.44018578e+00] [-5.25784679e-03 9.99985333e-01 1.29924602e-03 9.91074741e-02] [ 4.95887872e-02 -1.03693185e-03 9.98769181e-01 -2.54770050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.833133365 meters Centerline goodness : 0.172588 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.10, Z:-0.26 [[ 9.98753661e-01 5.25893552e-03 -4.96333469e-02 -2.43949471e+00] [-5.20860281e-03 9.99985781e-01 1.14337680e-03 1.00009360e-01] [ 4.96386542e-02 -8.83431378e-04 9.98766851e-01 -2.55531616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.863133365 meters Centerline goodness : 0.141623 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.10, Z:-0.26 [[ 9.98752576e-01 5.22411560e-03 -4.96588448e-02 -2.43886764e+00] [-5.17810621e-03 9.99986037e-01 1.05511392e-03 1.00520269e-01] [ 4.96636634e-02 -7.96658972e-04 9.98765681e-01 -2.56305378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.893133365 meters Centerline goodness : 0.147413 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.10, Z:-0.26 [[ 9.98768350e-01 5.08796417e-03 -4.93547959e-02 -2.43918938e+00] [-5.04137367e-03 9.99986721e-01 1.06843002e-03 9.95351022e-02] [ 4.93595767e-02 -8.18298123e-04 9.98780738e-01 -2.56506967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92313336499996 meters Centerline goodness : 0.151515 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.10, Z:-0.26 [[ 9.98790803e-01 5.05556583e-03 -4.89016714e-02 -2.44032064e+00] [-4.99891435e-03 9.99986685e-01 1.28070959e-03 9.79048159e-02] [ 4.89074950e-02 -1.03470569e-03 9.98802776e-01 -2.56213239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.953133365 meters Centerline goodness : 0.160992 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.10, Z:-0.25 [[ 0.9988279 -0.00279109 -0.04832219 -2.42166025] [ 0.00292499 0.99999208 0.00270049 0.10122045] [ 0.04831427 -0.00283867 0.99882815 -0.25341576] [ 0. 0. 0. 1. ]] SLAMing on 367.98313336499996 meters Centerline goodness : 0.145625 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.10, Z:-0.25 [[ 0.99884336 -0.00272024 -0.0480056 -2.42228012] [ 0.00287126 0.99999114 0.00307715 0.09928538] [ 0.0479968 -0.00321143 0.99884233 -0.25330223] [ 0. 0. 0. 1. ]] SLAMing on 368.013133365 meters Centerline goodness : 0.102529 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.10, Z:-0.25 [[ 0.99885145 -0.00269478 -0.04783846 -2.42227432] [ 0.00286178 0.99999005 0.00342266 0.09702666] [ 0.04782876 -0.00355563 0.99884922 -0.25356767] [ 0. 0. 0. 1. ]] SLAMing on 368.04313336499996 meters Centerline goodness : 0.106229 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.09, Z:-0.25 [[ 0.99886143 -0.00274905 -0.04762648 -2.42220318] [ 0.00292981 0.99998877 0.00372591 0.09446017] [ 0.0476157 -0.00386121 0.99885827 -0.25407015] [ 0. 0. 0. 1. ]] SLAMing on 368.073133365 meters Centerline goodness : 0.100183 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.09, Z:-0.26 [[ 9.98890947e-01 -5.64992120e-03 -4.67434870e-02 -2.42158370e+00] [ 5.73488315e-03 9.99982138e-01 1.68371238e-03 8.92554371e-02] [ 4.67331392e-02 -1.94991349e-03 9.98905507e-01 -2.56565738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10313336499996 meters Centerline goodness : 0.111121 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.08, Z:-0.26 [[ 9.99134526e-01 -2.72192956e-03 -4.15064957e-02 -2.45664303e+00] [ 2.81523421e-03 9.99993640e-01 2.18966813e-03 8.12361826e-02] [ 4.15002716e-02 -2.30462354e-03 9.99135835e-01 -2.62902606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.133133365 meters Centerline goodness : 0.092837 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.99166845e-01 2.86983851e-03 -4.07109379e-02 -2.43431379e+00] [-2.89500845e-03 9.99995653e-01 -5.59319688e-04 7.94105715e-02] [ 4.07091558e-02 6.76712198e-04 9.99170810e-01 -2.62076363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16313336499996 meters Centerline goodness : 0.160477 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.26 [[ 9.99206509e-01 3.08836053e-03 -3.97091312e-02 -2.43557640e+00] [-3.08355243e-03 9.99995229e-01 1.82329339e-04 7.46605376e-02] [ 3.97095048e-02 -5.97394749e-05 9.99211265e-01 -2.62967257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.193133365 meters SLAMing on 368.22313336499997 meters Centerline goodness : 0.107899 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.26 [[ 9.99266210e-01 3.48210095e-03 -3.81433674e-02 -2.43773048e+00] [-3.45434617e-03 9.99993719e-01 7.93523985e-04 7.29625732e-02] [ 3.81458910e-02 -6.61181310e-04 9.99271962e-01 -2.64474287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.253133365 meters Centerline goodness : 0.092175 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.27 [[ 9.99305206e-01 3.72509227e-03 -3.70840909e-02 -2.43942549e+00] [-3.68838998e-03 9.99992638e-01 1.05806945e-03 7.30551943e-02] [ 3.70877593e-02 -9.20553721e-04 9.99311588e-01 -2.65183414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28313336499997 meters Centerline goodness : 0.106246 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.27 [[ 9.99344715e-01 3.87510769e-03 -3.59878285e-02 -2.44114510e+00] [-3.83296967e-03 9.99991886e-01 1.23981531e-03 7.30502200e-02] [ 3.59923409e-02 -1.10106262e-03 9.99351459e-01 -2.66025567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.313133365 meters Centerline goodness : 0.107630 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.27 [[ 9.99406433e-01 3.96672558e-03 -3.42205690e-02 -2.44322847e+00] [-3.92062609e-03 9.99991314e-01 1.41412609e-03 7.25796845e-02] [ 3.42258812e-02 -1.27912065e-03 9.99413304e-01 -2.68263504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34313336499997 meters Centerline goodness : 0.092688 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.27 [[ 9.99426993e-01 3.93989819e-03 -3.36178940e-02 -2.44350802e+00] [-3.89366890e-03 9.99991382e-01 1.44049581e-03 7.21159220e-02] [ 3.36232796e-02 -1.30877345e-03 9.99433721e-01 -2.69713544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.373133365 meters SLAMing on 368.403133365 meters SLAMing on 368.433133365 meters SLAMing on 368.463133365 meters SLAMing on 368.493133365 meters Centerline goodness : 0.129339 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.06, Z:-0.29 [[ 9.99746273e-01 1.52956906e-03 -2.24733063e-02 -2.49160453e+00] [-1.46871679e-03 9.99995211e-01 2.72401390e-03 6.44069864e-02] [ 2.24773652e-02 -2.69031582e-03 9.99743732e-01 -2.91497576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.523133365 meters SLAMing on 368.553133365 meters SLAMing on 368.583133365 meters SLAMing on 368.613133365 meters SLAMing on 368.643133365 meters SLAMing on 368.67313336499996 meters Centerline goodness : 0.136394 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.06, Z:-0.31 [[ 0.99991135 0.004944 -0.01236303 -2.48403825] [-0.0048793 0.99997427 0.00525792 0.06482473] [ 0.01238871 -0.00519713 0.99990975 -0.31278654] [ 0. 0. 0. 1. ]] SLAMing on 368.703133365 meters SLAMing on 368.73313336499996 meters Centerline goodness : 0.104799 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.06, Z:-0.33 [[ 9.99980103e-01 6.08481710e-03 1.66406180e-03 -2.53508881e+00] [-6.09623295e-03 9.99957311e-01 6.94342940e-03 6.09262305e-02] [-1.62174127e-03 -6.95343576e-03 9.99974510e-01 -3.33346386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.763133365 meters Centerline goodness : 0.134738 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.06, Z:-0.33 [[ 9.99995540e-01 -1.91726168e-03 2.29001404e-03 -2.51480333e+00] [ 1.89940528e-03 9.99967975e-01 7.77439025e-03 6.36420229e-02] [-2.30484625e-03 -7.77000591e-03 9.99967157e-01 -3.33390679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79313336499996 meters Centerline goodness : 0.134738 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.06, Z:-0.33 [[ 9.99995540e-01 -1.91726168e-03 2.29001404e-03 -2.51480333e+00] [ 1.89940528e-03 9.99967975e-01 7.77439025e-03 6.36420229e-02] [-2.30484625e-03 -7.77000591e-03 9.99967157e-01 -3.33390679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.823133365 meters Centerline goodness : 0.131719 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.06, Z:-0.34 [[ 9.99992785e-01 -1.91095050e-03 3.28291244e-03 -2.51542525e+00] [ 1.88477718e-03 9.99966564e-01 7.95726940e-03 6.20993047e-02] [-3.29800862e-03 -7.95102444e-03 9.99962951e-01 -3.35822000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85313336499996 meters SLAMing on 368.883133365 meters Centerline goodness : 0.134853 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.06, Z:-0.35 [[ 0.9999026 -0.00272533 0.01368831 -2.52859139] [ 0.00259318 0.99994995 0.00966272 0.05636622] [-0.01371396 -0.00962629 0.99985962 -0.35313362] [ 0. 0. 0. 1. ]] SLAMing on 368.91313336499996 meters SLAMing on 368.943133365 meters SLAMing on 368.97313336499997 meters SLAMing on 369.003133365 meters Centerline goodness : 0.117103 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.05, Z:-0.38 [[ 0.99960863 -0.00355615 0.02774765 -2.54790491] [ 0.00324794 0.99993262 0.0111446 0.05036082] [-0.02778542 -0.01105012 0.99955283 -0.37515773] [ 0. 0. 0. 1. ]] SLAMing on 369.03313336499997 meters SLAMing on 369.063133365 meters Centerline goodness : 0.114302 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.05, Z:-0.39 [[ 0.99949977 -0.00508076 0.03121524 -2.54795964] [ 0.00478103 0.99994182 0.00966899 0.05044486] [-0.03126255 -0.00951491 0.99946592 -0.38597129] [ 0. 0. 0. 1. ]] SLAMing on 369.09313336499997 meters SLAMing on 369.123133365 meters SLAMing on 369.153133365 meters SLAMing on 369.183133365 meters SLAMing on 369.213133365 meters SLAMing on 369.243133365 meters SLAMing on 369.273133365 meters SLAMing on 369.303133365 meters Centerline goodness : 0.185286 Centerline is valid? [False, False] Translation: X:-2.57, Y:0.04, Z:-0.44 [[ 0.99775636 -0.02767488 0.06096181 -2.57206323] [ 0.02702873 0.99956967 0.01139869 0.04078388] [-0.06125104 -0.0097254 0.99807501 -0.44352316] [ 0. 0. 0. 1. ]] SLAMing on 369.333133365 meters Centerline goodness : 0.190730 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.04, Z:-0.45 [[ 0.99788003 -0.02237609 0.06111261 -2.54977227] [ 0.02195242 0.99973017 0.00759522 0.03855845] [-0.06126607 -0.00623755 0.99810198 -0.44525295] [ 0. 0. 0. 1. ]] SLAMing on 369.363133365 meters Centerline goodness : 0.188949 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.04, Z:-0.45 [[ 0.99794741 -0.01695555 0.06175342 -2.52805859] [ 0.01675653 0.99985261 0.00373933 0.03635512] [-0.06180772 -0.00269688 0.99808443 -0.4468321 ] [ 0. 0. 0. 1. ]] SLAMing on 369.393133365 meters Centerline goodness : 0.189578 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.03, Z:-0.45 [[ 9.97982589e-01 -9.52415538e-03 6.27697545e-02 -2.50955324e+00] [ 9.42216410e-03 9.99953766e-01 1.92065926e-03 3.16610563e-02] [-6.27851450e-02 -1.32535757e-03 9.98026187e-01 -4.46598540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42313336499996 meters Centerline goodness : 0.191691 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.03, Z:-0.45 [[ 0.99778136 -0.0088552 0.06598434 -2.51126819] [ 0.00865482 0.99995703 0.00332206 0.02638412] [-0.06601092 -0.00274361 0.99781513 -0.45472538] [ 0. 0. 0. 1. ]] SLAMing on 369.453133365 meters Centerline goodness : 0.173029 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.02, Z:-0.46 [[ 9.97837863e-01 -8.82038640e-04 6.57177444e-02 -2.48994945e+00] [ 7.68714554e-04 9.99998174e-01 1.74967268e-03 2.35934386e-02] [-6.57191677e-02 -1.69537146e-03 9.97836718e-01 -4.55151434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48313336499996 meters Centerline goodness : 0.193067 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.02, Z:-0.46 [[ 9.97685406e-01 5.76283954e-03 6.77541173e-02 -2.50746761e+00] [-5.70249836e-03 9.99983153e-01 -1.08396456e-03 2.10312630e-02] [-6.77592225e-02 6.95087884e-04 9.97701461e-01 -4.63977152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.513133365 meters Centerline goodness : 0.189550 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.02, Z:-0.47 [[ 9.97732432e-01 1.39673311e-04 6.73050860e-02 -2.48413665e+00] [-3.13973443e-04 9.99996625e-01 2.57913119e-03 2.11929677e-02] [-6.73044986e-02 -2.59441485e-03 9.97729108e-01 -4.66077705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54313336499996 meters Centerline goodness : 0.190178 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.02, Z:-0.48 [[ 9.97562668e-01 2.45173638e-04 6.97758093e-02 -2.48296565e+00] [-4.43717462e-04 9.99995897e-01 2.82996850e-03 1.96962366e-02] [-6.97748292e-02 -2.85403167e-03 9.97558684e-01 -4.76193902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.573133365 meters Centerline goodness : 0.184253 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.02, Z:-0.48 [[ 9.97505846e-01 2.46614852e-04 7.05834756e-02 -2.48335886e+00] [-4.54745833e-04 9.99995596e-01 2.93266743e-03 1.87741466e-02] [-7.05824416e-02 -2.95745045e-03 9.97501565e-01 -4.79148694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60313336499996 meters Centerline goodness : 0.173605 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.02, Z:-0.48 [[ 9.97450943e-01 2.02401137e-04 7.13552730e-02 -2.48369578e+00] [-4.16477141e-04 9.99995457e-01 2.98527762e-03 1.78873410e-02] [-7.13543446e-02 -3.00738582e-03 9.97446496e-01 -4.82071246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.633133365 meters Centerline goodness : 0.188072 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.02, Z:-0.49 [[ 9.97396974e-01 1.54364947e-04 7.21058468e-02 -2.48388748e+00] [-3.76471461e-04 9.99995227e-01 3.06670396e-03 1.67679797e-02] [-7.21050292e-02 -3.08586705e-03 9.97392271e-01 -4.85151142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66313336499996 meters Centerline goodness : 0.193699 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.02, Z:-0.49 [[ 9.97336669e-01 1.28856955e-04 7.29352532e-02 -2.48432111e+00] [-3.57348550e-04 9.99995070e-01 3.11976011e-03 1.61113020e-02] [-7.29344916e-02 -3.13751446e-03 9.97331798e-01 -4.88157667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.693133365 meters Centerline goodness : 0.136918 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.02, Z:-0.49 [[ 9.97258133e-01 1.10177919e-04 7.40013839e-02 -2.48517312e+00] [-3.45158340e-04 9.99994939e-01 3.16257059e-03 1.56449285e-02] [-7.40006610e-02 -3.17944144e-03 9.97253124e-01 -4.91361449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72313336499997 meters Centerline goodness : 0.135520 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.02, Z:-0.50 [[ 9.96992388e-01 4.45181023e-04 7.74982632e-02 -2.48661573e+00] [-7.24258406e-04 9.99993355e-01 3.57300979e-03 1.58349683e-02] [-7.74961576e-02 -3.61839233e-03 9.96986085e-01 -5.01314008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.753133365 meters Centerline goodness : 0.173812 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.02, Z:-0.51 [[ 9.96915437e-01 4.44087400e-04 7.84819356e-02 -2.48695313e+00] [-7.17549563e-04 9.99993770e-01 3.45622978e-03 1.67925257e-02] [-7.84799118e-02 -3.50188350e-03 9.96909545e-01 -5.05166453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78313336499997 meters Centerline goodness : 0.130915 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.02, Z:-0.52 [[ 9.96579752e-01 3.75887262e-04 8.26356816e-02 -2.52494504e+00] [-6.98086386e-04 9.99992267e-01 3.87017322e-03 1.62869751e-02] [-8.26335879e-02 -3.91462312e-03 9.96572308e-01 -5.18664943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.813133365 meters Centerline goodness : 0.145920 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.02, Z:-0.53 [[ 9.96399613e-01 1.25037613e-03 8.47717357e-02 -2.52201792e+00] [-1.65407291e-03 9.99987624e-01 4.69209393e-03 1.68787911e-02] [-8.47648196e-02 -4.81541921e-03 9.96389350e-01 -5.31388455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84313336499997 meters Centerline goodness : 0.242453 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.02, Z:-0.54 [[ 9.96281163e-01 1.19779295e-03 8.61534122e-02 -2.52292707e+00] [-1.59748757e-03 9.99988279e-01 4.57054284e-03 1.73082637e-02] [-8.61469278e-02 -4.69117474e-03 9.96271399e-01 -5.35823799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.873133365 meters Centerline goodness : 0.225008 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.02, Z:-0.54 [[ 9.96174773e-01 1.10404716e-03 8.73762087e-02 -2.52375671e+00] [-1.49598132e-03 9.99989112e-01 4.42023893e-03 1.75287514e-02] [-8.73703772e-02 -4.53404369e-03 9.96165578e-01 -5.39857784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.903133365 meters Centerline goodness : 0.149320 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.02, Z:-0.54 [[ 9.96057614e-01 1.02277684e-03 8.87027775e-02 -2.52479522e+00] [-1.40729797e-03 9.99989883e-01 4.27250847e-03 1.79184566e-02] [-8.86975103e-02 -4.38049583e-03 9.96048976e-01 -5.43983991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.933133365 meters Centerline goodness : 0.146643 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.02, Z:-0.55 [[ 9.95973726e-01 9.54777781e-04 8.96405397e-02 -2.52518409e+00] [-1.32571459e-03 9.99990804e-01 4.07859990e-03 1.88902007e-02] [-8.96358212e-02 -4.18101611e-03 9.95965832e-01 -5.47803349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.963133365 meters Centerline goodness : 0.221797 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.02, Z:-0.55 [[ 9.95894340e-01 9.97775621e-04 9.05177815e-02 -2.52529557e+00] [-1.35982554e-03 9.99991321e-01 3.93818314e-03 2.07056410e-02] [-9.05130664e-02 -4.04510269e-03 9.95887053e-01 -5.51759024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.993133365 meters Centerline goodness : 0.145265 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.02, Z:-0.56 [[ 0.99578501 0.00290018 0.09167223 -2.52178521] [-0.00342298 0.99997876 0.00554623 0.02344904] [-0.0916542 -0.00583665 0.99577379 -0.56244215] [ 0. 0. 0. 1. ]] SLAMing on 370.023133365 meters Centerline goodness : 0.214256 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.02, Z:-0.58 [[ 0.99555824 0.00319163 0.09409363 -2.55782533] [-0.00377334 0.99997485 0.00600494 0.02287508] [-0.0940721 -0.00633332 0.99554524 -0.57565911] [ 0. 0. 0. 1. ]] SLAMing on 370.053133365 meters Centerline goodness : 0.145821 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.03, Z:-0.57 [[ 0.99582993 0.00341997 0.09116499 -2.51533294] [-0.00387467 0.99998092 0.00481115 0.02663025] [-0.0911468 -0.00514433 0.99582418 -0.5740281 ] [ 0. 0. 0. 1. ]] SLAMing on 370.083133365 meters Centerline goodness : 0.144620 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.03, Z:-0.58 [[ 0.99580066 0.0033081 0.09148829 -2.5144458 ] [-0.00373728 0.9999828 0.00452016 0.02775526] [-0.09147176 -0.0048431 0.99579589 -0.57761263] [ 0. 0. 0. 1. ]] SLAMing on 370.113133365 meters Centerline goodness : 0.145461 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.03, Z:-0.59 [[ 9.95705455e-01 -2.80584500e-03 9.25352585e-02 -2.52889495e+00] [ 2.00063130e-03 9.99959337e-01 8.79331209e-03 2.75251497e-02] [-9.25561684e-02 -8.57041988e-03 9.95670580e-01 -5.91046315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.143133365 meters Centerline goodness : 0.140590 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.03, Z:-0.59 [[ 9.95643073e-01 -2.90468028e-03 9.32010415e-02 -2.52872573e+00] [ 2.10114076e-03 9.99959785e-01 8.71854233e-03 2.73196019e-02] [-9.32226181e-02 -8.48472777e-03 9.95609137e-01 -5.94591745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17313336499996 meters Centerline goodness : 0.127816 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.03, Z:-0.60 [[ 9.95569715e-01 -3.01863797e-03 9.39778172e-02 -2.52882030e+00] [ 2.21259863e-03 9.99959881e-01 8.67992790e-03 2.66683484e-02] [-9.40002485e-02 -8.43353816e-03 9.95536453e-01 -5.98055575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.203133365 meters Centerline goodness : 0.218313 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.03, Z:-0.61 [[ 0.99540044 -0.00418835 0.09571006 -2.52764377] [ 0.00352113 0.99996832 0.00713916 0.0280225 ] [-0.09573693 -0.00676931 0.99538365 -0.60704429] [ 0. 0. 0. 1. ]] SLAMing on 370.23313336499996 meters Centerline goodness : 0.260265 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.03, Z:-0.62 [[ 0.99513522 -0.00376731 0.09844647 -2.56439176] [ 0.00298442 0.99996275 0.00809849 0.02623571] [-0.09847332 -0.00776529 0.99510939 -0.6195359 ] [ 0. 0. 0. 1. ]] SLAMing on 370.263133365 meters Centerline goodness : 0.183040 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.03, Z:-0.62 [[ 0.99508208 -0.00366625 0.09898595 -2.56413039] [ 0.00287425 0.99996272 0.00814265 0.0268836 ] [-0.09901212 -0.00781809 0.99505552 -0.62279402] [ 0. 0. 0. 1. ]] SLAMing on 370.29313336499996 meters Centerline goodness : 0.274820 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.03, Z:-0.63 [[ 0.99504549 -0.00356968 0.09935663 -2.56343132] [ 0.00276828 0.99996253 0.00820254 0.02710042] [-0.09938219 -0.00788686 0.99501808 -0.62612308] [ 0. 0. 0. 1. ]] SLAMing on 370.323133365 meters Centerline goodness : 0.245008 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.03, Z:-0.63 [[ 0.99503304 -0.00346746 0.0994848 -2.56208853] [ 0.00265824 0.99996231 0.00826551 0.0272568 ] [-0.09950971 -0.00796 0.99500475 -0.62960997] [ 0. 0. 0. 1. ]] SLAMing on 370.35313336499996 meters Centerline goodness : 0.242605 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.03, Z:-0.63 [[ 9.95038080e-01 -3.35401229e-03 9.94382682e-02 -2.56030434e+00] [ 2.54173508e-03 9.99962372e-01 8.29422012e-03 2.76870768e-02] [-9.94623455e-02 -8.00031913e-03 9.95009164e-01 -6.33178263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.383133365 meters Centerline goodness : 0.241446 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.03, Z:-0.64 [[ 9.95073710e-01 -1.47441906e-03 9.91268744e-02 -2.55407819e+00] [ 4.46746187e-04 9.99945937e-01 1.03886456e-02 2.63496655e-02] [-9.91368325e-02 -1.02931835e-02 9.95020572e-01 -6.42587938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41313336499996 meters Centerline goodness : 0.237729 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.03, Z:-0.65 [[ 9.95050328e-01 -1.42836030e-03 9.93619898e-02 -2.55325563e+00] [ 3.98459458e-04 9.99946003e-01 1.03842119e-02 2.65844206e-02] [-9.93714570e-02 -1.02932218e-02 9.94997167e-01 -6.45608660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.443133365 meters Centerline goodness : 0.244317 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.03, Z:-0.65 [[ 9.95003616e-01 -1.39275761e-03 9.98291778e-02 -2.55306467e+00] [ 3.55387636e-04 9.99945767e-01 1.04084809e-02 2.65067366e-02] [-9.98382603e-02 -1.03209981e-02 9.94950149e-01 -6.48433756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47313336499997 meters Centerline goodness : 0.239507 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.03, Z:-0.65 [[ 9.94938699e-01 -1.34860653e-03 1.00474709e-01 -2.55330831e+00] [ 2.97488822e-04 9.99945083e-01 1.04757639e-02 2.61329991e-02] [-1.00483319e-01 -1.03928528e-02 9.94884461e-01 -6.51208996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.503133365 meters Centerline goodness : 0.241496 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.02, Z:-0.66 [[ 9.94829314e-01 3.61024093e-04 1.01560351e-01 -2.55096415e+00] [-1.62810808e-03 9.99921871e-01 1.23935546e-02 2.41136037e-02] [-1.01547942e-01 -1.24948226e-02 9.94752178e-01 -6.59649892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53313336499997 meters Centerline goodness : 0.241633 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.03, Z:-0.66 [[ 9.94783398e-01 5.37224946e-04 1.02008348e-01 -2.55038135e+00] [-1.81192736e-03 9.99921428e-01 1.24038135e-02 2.52899801e-02] [-1.01993669e-01 -1.25239395e-02 9.94706209e-01 -6.63180249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.563133365 meters Centerline goodness : 0.255663 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.02, Z:-0.67 [[ 9.94823694e-01 1.43186550e-03 1.01605942e-01 -2.54693030e+00] [-2.79463129e-03 9.99908029e-01 1.32711886e-02 2.44901613e-02] [-1.01577595e-01 -1.34864440e-02 9.94736200e-01 -6.67704344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59313336499997 meters Centerline goodness : 0.239654 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.02, Z:-0.68 [[ 0.99474799 0.01057232 0.10180701 -2.559499 ] [-0.01185796 0.99985731 0.01203129 0.0230668 ] [-0.10166529 -0.01317533 0.99473141 -0.68203196] [ 0. 0. 0. 1. ]] SLAMing on 370.623133365 meters Centerline goodness : 0.255573 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.02, Z:-0.68 [[ 0.99477308 0.00530234 0.10197256 -2.53702844] [-0.00700511 0.99984183 0.01634749 0.02435692] [-0.10186975 -0.01697637 0.99465288 -0.68431508] [ 0. 0. 0. 1. ]] SLAMing on 370.653133365 meters Centerline goodness : 0.177887 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.03, Z:-0.69 [[ 0.99474118 0.0054512 0.10227546 -2.5360816 ] [-0.00714036 0.99984397 0.01615703 0.02665426] [-0.10217143 -0.01680235 0.99462489 -0.68777869] [ 0. 0. 0. 1. ]] SLAMing on 370.683133365 meters Centerline goodness : 0.145076 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.03, Z:-0.69 [[ 0.99468359 0.00551229 0.10283078 -2.53582818] [-0.00718013 0.9998485 0.0158562 0.029178 ] [-0.1027278 -0.01651024 0.99457248 -0.69123349] [ 0. 0. 0. 1. ]] SLAMing on 370.713133365 meters Centerline goodness : 0.145076 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.03, Z:-0.69 [[ 0.99468359 0.00551229 0.10283078 -2.53582818] [-0.00718013 0.9998485 0.0158562 0.029178 ] [-0.1027278 -0.01651024 0.99457248 -0.69123349] [ 0. 0. 0. 1. ]] SLAMing on 370.743133365 meters Centerline goodness : 0.238519 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.03, Z:-0.69 [[ 0.99462149 0.00544273 0.10343336 -2.5357156 ] [-0.00708085 0.99985515 0.01547688 0.03142144] [-0.10333414 -0.01612603 0.99451597 -0.69472021] [ 0. 0. 0. 1. ]] SLAMing on 370.773133365 meters Centerline goodness : 0.256668 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.03, Z:-0.70 [[ 0.99458368 0.0053388 0.10380177 -2.53477813] [-0.00693643 0.99986289 0.01503629 0.03368126] [-0.10370726 -0.01567486 0.99448434 -0.69854406] [ 0. 0. 0. 1. ]] SLAMing on 370.803133365 meters Centerline goodness : 0.141496 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.04, Z:-0.71 [[ 0.99458325 0.00673179 0.10372482 -2.52793583] [-0.00842906 0.99983752 0.01593356 0.03845908] [-0.10360071 -0.01672155 0.9944784 -0.70987096] [ 0. 0. 0. 1. ]] SLAMing on 370.833133365 meters Centerline goodness : 0.287824 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.04, Z:-0.71 [[ 0.99456587 0.0066294 0.1038979 -2.52660256] [-0.00828511 0.99984535 0.01551251 0.04115625] [-0.10377899 -0.01628902 0.99446699 -0.71354151] [ 0. 0. 0. 1. ]] SLAMing on 370.863133365 meters Centerline goodness : 0.297777 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.04, Z:-0.72 [[ 0.99453226 0.00649607 0.1042276 -2.52556207] [-0.00812035 0.999852 0.01516721 0.04302132] [-0.10411365 -0.01593064 0.99443781 -0.71732008] [ 0. 0. 0. 1. ]] SLAMing on 370.893133365 meters Centerline goodness : 0.233273 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.05, Z:-0.72 [[ 0.99449876 0.00561982 0.10459751 -2.52326571] [-0.00710646 0.99987889 0.01384565 0.04593097] [-0.10450703 -0.0145128 0.99441825 -0.72293664] [ 0. 0. 0. 1. ]] SLAMing on 370.92313336499996 meters Centerline goodness : 0.212877 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.05, Z:-0.73 [[ 0.99443874 0.00373571 0.10525039 -2.51931766] [-0.00497638 0.99992117 0.01152759 0.04716702] [-0.10519903 -0.01198725 0.99437894 -0.73253497] [ 0. 0. 0. 1. ]] SLAMing on 370.953133365 meters Centerline goodness : 0.222736 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.05, Z:-0.74 [[ 0.99439209 0.00361444 0.10569439 -2.51877128] [-0.00484313 0.99992362 0.01137064 0.04742247] [-0.10564522 -0.01181877 0.99433365 -0.73592546] [ 0. 0. 0. 1. ]] SLAMing on 370.98313336499996 meters Centerline goodness : 0.216110 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.05, Z:-0.74 [[ 0.99435962 0.00352403 0.1060025 -2.51786203] [-0.00473351 0.99992652 0.01116056 0.04863755] [-0.10595538 -0.01159937 0.99430323 -0.73938743] [ 0. 0. 0. 1. ]] SLAMing on 371.013133365 meters Centerline goodness : 0.215044 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.05, Z:-0.74 [[ 0.99433192 0.00351495 0.10626228 -2.51658481] [-0.00470747 0.99992871 0.01097372 0.05029715] [-0.10621613 -0.01141174 0.99427758 -0.74315702] [ 0. 0. 0. 1. ]] SLAMing on 371.04313336499996 meters Centerline goodness : 0.222172 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.05, Z:-0.75 [[ 0.99430379 0.00345387 0.10652721 -2.51527708] [-0.00461156 0.99993294 0.0106231 0.05248851] [-0.10648337 -0.01105385 0.99425304 -0.74707728] [ 0. 0. 0. 1. ]] SLAMing on 371.073133365 meters Centerline goodness : 0.225849 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.05, Z:-0.75 [[ 0.99426749 0.00336838 0.10686821 -2.51442129] [-0.00449143 0.99993718 0.01026981 0.05428755] [-0.1068269 -0.01069093 0.99422016 -0.75061257] [ 0. 0. 0. 1. ]] SLAMing on 371.10313336499996 meters Centerline goodness : 0.233800 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.06, Z:-0.76 [[ 0.99423166 0.00513316 0.10713102 -2.5091682 ] [-0.00641914 0.99991139 0.01166244 0.05742644] [-0.10706166 -0.01228286 0.99417651 -0.76059458] [ 0. 0. 0. 1. ]] SLAMing on 371.133133365 meters Centerline goodness : 0.224016 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.06, Z:-0.76 [[ 0.99425447 0.00531199 0.10691041 -2.50679016] [-0.00656592 0.99991369 0.01138014 0.06069246] [-0.10684073 -0.01201672 0.99420353 -0.76425326] [ 0. 0. 0. 1. ]] SLAMing on 371.16313336499996 meters Centerline goodness : 0.218431 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.07, Z:-0.78 [[ 0.99428261 0.00684836 0.10656073 -2.49920123] [-0.00819145 0.99989237 0.01217141 0.06781219] [-0.1064659 -0.01297471 0.9942317 -0.77527886] [ 0. 0. 0. 1. ]] SLAMing on 371.193133365 meters Centerline goodness : 0.221339 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.07, Z:-0.78 [[ 0.99426596 0.00664936 0.10672852 -2.49781207] [-0.0079196 0.99990272 0.01148218 0.07122048] [-0.10664179 -0.01226158 0.9942219 -0.77897527] [ 0. 0. 0. 1. ]] SLAMing on 371.22313336499997 meters Centerline goodness : 0.227598 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.08, Z:-0.78 [[ 0.9942324 0.00643359 0.10705392 -2.4972215 ] [-0.00762406 0.99991353 0.01071469 0.07535017] [-0.10697573 -0.01146908 0.99419548 -0.78214027] [ 0. 0. 0. 1. ]] SLAMing on 371.253133365 meters Centerline goodness : 0.226709 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.08, Z:-0.79 [[ 0.99421242 0.00632496 0.10724577 -2.49619937] [-0.00742705 0.99992361 0.00988002 0.08076166] [-0.10717509 -0.01061936 0.99418345 -0.78531042] [ 0. 0. 0. 1. ]] SLAMing on 371.28313336499997 meters Centerline goodness : 0.224684 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.09, Z:-0.79 [[ 0.99425996 0.00681576 0.10677397 -2.49271108] [-0.00789537 0.99992186 0.00969171 0.08636453] [-0.10669957 -0.0104791 0.99423608 -0.7893986 ] [ 0. 0. 0. 1. ]] SLAMing on 371.313133365 meters Centerline goodness : 0.231429 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.09, Z:-0.79 [[ 0.99431449 0.00702534 0.10625129 -2.48931135] [-0.00804187 0.99992588 0.00914181 0.091967 ] [-0.10617919 -0.00994429 0.99429728 -0.79321458] [ 0. 0. 0. 1. ]] SLAMing on 371.34313336499997 meters Centerline goodness : 0.223599 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.10, Z:-0.80 [[ 0.99431846 0.00830981 0.10612142 -2.48257916] [-0.00936903 0.99991111 0.00948664 0.1017723 ] [-0.10603315 -0.010427 0.99430792 -0.8033151 ] [ 0. 0. 0. 1. ]] SLAMing on 371.373133365 meters Centerline goodness : 0.229732 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.11, Z:-0.81 [[ 0.99429568 0.008007 0.1063578 -2.48160501] [-0.00899153 0.99992102 0.00878046 0.10549752] [-0.1062791 -0.00968669 0.99428915 -0.80641051] [ 0. 0. 0. 1. ]] SLAMing on 371.403133365 meters Centerline goodness : 0.276947 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.11, Z:-0.81 [[ 0.99427887 0.00769127 0.10653809 -2.48050581] [-0.00860915 0.99992966 0.00815824 0.10847813] [-0.10646785 -0.00902877 0.99427515 -0.80942756] [ 0. 0. 0. 1. ]] SLAMing on 371.433133365 meters Centerline goodness : 0.285945 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.11, Z:-0.81 [[ 0.99427106 0.00735053 0.10663504 -2.47898298] [-0.00820153 0.99993791 0.00754407 0.11152109] [-0.10657297 -0.00837542 0.99426961 -0.81260684] [ 0. 0. 0. 1. ]] SLAMing on 371.463133365 meters Centerline goodness : 0.285594 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.12, Z:-0.82 [[ 0.99427837 0.00684898 0.10660021 -2.47678726] [-0.00761233 0.99994821 0.00675554 0.11539283] [-0.10654842 -0.00752836 0.99427901 -0.81609745] [ 0. 0. 0. 1. ]] SLAMing on 371.493133365 meters Centerline goodness : 0.074472 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.12, Z:-0.83 [[ 0.99434067 0.00614612 0.10606065 -2.46681191] [-0.00675128 0.99996291 0.00534767 0.12499948] [-0.10602384 -0.00603345 0.99434528 -0.82856991] [ 0. 0. 0. 1. ]] SLAMing on 371.523133365 meters Centerline goodness : 0.067078 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.13, Z:-0.83 [[ 0.99435046 0.005505 0.10600408 -2.46378289] [-0.00597852 0.99997352 0.00414972 0.13044797] [-0.10597843 -0.00476003 0.99435704 -0.83321175] [ 0. 0. 0. 1. ]] SLAMing on 371.553133365 meters Centerline goodness : 0.301685 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.14, Z:-0.84 [[ 0.99436748 0.0051893 0.10586025 -2.4614704 ] [-0.00557397 0.99997889 0.00333828 0.13517135] [-0.1058407 -0.00390954 0.99437541 -0.83662627] [ 0. 0. 0. 1. ]] SLAMing on 371.583133365 meters Centerline goodness : 0.304605 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.14, Z:-0.85 [[ 0.99441522 0.00629282 0.10535066 -2.45281155] [-0.0067004 0.99997137 0.00351535 0.14443311] [-0.10532552 -0.00420161 0.99442892 -0.84735897] [ 0. 0. 0. 1. ]] SLAMing on 371.613133365 meters Centerline goodness : 0.137056 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.15, Z:-0.85 [[ 0.99443319 0.00605405 0.105195 -2.45047421] [-0.00638226 0.99997576 0.00278369 0.1488274 ] [-0.1051756 -0.00343957 0.99444772 -0.85073871] [ 0. 0. 0. 1. ]] SLAMing on 371.643133365 meters Centerline goodness : 0.299029 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.15, Z:-0.85 [[ 9.94438111e-01 5.75661450e-03 1.05165133e-01 -2.44868179e+00] [-6.01042609e-03 9.99979739e-01 2.09669206e-03 1.52694850e-01] [-1.05150932e-01 -2.71711774e-03 9.94452562e-01 -8.53815290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67313336499996 meters Centerline goodness : 0.183438 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.16, Z:-0.86 [[ 9.94440689e-01 5.48536482e-03 1.05155252e-01 -2.44701330e+00] [-5.67389738e-03 9.99982788e-01 1.49382945e-03 1.56046554e-01] [-1.05145248e-01 -2.08216489e-03 9.94454696e-01 -8.56483689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.703133365 meters Centerline goodness : 0.280388 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.16, Z:-0.87 [[ 9.94476358e-01 5.15393901e-03 1.04834206e-01 -2.43847400e+00] [-5.25692653e-03 9.99985933e-01 7.06092382e-04 1.62222389e-01] [-1.04829093e-01 -1.25329790e-03 9.94489462e-01 -8.67148256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73313336499996 meters Centerline goodness : 0.221366 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.16, Z:-0.87 [[ 9.94502644e-01 4.99245535e-03 1.04592383e-01 -2.43589260e+00] [-5.05401569e-03 9.99987176e-01 3.23547875e-04 1.64471452e-01] [-1.04589427e-01 -8.50380764e-04 9.94515122e-01 -8.70317791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.763133365 meters Centerline goodness : 0.254995 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.17, Z:-0.87 [[ 9.94533417e-01 4.84250773e-03 1.04306435e-01 -2.43312845e+00] [-4.86048007e-03 9.99988184e-01 -8.18804370e-05 1.66717073e-01] [-1.04305599e-01 -4.25546518e-04 9.94545203e-01 -8.73531545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79313336499996 meters Centerline goodness : 0.282716 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.17, Z:-0.88 [[ 9.94551900e-01 4.70326745e-03 1.04136434e-01 -2.43099131e+00] [-4.67986882e-03 9.99988939e-01 -4.69028971e-04 1.69121648e-01] [-1.04137488e-01 -2.08711968e-05 9.94562911e-01 -8.76366821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.823133365 meters Centerline goodness : 0.266994 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.17, Z:-0.88 [[ 9.94558367e-01 4.61431899e-03 1.04078635e-01 -2.42913867e+00] [-4.55653915e-03 9.99989305e-01 -7.92914900e-04 1.71521430e-01] [-1.04081181e-01 3.14361773e-04 9.94568755e-01 -8.79153889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85313336499996 meters Centerline goodness : 0.270139 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.17, Z:-0.89 [[ 9.94568478e-01 6.12815143e-03 1.03903747e-01 -2.42255463e+00] [-6.22733688e-03 9.99980411e-01 6.30213751e-04 1.73920117e-01] [-1.03897849e-01 -1.27383436e-03 9.94587158e-01 -8.87259579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.883133365 meters Centerline goodness : 0.074217 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.17, Z:-0.89 [[ 9.94572176e-01 6.11287777e-03 1.03869245e-01 -2.42037244e+00] [-6.20329007e-03 9.99980610e-01 5.47423451e-04 1.74657097e-01] [-1.03863885e-01 -1.18878319e-03 9.94590810e-01 -8.90092768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91313336499996 meters Centerline goodness : 0.085774 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.17, Z:-0.89 [[ 9.94600662e-01 6.10045466e-03 1.03596851e-01 -2.41760812e+00] [-6.18803733e-03 9.99980717e-01 5.24041039e-04 1.74386519e-01] [-1.03591657e-01 -1.16227275e-03 9.94619233e-01 -8.93142469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.943133365 meters Centerline goodness : 0.286043 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.17, Z:-0.90 [[ 9.94633369e-01 6.08424432e-03 1.03283313e-01 -2.41468635e+00] [-6.17235279e-03 9.99980809e-01 5.33488899e-04 1.74052353e-01] [-1.03278085e-01 -1.16812691e-03 9.94651835e-01 -8.96300969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97313336499997 meters Centerline goodness : 0.268748 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.18, Z:-0.91 [[ 9.94694756e-01 6.27724098e-03 1.02678817e-01 -2.40418466e+00] [-6.37045428e-03 9.99979540e-01 5.79914355e-04 1.75912495e-01] [-1.02673076e-01 -1.23094848e-03 9.94714393e-01 -9.07627896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.003133365 meters Centerline goodness : 0.260552 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.18, Z:-0.91 [[ 9.94713718e-01 6.27842897e-03 1.02494880e-01 -2.40184802e+00] [-6.36432542e-03 9.99979617e-01 5.11057762e-04 1.76640629e-01] [-1.02489583e-01 -1.16066694e-03 9.94733401e-01 -9.10189141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03313336499997 meters Centerline goodness : 0.277590 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.18, Z:-0.91 [[ 9.94722337e-01 6.26268957e-03 1.02412159e-01 -2.40001575e+00] [-6.33825290e-03 9.99979828e-01 4.12436404e-04 1.77215287e-01] [-1.02407510e-01 -1.05937387e-03 9.94741966e-01 -9.12452395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.063133365 meters Centerline goodness : 0.284414 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.18, Z:-0.92 [[ 9.94720557e-01 6.27329165e-03 1.02428800e-01 -2.39802100e+00] [-6.33334084e-03 9.99979910e-01 2.61046727e-04 1.78227505e-01] [-1.02425105e-01 -9.08385050e-04 9.94740304e-01 -9.15056300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09313336499997 meters Centerline goodness : 0.079369 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.18, Z:-0.92 [[ 9.94745752e-01 6.26358454e-03 1.02184420e-01 -2.39539100e+00] [-6.30218237e-03 9.99980140e-01 5.48909180e-05 1.79872943e-01] [-1.02182047e-01 -6.98587358e-04 9.94765470e-01 -9.17715554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.123133365 meters Centerline goodness : 0.080189 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.18, Z:-0.92 [[ 9.94785037e-01 6.32029368e-03 1.01797762e-01 -2.39196453e+00] [-6.34346606e-03 9.99979875e-01 -9.60862465e-05 1.81554684e-01] [-1.01796321e-01 -5.50165488e-04 9.94805110e-01 -9.20956803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.153133365 meters Centerline goodness : 0.081754 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.18, Z:-0.93 [[ 9.94891637e-01 7.17178460e-03 1.00693572e-01 -2.37969255e+00] [-7.23046646e-03 9.99973836e-01 2.17825823e-04 1.84542042e-01] [-1.00689375e-01 -9.44774583e-04 9.94917462e-01 -9.32336003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.183133365 meters Centerline goodness : 0.081373 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.18, Z:-0.94 [[ 9.94903513e-01 7.24600894e-03 1.00570849e-01 -2.37682708e+00] [-7.31445306e-03 9.99973200e-01 3.11822819e-04 1.84456897e-01] [-1.00565894e-01 -1.04585437e-03 9.94929850e-01 -9.35183062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.213133365 meters Centerline goodness : 0.086338 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.18, Z:-0.94 [[ 9.94920637e-01 7.33105302e-03 1.00395132e-01 -2.37440459e+00] [-7.41279508e-03 9.99972428e-01 4.41175843e-04 1.83554619e-01] [-1.00389129e-01 -1.18314349e-03 9.94947548e-01 -9.37589351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.243133365 meters Centerline goodness : 0.081160 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.18, Z:-0.95 [[ 9.94867041e-01 7.15816512e-03 1.00937261e-01 -2.36657013e+00] [-7.22685121e-03 9.99973836e-01 3.14831685e-04 1.82175608e-01] [-1.00932367e-01 -1.04267424e-03 9.94892743e-01 -9.47828583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.273133365 meters Centerline goodness : 0.085871 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.18, Z:-0.95 [[ 9.94880966e-01 7.29732311e-03 1.00789941e-01 -2.36413185e+00] [-7.38960275e-03 9.99972549e-01 5.42239925e-04 1.80753382e-01] [-1.00783217e-01 -1.28426180e-03 9.94907581e-01 -9.50136858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.303133365 meters Centerline goodness : 0.087246 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.18, Z:-0.95 [[ 9.94895796e-01 7.43027417e-03 1.00633723e-01 -2.36149288e+00] [-7.53663758e-03 9.99971370e-01 6.76787094e-04 1.79597589e-01] [-1.00625813e-01 -1.43177253e-03 9.94923312e-01 -9.52696722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.333133365 meters Centerline goodness : 0.087988 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.18, Z:-0.96 [[ 9.94936315e-01 8.91283604e-03 1.00111394e-01 -2.35098394e+00] [-9.13060532e-03 9.99956841e-01 1.71728149e-03 1.79834606e-01] [-1.00091767e-01 -2.62266334e-03 9.94974753e-01 -9.63056659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.363133365 meters Centerline goodness : 0.088385 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.18, Z:-0.97 [[ 0.99499055 0.01014627 0.09945281 -2.34417111] [-0.01046029 0.99994181 0.00263654 0.17994658] [-0.09942027 -0.00366364 0.99503879 -0.96902006] [ 0. 0. 0. 1. ]] SLAMing on 372.393133365 meters Centerline goodness : 0.086678 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.18, Z:-0.98 [[ 0.99503869 0.01152206 0.09881928 -2.33714571] [-0.01194078 0.99992206 0.00364685 0.18070685] [-0.09876956 -0.00480873 0.99509871 -0.97536231] [ 0. 0. 0. 1. ]] SLAMing on 372.42313336499996 meters Centerline goodness : 0.086706 Centerline is valid? [False, False] Translation: X:-2.33, Y:0.18, Z:-0.98 [[ 0.99509525 0.01274155 0.09809743 -2.33022813] [-0.01324214 0.9999024 0.0044536 0.18148635] [-0.09803111 -0.00573077 0.99516685 -0.98123714] [ 0. 0. 0. 1. ]] SLAMing on 372.453133365 meters Centerline goodness : 0.087816 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.18, Z:-0.99 [[ 0.99515958 0.01375118 0.09730524 -2.32349744] [-0.01431128 0.99988478 0.00506051 0.1818346 ] [-0.09722444 -0.00642858 0.99524172 -0.98668258] [ 0. 0. 0. 1. ]] SLAMing on 372.48313336499996 meters Centerline goodness : 0.088914 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.18, Z:-0.99 [[ 0.99521161 0.01412433 0.09671792 -2.31884945] [-0.01468816 0.99987901 0.00512013 0.18265204] [-0.0966339 -0.00651622 0.99529866 -0.99037237] [ 0. 0. 0. 1. ]] SLAMing on 372.513133365 meters Centerline goodness : 0.091510 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.18, Z:-1.00 [[ 0.99525568 0.01393256 0.09629132 -2.30960462] [-0.01444117 0.9998852 0.00458711 0.18499302] [-0.09621635 -0.00595591 0.99534262 -0.99935276] [ 0. 0. 0. 1. ]] SLAMing on 372.54313336499996 meters Centerline goodness : 0.089906 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.19, Z:-1.00 [[ 0.99526216 0.01384485 0.09623692 -2.30733824] [-0.01435136 0.99988656 0.00457297 0.18532312] [-0.09616269 -0.00593244 0.99534795 -1.00131911] [ 0. 0. 0. 1. ]] SLAMing on 372.573133365 meters Centerline goodness : 0.091712 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.19, Z:-1.00 [[ 0.99529499 0.01367298 0.09592145 -2.30447502] [-0.01417794 0.99988898 0.00458475 0.18540977] [-0.09584811 -0.00592315 0.99537835 -1.00312154] [ 0. 0. 0. 1. ]] SLAMing on 372.60313336499996 meters Centerline goodness : 0.091712 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.19, Z:-1.00 [[ 0.99529499 0.01367298 0.09592145 -2.30447502] [-0.01417794 0.99988898 0.00458475 0.18540977] [-0.09584811 -0.00592315 0.99537835 -1.00312154] [ 0. 0. 0. 1. ]] SLAMing on 372.633133365 meters Centerline goodness : 0.092560 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.18, Z:-1.01 [[ 0.99533222 0.01349411 0.09555987 -2.30120978] [-0.0140091 0.99989073 0.00472032 0.18451349] [-0.09548574 -0.00603699 0.99541249 -1.00503196] [ 0. 0. 0. 1. ]] SLAMing on 372.66313336499996 meters Centerline goodness : 0.095985 Centerline is valid? [False, False] Translation: X:-2.28, Y:0.18, Z:-1.01 [[ 0.99573954 0.00729464 0.09192143 -2.27699716] [-0.00780669 0.99995594 0.00521217 0.18451727] [-0.09187936 -0.00590757 0.99575262 -1.00589141] [ 0. 0. 0. 1. ]] SLAMing on 372.693133365 meters Centerline goodness : 0.317021 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.18, Z:-1.01 [[ 0.99578971 0.00711379 0.0913906 -2.27262326] [-0.00763621 0.99995644 0.00536792 0.18329825] [-0.09134843 -0.0060432 0.99580065 -1.00854003] [ 0. 0. 0. 1. ]] SLAMing on 372.72313336499997 meters Centerline goodness : 0.093102 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.18, Z:-1.01 [[ 0.99583983 0.0070535 0.09084758 -2.26862758] [-0.00759501 0.99995539 0.00561631 0.18150872] [-0.09080391 -0.00628294 0.99584897 -1.01094082] [ 0. 0. 0. 1. ]] SLAMing on 372.753133365 meters Centerline goodness : 0.095519 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.18, Z:-1.01 [[ 0.9958873 0.00712887 0.09031975 -2.26457359] [-0.00769775 0.99995266 0.00595176 0.17919013] [-0.09027304 -0.00662254 0.99589503 -1.01352539] [ 0. 0. 0. 1. ]] SLAMing on 372.78313336499997 meters Centerline goodness : 0.095859 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.18, Z:-1.02 [[ 0.9959852 0.00666921 0.0892693 -2.25206556] [-0.00721293 0.99995734 0.00576958 0.17788684] [-0.08922701 -0.00639031 0.99599082 -1.02338623] [ 0. 0. 0. 1. ]] SLAMing on 372.813133365 meters Centerline goodness : 0.097193 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.18, Z:-1.03 [[ 0.99603772 0.00709457 0.08864833 -2.24693024] [-0.00766984 0.99995167 0.00615034 0.17708254] [-0.08860042 -0.00680589 0.996044 -1.02731757] [ 0. 0. 0. 1. ]] SLAMing on 372.84313336499997 meters Centerline goodness : 0.102786 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.18, Z:-1.03 [[ 0.99609054 0.00752295 0.08801724 -2.24198158] [-0.00812114 0.99994628 0.00644015 0.1770489 ] [-0.08796407 -0.00712977 0.99609813 -1.03098371] [ 0. 0. 0. 1. ]] SLAMing on 372.873133365 meters Centerline goodness : 0.321019 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.18, Z:-1.03 [[ 0.99612575 0.00811282 0.08756526 -2.23674087] [-0.00873929 0.99993887 0.0067733 0.1772076 ] [-0.08750495 -0.00751232 0.99613576 -1.03492654] [ 0. 0. 0. 1. ]] Total time of SLAM: 38512.57 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%| | 0/11228 [00:00